JP2002302396A - Extending/contracting boom type high lift work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent an elbow part of an extending-contracting boom from colliding with an obstacle by protruding at turning operation time in an extending/contracting boom type high lift work vehicle. SOLUTION: A car body 2 is provided with a freely turnable turning stand 4, a rising-up/falling-down boom 5 capable of freely rising up and falling down, a boom device composed of a freely extensible/contractible extending/contracting boom 6, a workbench 8 arranged in a tip part of this boom device, and an operation control device for controlling operation of the boom device on the basis of an operation signal. The boom device is provided with a position detecting means for detecting a tip position of the rising-up/falling-down boom 5 to the car body 2. The operation control device controls the operation of the boom device so that the tip position of the rising-up/falling-down boom 5 detected by a position detector passes through the inside of a prescribed regulating range S set on the car body side when operating the boom device to constitute the extending-contracting boom type high lift work vehicle 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to
A bending / extension system comprising: a boom device capable of raising and lowering and bending / extending freely; a work table provided at a tip end of the boom device; and an operation control device for controlling operation of the boom device based on an operation signal from the boom operation device. Related to a boom type aerial work vehicle.

[0002]

2. Description of the Related Art The bending / extension boom type aerial work vehicle as described above is already widely used. The bending and extension boom type aerial work vehicle
On the body of a movable vehicle such as a truck chassis,
A swivel that can be swiveled horizontally with respect to the vehicle body, a boom device that is provided on the swivel so as to be able to move up and down, and a boom device that is provided to be able to bend and extend freely on the up and down boom are attached. A work table is installed in the part, which always keeps the floor level horizontal regardless of the boom angle and the bending / extension angle. The workbench is provided with a boom operation device for operating the boom device, and the vehicle body is provided with an operation control device for receiving an operation signal from the operation device and controlling the operation of the boom device. For this reason,
By operating the boom operating device, the operator boarding the workbench turns the turntable, raises and lowers the boom,
The workbench can be moved to a desired height by operating the bending / extension boom.

[0003] The bending / extension boom-type aerial work vehicle includes, in addition to the above-mentioned raising / lowering boom and the bending / extension boom each having a single-stage boom, a configuration in which the raising / lowering boom is extendable and contractible in the axial direction of the boom. Bending / extension booms that can be extended and retracted in the axial direction of the boom, or aerial work vehicles that have both an up-and-down boom and an extension / extension boom that can be extended / contracted (these are referred to as straight-extended boom-type aerial platforms) Is also).

[0004] These bending-extension boom type aerial work vehicles have a height of the blind area where the base end side of the so-called straight-traveling boom-type aerial work vehicle having no bending-extension boom interferes with an obstacle in front thereof and cannot be reached. The work table can be moved to the position. For this reason, the bending and extension boom type aerial work vehicle is used for an aerial work over obstacles such as a block wall or a house, or an aerial work that needs to enter between upper and lower beams.

[0005]

By the way, in the aerial work vehicle having the bending / extending boom as described above, since the up-and-down boom and the bending / extending boom have a boom shape bent in the shape of a "<", the swivel base is required. When the swiveling operation is performed, the pivot joint between the tip of the up-and-down boom and the base end of the bending / boom boom (hereinafter, “elbow”)
That. ) Protrudes from the turning center by a certain amount in the vehicle width direction and turns. Generally, the amount of protrusion is larger as the elevation angle of the hoisting boom is smaller, and the elbow portion makes a large turn in the direction opposite to the work table with the swivel therebetween during the swing operation.

For this reason, a worker who works on an altitude while riding on the work table is distracted by the object at hand, and moves the work table without noticing the positional relationship between the amount of protrusion of the elbow and the obstacle. There has been a problem that, when moved, the elbow portion may accidentally collide with an obstacle.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an operator who operates a work table operates a boom without noticing the positional relationship between an amount of protrusion of an elbow portion and an obstacle. Even in such a case, an object of the present invention is to provide a bending and stretching boom type aerial work vehicle that does not cause the elbow portion to collide with an obstacle.

[0008]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems and to achieve the object, the present invention provides a vehicle body, a swivel table mounted on the vehicle body so as to be horizontally swivelable, and a swivel table provided to be able to move up and down. An up-and-down boom, a boom device having a bending / extending boom provided to be able to bend and extend on the up-and-down boom, a work table provided at a tip end of the boom device, a boom operating device for operating an operation of the boom device, and the boom An operation control device that controls the operation of the boom device based on an operation signal from the operation device, wherein the work control device includes a position detection unit that detects a position of a tip end portion of the up-and-down boom with respect to the vehicle body; When the user operates the boom device based on the operation signal, the position of the tip of the up-and-down boom detected by the position detector is within a predetermined regulation range within the outermost side of the vehicle set on the side of the vehicle. And controls the operation of the boom device so as to be positioned to constitute a bending boom type aerial platforms within.

According to the bending / extending boom type aerial work vehicle having the above-described configuration, when the operation control device operates the boom device based on the operation signal, the tip position of the up-and-down boom (that is, the position of the elbow portion) is adjusted to the vehicle body. The operation of the boom device is controlled so as to be located within a predetermined regulation range within the outermost side of the vehicle body set to the side of the boom. Here, the “predetermined regulation range” within the outermost part of the vehicle body refers to a restricted area defined based on a positional relationship with an obstacle existing around the aerial work vehicle, and Specifically, the limit is set to a plane that is perpendicular to the wide end of the outrigger jack).
For this reason, the inside (the vehicle body side) of this regulation range usually means an area where no obstacle exists, that is, a safety area.
Further, controlling the operation of the boom device means that when the boom device is operated based on the operation signal, when the tip position of the up-and-down boom moves beyond the predetermined restriction range, it contributes to the movement outside the restriction range. Operation control including restriction control that regulates the operation of operating shafts that move (e.g., undulating operation shaft, telescopic operation shaft, turning operation shaft, etc.), and avoidance control that moves other operation shafts to avoid the restricted range and move. Say.

Therefore, even if the worker who gets on the work table is distracted by the object at hand and performs an operation operation such that the elbow portion interferes with an obstacle, the operation control device is not operated. Since the operation of the boom device is controlled so that the section is located within the safety area, the elbow section does not accidentally collide with an obstacle.

The configuration of the restriction range is generally defined as a planar restriction range that is set up vertically on the outermost side in the front-rear direction and the left-right direction of the vehicle body. In addition, it may be configured in such a manner that it is defined in a step-like manner according to the height, defined in a slope with a certain angle, or defined in a predetermined curved shape. Further, as setting means of the regulation range, automatic setting means for indirectly detecting and automatically setting an area where no obstacle is present from the overhang amount of the jack, an obstacle detector including an ultrasonic sensor or the like on the vehicle body. Automatic setting means to directly detect the existence position of obstacles and automatically set the position of the obstacle, workers who are going to work at heights select or input numerical values according to the positional relationship between surrounding obstacles and the work platform Manual setting means or the like can be used.

When the operation signal is a turning operation signal for instructing the turning operation of the turning table, the operation control device determines that the tip of the up-and-down boom passes through the predetermined regulation range and the working table is in plan view. It is preferable to control the raising and lowering operation of the raising and lowering boom and the bending and extending operation of the bending and extending boom so as to perform the turning movement while maintaining the turning radius.

In the bending / extension boom type aerial work vehicle having the above-described configuration, the operation control device determines that the tip of the up-and-down boom is out of the regulation range due to the turning operation of the swivel base. Rather than stopping the entire system, the up-and-down operation and bending operation are controlled so that the tip of the up-and-down boom passes through the restricted range and the workbench does not turn while maintaining the turning radius in plan view. Control.
Therefore, even if the operator performs an erroneous operation, there is no danger that the elbow portion or the tip of the workbench will collide with an obstacle, and the workbench is safely turned and efficiently moved to a high place. Work can be done.

When the operation signal is a turning operation signal for instructing the turning operation of the swivel base, the operation control device may be configured such that the tip of the up-and-down boom passes within a predetermined regulation range, and It is also preferable to control the raising and lowering operation of the raising and lowering boom and the bending and extending operation of the bending and extending boom so as to make a turning movement while maintaining the height position.

In the bending / extending boom type aerial work vehicle having the above-described configuration, the operation control device determines that the tip of the up-and-down boom is out of the regulation range due to the turning operation of the swivel base. Rather than stopping the entire system, it controls the up / down operation and bending / extension operation so that the tip of the up / down boom passes through the regulation range, and avoids the worktable turning while maintaining the height position relative to the vehicle body. Control. Therefore, even if the operator performs an erroneous operation, there is no danger that the elbow section or the bottom of the worktable will collide with an obstacle, and the workbench is safely turned to efficiently work at a high place. It can be performed.

When at least one of the up-and-down boom and the bending / extension boom is configured to be extendable and retractable and the operation signal is a turning operation signal for instructing a turning operation of the swivel base, the operation control device includes: Of the boom, the bending of the bending boom, the bending of the bending boom, and the bending of the boom so that the workbench turns while maintaining the turning radius in plan view and the height position with respect to the vehicle body. It is preferable to control at least one of the extension / retraction operation of the boom and the extension / retraction operation of the bending / extension boom.

In the bending / extension boom-type aerial work vehicle having the above-described configuration, the operation control device determines whether the tip of the up-and-down boom exceeds the regulation range due to the turning operation of the swivel base. Instead of stopping the regulation
At least one of the up / down operation, the bending / extension operation, the expansion / contraction operation of the up / down boom, and the expansion / contraction operation of the bending / extension boom is controlled so that the tip of the up / down boom passes through the restricted range, and the worktable has a turning radius in plan view. In addition, the avoidance control is performed so that the turning movement (that is, the turning movement according to the original turning trajectory) is performed while the height position with respect to the vehicle body is maintained. Therefore, even if the operator performs an erroneous operation, there is no possibility that the elbow section or the work table will collide with an obstacle, and the work table can be safely turned and moved in accordance with the operation intention of the worker. Elevated work can be performed efficiently.

[0018] At least one of the raising / lowering boom and the bending / extending boom is configured to be extendable and retractable, and the operation signal is a movement operation signal for instructing the moving direction of the worktable. In this case, the operation control device performs the turning operation of the swivel base, the up-and-down movement of the up-and-down boom so that the tip of the up-and-down boom passes through a predetermined restriction range, and the work table moves in the moving direction according to the moving operation signal. It is preferable to control at least one of the operation, the bending / extension operation of the bending / extension boom, the expansion / contraction operation of the up / down boom, and the expansion / contraction operation of the bending / extension boom.

In the bending / extension boom-type aerial work vehicle having the above-described structure, when the movement operation signal is a movement operation signal including a turning operation of the swivel base and instructing a moving direction of the work base, the operation control device includes The operation of the boom device is controlled such that the tip of the boom passes through a predetermined regulation range and the worktable moves in the movement direction according to the movement operation signal. In other words, while controlling the operation of the hoisting boom so that the tip of the hoisting boom does not exceed the regulation range, moving the workbench by controlling the other operating axes so that the platform moves in the command direction according to the moving operation signal. Move the platform in the direction indicated by the operation signal. The “moving operation signal including the turning operation” is, for example, a moving operation signal of a command for linearly moving the working table in a horizontal plane, and when the working table is moved in the direction of the operation signal, the turning table is inevitable. Means an operation signal that includes the turning operation of. Therefore, according to the above configuration, even if the operator performs an erroneous operation, there is no possibility that the elbow portion will collide with an obstacle, and the workbench is safely moved in the command direction according to the operation intention. By doing so, work at high places can be performed efficiently.

The vehicle body has a jack device capable of expanding and extending in the width direction of the vehicle body, and an overhang amount detector for detecting the amount of protrusion of the jack device in the width direction of the vehicle body. The bending / extending boom type aerial work vehicle can be configured so as to set the predetermined regulation range based on the overhang amount of the jack device detected by the overhang amount detector. In a high-altitude work vehicle that has a jack device that can be expanded and extended in the width direction of the vehicle body, when there is a standing obstacle such as a fence or wall on the side of the vehicle body, the overhang width of the jack is limited and it is inside the obstacle. It can only be extended to the (body side). That is, there is a possibility that an obstacle exists outside the overhang width of the jack. On the other hand, with respect to the vehicle body side (inside of the outermost part of the vehicle body) from the tip end position of the jack, since the jack is already overhanging within the range, it is estimated that the safety area does not have any standing objects such as walls or walls. be able to. The above configuration automatically sets the restricted area within the outermost part of the vehicle body based on such a judgment, so that the work load can be reduced and the problem when the setting of the restricted area is forgotten or an incorrect input is made beforehand. Can be prevented. It is needless to say that the automatically set restriction area can be configured to be able to be corrected according to the work environment.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a bending and stretching boom type aerial work vehicle according to the present invention will be described below with reference to the drawings. As an example of the bending / extension boom type aerial work vehicle according to the present invention, FIG. 13 illustrates an aerial work vehicle in which an up-and-down boom and a bending / extension boom can freely expand and contract. The aerial work vehicle 1 is configured based on a truck vehicle having a driving cabin 2a in front of a vehicle body 2 and capable of running on front and rear wheels 3a and 3b. At the rear of the vehicle body 2 is mounted a swivel table 4 driven by a swivel motor 51 so as to be able to turn horizontally. A base end is pivotally connected to the upper part of the swivel table 4 to extend and retract an up-and-down cylinder 52. The up-and-down boom 5 is attached so as to be able to move up and down in a vertical plane.

The undulating boom 5 includes a lower first boom 5a and a lower second boom 5b. The lower second boom 5b is inserted into the lower first boom 5a in a nesting manner, and the lower telescopic boom built in the boom is inserted. Cylinder 53 (see FIG. 3)
And is configured to be able to expand and contract.

At the tip of the lower second boom 5b, the bending / extension boom 6 can be raised and lowered (referred to as bending / extension) with respect to the lifting / lowering boom 5.
Are pivotally connected, and are configured to be able to bend and extend with respect to the up-and-down boom 5 on the same plane as the up-and-down operation surface of the up-and-down boom 5 by the expansion and contraction operation of the bending and extension cylinders 54 disposed on the left and right of the bending and extension boom 6. The bending / extending boom 6 includes an upper first boom 6a and an upper second boom 6b, and the upper second boom 6b is nested into the upper first boom 6a, and the upper telescopic cylinder 5 built in the boom is inserted.
5 (see FIG. 3) so that it can expand and contract.

A vertical post 7 is pivotally connected to the tip of the upper second boom 6b so as to be swingable in the same plane (in a vertical plane) as the operating surface of the up and down boom 5 and the up and down boom 6 of the up and down boom 6. The leveling control is performed by a leveling system (not shown) so that the vertical post 7 always extends vertically regardless of the undulating angle of the undulating boom 5 and the buckling angle of the buckling boom 6. The worktable 8 is attached to the vertical post that is always held vertically in such a manner that the worktable 8 can be swung horizontally (swing freely), and the floor surface of the worktable 8 is operated by the up and down operation of the up and down boom 5 and the bending and extension boom 6. Is always kept horizontal irrespective of the bending / stretching operation.

[0025] four locations of the front and rear left and right sides of the vehicle body 2, widened freely in the vertical direction stretchable to a outrigger jacks 17 in the width direction of the vehicle body 2 (17 L, _{17 R)} is provided. When performing aerial is operator left and right outriggers 17 L in accordance with a relative positional relationship with the surrounding _obstacles, 17 _R
Are extended in the vehicle body width direction and are projected downward to lift and support the vehicle body 2.

The workbench 8 is provided with a boom operating device 10 (see FIG. 3). The boom operating device 10 is provided with operation levers for giving operation commands to the swivel 4, the up-and-down boom 5, the bending / extending boom 6, and the like. , The up and down operation of the bending and stretching boom 6, the up and down operation of the bending and stretching boom 6, the swinging operation of the work table 8, and the like can be performed independently for each operating shaft. Also, by instructing the boom operating device 10 in the direction of movement of the worktable 8, the operation of each of the above operating axes is controlled in a complex manner, and the horizontal movement operation for linearly moving the worktable 8 in a horizontal plane, and the vertical movement It is possible to perform a vertical movement operation for linearly moving the inside. Such operation of the boom device is generally called a boom operation. Further, the aerial work vehicle 1 is provided with an automatic storage function for automatically storing the work table 8 located at a high position on the vehicle body 2, and an automatic storage switch for performing a command operation of the boom operation device 10 is provided. ing.

When a boom operation is performed on the boom operation device 10, the boom operation device 10 sends an operation signal corresponding to the operation content to the control unit 3 provided on the vehicle body side.
Output to 0. FIG. 3 shows the configuration of the operation control device including the control unit 30, and will be described below with reference to FIG. When receiving an operation signal from the boom operating device 10, the control unit 30 outputs a command signal based on the operation signal to the hydraulic unit 40. In FIG. 3, the electric or optical signal circuit is indicated by a solid line, and the hydraulic circuit is indicated by a dotted line.

The hydraulic unit 40 includes a tank 41 for storing hydraulic oil, a hydraulic pump 42 driven by an engine or an electric motor to discharge hydraulic oil of a predetermined hydraulic pressure and flow rate, and a hydraulic oil discharged from the hydraulic pump 42 as a command signal. proportional solenoid valve SV ₁ Sv ₇ to supply control to the hydraulic actuator 50, such as a swing motor 51 and derricking cylinder 52 in the supply direction and the supply amount based, (not shown) an oil cooler for cooling the temperature increased hydraulic oil etc. It is configured. The hydraulic unit 40 is a unit that controls the flow of hydraulic oil supplied to each hydraulic actuator 50 in response to a command signal from the control unit 30, thereby controlling the operation of each hydraulic actuator 50.

The control unit 30 is also supplied with a detection signal from a boom position detection device 20 for detecting the position of the tip of the boom 5 relative to the vehicle body 2 and the position of the worktable 8. The boom position detection device 20 includes a turning angle detector 21 that detects a turning angle of the turning table 4 with respect to the vehicle body 2, an up / down angle detector 22 that detects an up / down angle of the up / down boom 5,
A lower extension amount detector 23 for detecting the extension amount of the lower second boom in the up-and-down boom 5, a flexion / extension angle detector 24 for detecting a flexion / extension angle of the flexion / extension boom 6 with respect to the elevation boom 5, and an extension of the upper second boom in the extension / boom 6 It is composed of an upper extension amount detector 25 for detecting the amount, and the like.
Each detected value is input to the control unit 30. The outrigger jacks 17 _L and 17 _R are provided with jack extension detectors 28 for detecting the extension of the jacks in the vehicle width direction, and the detected values are input to the control unit 30.

The control unit 30 has an arithmetic processing circuit 31 and a regulation range memory 32 for storing the regulation range. Control unit 30
The arithmetic processing circuit 31 calculates the position of the tip of the up-and-down boom 5 with respect to the vehicle body 2, that is, the position of the elbow E and the position of the worktable 8, based on the position detection signal input from the boom position detection device 20. Based on these positions and the operation signals input from the boom operating device 10, the operation of the boom device is controlled as described below.

Since the control contents of the control unit 30 are different depending on the operation signal from the boom operation device 10, the operation will be described below for each operation signal from the operation device.

First, FIGS. 1 and 2 show a plan view of the aerial work vehicle 1 as viewed from above and a side view as viewed from behind the vehicle body. In the first embodiment, a boom posture as shown in both figures is shown. The control unit 3 when the turning operation signal for commanding the turning operation of the turning table 4 is input from the boom operating device 10 at
The control content of 0 will be described.

In this embodiment, the control unit 30 is provided with the position of the work table 8 with respect to the vehicle body 2 input from the boom position detector 20 and the jack extension detector 2.
Based on the jack overhang amount W _J inputted from the side 8, the jack overhang amount W _J is located on the side area opposite to the worktable 8 across the swivel table 4 in a plan view from the vehicle body lateral side outside the jack overhang amount W _J (in the figure). A case will be described in which a region indicated by hatching is automatically set in the restriction range memory 32 as the restriction range S. That is, in the illustrated embodiment, the restriction range S is automatically set to the left side of the vehicle body, and the set value W _S = W _J.

At this time, the turning table 4 is turned on in accordance with the turning operation signal.
Is rotated in the direction T, a situation occurs in which the tip end of the up-and-down boom 5, that is, the elbow portion E of the boom device, exceeds the regulation range S at the position P where the elbow E has turned by a certain angle.

In the arithmetic processing circuit 1 in the control unit 30, the turning angle detector 21, the undulation angle detector 22,
The position of the elbow portion E with respect to the vehicle body 2 is calculated based on each position detection signal input from the lower extension detector 23. When an operation signal for turning operation is input from the boom operation device 10, this operation signal is output. Is calculated for the elbow E corresponding to. Then, the elbow section E is obtained from the predicted trajectory and the regulation range S stored in the regulation range memory 32.
Is determined to exceed the regulation range S, and the operation of the boom device is controlled so that the elbow portion E passes through the range of the regulation range S.

For example, as schematically shown by a two-dot chain line in FIG. 4, the turning base 4 is turned on the basis of a turning operation signal, and the raising / lowering boom 5 is raised in accordance with the turning angle of the turning base 4. Activate the turning radius R _E of the elbow section _E (Fig. 1
) Is reduced, and the elbow portion E is controlled to pass through the range of the regulation range S. At this time, the bending / extending operation and the elongating / retracting operation of the bending / extension boom 6 are synchronously controlled so that the work table 8 turns and moves according to the original turning movement trajectory (the turning movement trajectory when there is no regulation range S) T. This control is specifically performed by controlling an electromagnetic proportional valve in the hydraulic unit 40, and the control unit 30 controls the operation of the electromagnetic proportional valves SV ₂ , SV ₄ and SV ₅ to turn the turning motor 51. The operation of the up / down cylinder 52, the bending / extension cylinder 54, and the upper telescopic cylinder 55 is controlled accordingly, and the work table 8 is moved as described above.

Alternatively, it is schematically shown by a two-dot chain line in FIG.
The swivel base 4 is swung based on the swivel operation signal.
In accordance with the swivel angle of the swivel table 4.
And the turning radius R of the elbow E_EShrink
And the elbow section E passes through the regulation range S.
Control. At the same time, bending and stretching of the bending and boom 6
Movement and extension operation are controlled synchronously, and
The trajectory is moved along the trajectory T. Specifically
Is controlled by controlling the electromagnetic proportional valve in the hydraulic unit 40.
The control unit 30 is controlled by the solenoid proportional valve SV._Three,
SV_FourAnd SV _FiveOf the swing motor 51 by controlling the operation of
Lower telescopic cylinder 53, bending / extension cylinder
54 and the operation of the upper telescopic cylinder 55,
The work table 8 is moved as described above.

According to the above operation control, the work table 8
The control unit 30 performs the avoidance control as shown in FIG. 4 or FIG. 5 to perform the turning operation even when the operator who rides on the turning table 4 performs the turning operation without noticing the existence of the obstacle. Therefore, the elbow portion E does not move beyond the regulation range S and collides with an obstacle. Further, according to the avoidance control as described above, the worktable 8 moves along the same movement trajectory as when the swivel base 4 is swung in the state where there is no restriction range S. Therefore, the workbench can be moved safely and efficiently without giving a sense of incongruity to the operator. When the avoidance control is being performed as described above, the fact that the avoidance control is being performed is notified by an alarm device 80 such as a display lamp or a buzzer provided on the boom operating device 10.

In the case where the up-and-down boom 5 and the bending / extension boom 6 do not have the telescopic boom, or when the lower second boom 5b and the upper second boom 6b are both fully contracted, the work table 8 is not used. Cannot be moved along the original movement locus. In such a case, the avoidance control shown in FIG. 6 or FIG. 7 is performed based on a preset selection, as schematically showing the operation of the boom device in FIG. 6 and FIG.

In the control example shown in FIG. 6, the control unit 30 turns the swivel base 4 based on the swivel operation signal, and raises and lowers the boom 5 in accordance with the swivel angle of the swivel base 4 to control the elbow section. E is controlled so as to pass through the range of the regulation range S, and the bending / extending operation of the bending / extending boom 6 is synchronously controlled so that the worktable ₈ turns while maintaining the turning radius R8 in plan view. According to such avoidance control, the height position of the worktable 8 changes,
It is possible to move the work platform without changing the turning radius R ₈ in the plan view of the worktable 8. Therefore, in a work situation in which there is an obstacle on the elbow section side and a work object ahead of the worktable with the turntable 4 interposed therebetween, the elbow section E and the worktable 8 can be safely moved without colliding together. .

In the control example shown in FIG. 7, the control unit 30 turns the swivel base 4 based on the swivel operation signal, and raises and lowers the boom 5 according to the swivel angle of the swivel base 4. The bending and extension operation of the bending and extension boom 6 is synchronously controlled such that the elbow portion E is controlled to pass through the range of the regulation range S and the worktable 8 is turned while maintaining the height h with respect to the vehicle body. According to such avoidance control, the turning radius of the work table 8 changes, but the work table can be moved without changing the height position h of the work table 8. Therefore, in a work situation where there is a work object above or below the worktable 8, the worktable 8
Can be safely moved without being abutted or pinched.

Next, when a moving operation signal for commanding the moving direction of the worktable 8 is input from the boom operating device 10,
The control contents of the control unit 30 will be described with reference to FIG. In the second embodiment, the operation performed when a movement operation signal for moving the work table 8 horizontally and linearly (a movement operation signal of the work table including the swivel operation of the swivel table 4) is input in the same boom posture as in FIG. Control.

In a boom posture as shown in FIG. 8, when a moving operation signal for linearly moving the work table 8 in the direction of arrow H in the horizontal plane is input, the control unit 30
Calculates the amount of operation of each operation axis necessary to move the work table 8 in the movement direction according to the movement operation signal from the work table position and the movement operation signal input from the boom position detector 20. The operation of each operating shaft is controlled based on the calculation result. In the illustrated boom posture, the turning table 4 is turned, the bending / extension boom 6 is bent / extended, and the bending / extension boom 6 is contracted, so that the operation table 8 is controlled to move horizontally and linearly.

In such an operation control, however, the swivel operation of the swivel 4 causes the elbow portion E to move to the position P and the restricted range S.
Beyond. The control unit 30 predicts and calculates that the elbow portion E exceeds the restriction range S from the predicted trajectory corresponding to the movement operation signal and the restriction range S stored in the restriction range memory 32, Control the operation of the boom device to pass through the range.

For example, as shown in FIG.
Is turned, and according to the turning angle of the turntable 4.
Raise and lower the boom 5 and rotate the elbow E halfway
Diameter R _EAnd the elbow part E is within the regulation range S
And the bending and extension of the bending and boom 6
The worktable 8 moves by performing synchronous control of the extension operation and the contraction operation.
The operation is controlled so as to follow the movement locus H according to the operation signal.

Alternatively, as shown in FIG.
Is turned, and according to the turning angle of the turntable 4.
The up-and-down boom 5 is retracted to rotate the elbow E halfway.
Diameter R _EAnd the elbow part E is within the regulation range S
And the bending and extension of the bending and boom 6
The workbench 8 controls the operation signal by synchronizing the
The operation is controlled so as to follow the true movement trajectory H.

Therefore, according to the above operation control,
Even when the operator boarding the work table 8 performs a linear movement operation involving the turning operation of the turn table 4 without noticing the existence of an obstacle, the control unit 30 performs the avoidance control and activates the boom device. As a result, the elbow portion E does not move beyond the regulation range S and collide with an obstacle.

In the above, the setting means of the restriction range S is determined based on the position of the worktable 8 detected by the boom position detector 20 and the jack extension W _J detected by the jack extension detector 28. , Jack overhang W _J on the opposite side of the worktable
Has been described in the regulation range memory 32 as the regulation range set value W _S , the jack overhang amount W _J is set as the initial value of the regulation range S on both the left and right sides of the vehicle body at the start of work. A configuration may be adopted in which the setting is automatically made in the memory 32 and one of the restriction ranges is released as required by the operator's selection.

If the amount of jack extension of the front and rear outrigger jacks is different, one of the jack extension amounts (for example, the inner jack extension amount) is set to the set value W of the regulation range.
_In addition to the method of setting as S and providing a restriction range S parallel to the side of the vehicle body, it is also possible to provide a restriction range oblique to the vehicle body with a line connecting the front and rear jacks as the restriction value.
Further, the vehicle body values and which outermost certain constant the jack bulging amount W _J a limit (for example, jack-based dimensions and predetermined margin dimensions and the like) is added or subtracted, multiplied by a predetermined coefficient (e.g., safety factor, etc.) It is also possible to adopt a configuration in which the set value is automatically set in the control range memory 32 as the control range.

Further, in setting the restriction range S, the boom device is actually operated to move the elbow portion E to a position immediately before interference with an obstacle, and the restriction range setting button is pressed at that position to set an arbitrary position. It is also possible to configure to set.

Next, a third embodiment of the present invention will be described with reference to FIGS. In this embodiment, the work table 8
This relates to an operation control performed when a moving operation such that the work table 8 moves up and down vertically and a moving operation such that the work table 8 moves horizontally within the up / down operation surface of the up / down boom are performed. 9 and 10 are a plan view of the aerial work vehicle 1 as viewed from above and a side view as viewed from the rear of the vehicle body, similarly to FIGS. 1 and 2. Moreover, the regulation range S that is automatically set based on the bulging amount W _J outrigger jacks 17 in this embodiment,
Operator indicates an example of setting changes the setting value W _S in accordance with the working environment.

In the boom posture as shown in both figures, when a movement operation signal for vertically moving the worktable 8 in the direction indicated by the arrow V in the figures is input, the control unit 30 normally operates the up-and-down boom 5. Operation, bending boom 6
And the bending / extension boom 6 is contracted to control the operation so that the worktable 8 is lowered vertically.

[0053] However, such actuation control, increased turning radius R _E of the elbow by lodging operation undulations boom 5, elbow E is exceeds the regulation range S in position P. The control unit 30 predicts and calculates that the elbow portion E exceeds the restriction range S from the predicted trajectory corresponding to the movement operation signal and the restriction range S stored in the restriction range memory 32, The operation of the boom device is controlled to be within the range.

For example, as shown schematically by a two-dot chain line in FIG. 10, the lowering operation of the hoisting boom 5 is restricted at a predetermined hoisting angle, and the bending and lowering operation of the bending and extending boom 6 and the contraction of the bending and expanding boom 6 are performed. In synchronization with the long operation, the operation control is performed so that the work table 8 follows the movement trajectory V in accordance with the movement operation signal in a state where the elbow portion E is located within the regulation range S. Specifically, the control unit 30 is a solenoid proportional valve SV ₂
The operation of the solenoid proportional valves SV ₄ and S
And synchronously controlled actuation of V ₅ controls the operation of the bending cylinder 54 and the upper telescopic cylinder 55, the work table 8 to the operation control so as to pass through the moving track V of the moving operation signal as expected. At this time, it may be configured such that the lengthening operation of the hoisting boom 5 is synchronously controlled.

When an operation signal for horizontally moving the work table 8 is input in the direction of the up-and-down axis of the boom indicated by the arrow H in the drawing, the control unit 30 normally operates the up-and-down boom 5 in a down-tilting operation and bending and extension. The operation control is performed such that the boom 6 is bent and extended and the bending and extension boom 6 is contracted and the worktable 8 is horizontally moved.

However, in such an operation control, the elbow portion E exceeds the regulation range S at the position P due to the falling operation of the up-and-down boom 5 similarly to the vertical movement. The control unit 30 predicts and calculates that the elbow E exceeds the restricted range S from the predicted trajectory corresponding to the operation signal and the restricted range S stored in the restricted range memory 32. The operation of the boom device is controlled so as to be located within the boom device.

For example, as schematically shown by an upper two-dot chain line in FIG. 10, the operation of restricting the raising and lowering boom 5 at a predetermined raising and lowering angle is performed, and the bending and extending boom 6 is bent and extended and the bending and expanding boom 6 is contracted. In synchronization with the long operation, the operation control is performed so that the worktable 8 follows the horizontal movement trajectory H in accordance with the movement operation signal in a state where the elbow portion E is located within the regulation range S. The specific control target is the same as in the above embodiment.

Therefore, according to the above operation control,
Even when the worker boarding the work table 8 performs a linear movement operation involving the raising and lowering operation of the raising and lowering boom 5 without noticing the presence of the obstacle, the control unit 30 performs the avoidance control to control the boom device. As a result, the elbow portion E does not move beyond the regulation range S and collide with an obstacle.

Next, a fourth embodiment of the present invention will be described with reference to FIG.
This will be described with reference to FIG. This embodiment relates to operation control when the boom device is automatically retracted on the vehicle body 2. Note that the setting of the boom posture and the restriction range S of the aerial work vehicle 1 shown in FIG.
This is the same as the boom posture and the regulation range S of the third embodiment described with reference to FIG. The storage posture of the boom device in the aerial work vehicle 1 is such that the bending / extending boom 6 and the undulating boom 5 are folded up and down, the elbow portion E is stored in front of the vehicle body 2, and the worktable 8 is This is a storage posture of so-called rear storage, which is stored behind.

Here, at the turning position of the swivel base 4 as shown in FIG. 9, turning the swivel base 4 clockwise in the drawing has a smaller swiveling operation angle up to the storage and raising and lowering the boom 5. The angle is raised at a large undulation angle as shown in FIG. Therefore, in the automatic storage control, it is general that the swivel base 4 is turned clockwise in FIG. 9 and the up-and-down boom 5 is turned down to store the boom device. However, according to such operation control,
Each of the above operations is an operation in the direction in which the elbow portion E approaches the restriction range S, and the slightest boom operation causes the restriction range S
It is clear that

In such a situation, when the automatic storage switch is operated by the boom operating device 10 and the operation signal is input to the control unit 30, the control unit 30 operates the elbow section E detected by the boom position detector 20. The automatic storage control is performed as follows from the position and the restriction range S set in the restriction range memory.

First, the control unit 30 starts the extension / reduction operation of the undulating boom 5, the extension / reduction operation of the extension / reduction boom 6, and the extension / reduction operation of the extension / reduction boom 6. In addition, the regulation range S
Since the radius swivel elbow portion required the swivel base 4 in order to clockwise turning without exceeding the R _E (see FIG. 9) is less than W _S, derricking angle of undulations boom satisfying this turning radius R _E θ is calculated by the arithmetic processing circuit 31 and the undulation angle θ
The raising / lowering boom 5 is raised up to this point. Incidentally, when the Chijimicho operating only the turning radius R _E of the undulations boom 5 is less than W _S is maintained while the derricking angle without the above Okoshiossha operation.

Then, the work table 4 is maintained while maintaining the undulating angle.
When the turning angle with respect to the vehicle body 2 falls within a range of a predetermined storage turning angle (for example, about ± 5 degrees with respect to the reference storage angle), the tilting operation of the up-and-down boom 5 is started, Store in the storage location.

According to the automatic storage control described above, the control section 30 sets the restriction range S based on the restriction range S set by the control unit 30 and the position of the elbow section E detected by the boom position detector. Since the boom device is operated by performing the avoidance control for automatically avoiding the vehicle so that the vehicle does not exceed it, the elbow portion E does not collide with an obstacle.

[0065] In the embodiments above, has been disclosed an example of setting the planar regulation range S standing upright at a predetermined distance W _S in the width direction of the vehicle body 2, setting the position of the regulating range is only the vehicle width direction It can also be set in the front-rear direction, and the setting range of the restriction range can be specified not only in a plane but also in steps, in a slope with a predetermined angle, or by the undulation angle of the undulating boom It is.

In the embodiment, the case where the movement operation signal for the horizontal linear movement and the movement operation signal for the vertical linear movement are input to the control unit has been described. However, these signals are disassembled for each operation axis. What is input is also applicable. That is, the control unit predicts and calculates the movement locus of the elbow section corresponding to these operation signals, and operates the boom device such that the elbow section is located within the regulation range and the worktable moves in the direction in which the operation signals are synthesized. Can be controlled.

Further, in the embodiment, the case where both the up-and-down boom and the bending / extension boom have the extendable and retractable booms has been mainly described, but the present invention controls the tip of the up-and-down boom so that it is located within a predetermined regulation range. What is necessary is to have a boom type in a possible form. An over-type boom device may be used.

[0068]

As described above, the present invention relates to a boom device provided on a vehicle body so as to be capable of turning, raising and lowering, and bending and extending, and a work table provided at a distal end of the boom device. In an aerial vehicle equipped with a boom operating device that operates the boom device and an operation control device that controls the operation of the boom device based on an operation signal from the boom operating device, the position of the tip of the up-and-down boom with respect to the vehicle body When the operation control device operates the boom device based on the operation signal, the position of the tip of the up-and-down boom detected by the position detector is set to the side of the vehicle body. The operation of the boom device is controlled so as to be located within a predetermined regulation range within the outermost portion of the vehicle body, thereby forming a bending and stretching boom type aerial work platform. For this reason, even if the worker boarding the work platform is distracted by the object at hand and performs an operation operation such that the tip of the up-and-down boom (elbow section) interferes with an obstacle, Since the operation control device controls the operation so that the boom tip is located within the safety area, this portion does not accidentally collide with an obstacle.

When the operation signal is a turning operation signal for instructing the turning operation of the turntable, the operation control device may include:
The up-down operation of the up-down boom and the up-down operation of the up-down boom are controlled so that the tip of the up-down boom passes through the predetermined regulation range and the work table turns while maintaining the turning radius in plan view. To form a bending and extension boom type aerial work vehicle. Therefore, even if the operator performs an erroneous operation, there is no danger that the elbow portion or the tip of the workbench will collide with an obstacle, and the workbench is safely turned and efficiently moved to a high place. Work can be done.

When the operation signal is a turning operation signal for instructing the turning operation of the swivel base, the operation control device determines that the front end of the up-and-down boom passes within a predetermined regulation range and the work table is moved with respect to the vehicle body. A bending / extension boom type aerial work vehicle is configured by controlling the raising / lowering operation of the raising / lowering boom and the bending / extension operation of the bending / extension boom so as to turn while maintaining the height position.
Therefore, even if the operator performs an erroneous operation, there is no danger that the elbow section or the bottom of the worktable will collide with an obstacle, and the workbench is safely turned to efficiently work at a high place. It can be performed.

When at least one of the up-and-down boom and the bending / extension boom is configured to be extendable and retractable, and the operation signal is a turning operation signal for commanding a turning operation of the swivel base, the operation control device includes: Of the boom, the bending of the bending boom, the bending of the bending boom, and the bending of the boom so that the workbench turns while maintaining the turning radius in plan view and the height position with respect to the vehicle body. At least one of the extension / retraction operation of the boom and the extension / retraction operation of the bending / extension boom is controlled to constitute the extension / extension boom type aerial work platform. According to such a configuration, the operation control device controls the operation of the boom device so that the workbench turns along the original turning trajectory so that the tip of the up-and-down boom does not exceed the regulation range. Therefore, even if the operator performs an erroneous operation operation, the elbow section or the work table does not collide with an obstacle, and the work table can be safely turned and moved according to the operator's operation intention. Elevated work can be performed efficiently.

Further, at least one of the raising / lowering boom and the bending / extending boom is configured to be extendable and retractable, and the operation signal is a movement operation signal for instructing the moving direction of the worktable, and the movement operation signal is a turning operation of the turntable. In this case, the operation control device performs the turning operation of the swivel base, the up-and-down movement of the up-and-down boom so that the tip of the up-and-down boom passes through a predetermined restriction range, and the work table moves in the moving direction according to the moving operation signal. At least one of the operation, the bending / extension operation of the bending / extension boom, the expansion / contraction operation of the up / down boom, and the expansion / contraction operation of the bending / extension boom is controlled to constitute a bending / extension boom-type work platform. According to such a configuration, the operation control device controls the operation of the other operating shaft such as the telescopic boom while controlling the operation of the up-and-down boom so that the tip of the up-and-down boom does not exceed the regulation range. The platform was moved in the direction of the signal. Therefore,
Even if the operator performs an incorrect operation, there is no danger that the elbow will collide with an obstacle. It can be carried out.

[Brief description of the drawings]

FIG. 1 is an explanatory view for explaining an operation of a bending and stretching boom type aerial work vehicle according to the present invention, and is a plan view of the aerial work vehicle as viewed from above.

FIG. 2 is an explanatory view for explaining the operation of the bending and stretching boom type aerial work vehicle according to the present invention, and is a side view of the aerial work vehicle shown in FIG. 1 as viewed from the rear of the vehicle body.

FIG. 3 is a block diagram illustrating a configuration of a control device used in the bending and stretching boom type aerial work vehicle according to the present invention.

FIG. 4 is a side view of the aerial work vehicle as viewed from the rear of the vehicle body, and is an explanatory diagram illustrating a control example of a control device when a turning operation is performed in a boom posture illustrated in FIGS. 1 and 2;

FIG. 5 is a side view of the aerial work vehicle as viewed from the rear of the vehicle body, and is an explanatory diagram illustrating another control example of the control device when the turning operation is performed in the boom posture illustrated in FIGS. 1 and 2; is there.

FIG. 6 is an explanatory view schematically showing another embodiment of the bending and extending boom type aerial work platform according to the present invention, and is a control device when a turning operation is performed in the boom posture shown in FIGS. 1 and 2; FIG. 11 is an explanatory diagram showing another control example.

FIG. 7 is an explanatory view schematically showing another embodiment of the bending and stretching boom type aerial work platform according to the present invention, and is a control device when a turning operation is performed in the boom posture shown in FIGS. 1 and 2; FIG. 11 is an explanatory diagram showing another control example.

8 is a plan view of the aerial work vehicle according to the present invention as viewed from above, and is a control example of the control device when a horizontal linear movement operation is performed in the direction of the arrow in the boom posture shown in FIGS. 1 and 2; FIG.

FIG. 9 is a plan view of the aerial work vehicle according to the present invention as viewed from above, and illustrates a control device when a vertical linear movement operation or a horizontal linear movement operation is performed in each arrow direction in the illustrated boom posture. FIG. 9 is an explanatory diagram for describing a control example.

10 is a side view of the aerial work vehicle shown in FIG. 9 as viewed from the rear of the vehicle body, and showing upper control when a vertical linear movement operation or a horizontal linear movement operation is performed in each arrow direction in the illustrated boom posture. It is explanatory drawing which shows the control example of an apparatus.

FIG. 11 is an explanatory diagram illustrating a control example of the control device when an automatic storing operation is performed in the boom posture illustrated in FIGS. 9 and 10;

FIG. 12 is an explanatory diagram showing a control example of the control device during automatic storage following FIG. 11;

FIG. 13 is a perspective view of a straight-extend boom type aerial work vehicle shown as an embodiment of the extendable boom-type aerial work vehicle according to the present invention.

[Explanation of symbols]

S Regulation range 1 Bending / extension boom type aerial work platform 2 Body 4 Turning table 5 Raising / lowering boom (5a lower first boom, 5b lower 2nd boom) 6 Bending / extension boom (6a upper first boom, 6b upper second boom) 8 work Table 10 Boom operating device 17 Outrigger jack (jack device) 20 Boom position detector (position detecting means) 28 Jack overhang amount detector (overhang amount detector) 30 Control unit (operation control device)

Continuing from the front page (72) Inventor Kenji Kamei 41-1 Higashimine Sukawa, Shinji-mura, Tone-gun, Gunma F-term in the Aichi Corporation Shinji Works (reference) 3F333 AA08 AB01 AB02 FA11 FA22 FD01

Claims (5)

[Claims] 1. A vehicle body, comprising: a swivel table attached to the vehicle body so as to be horizontally swivelable; an up-and-down boom provided to be able to move up and down on the swivel table; and a bending and extending boom provided to be capable of bending and extending to the up and down boom. A boom device, a workbench disposed at the tip of the boom device, a boom operating device for operating the boom device, and controlling the operation of the boom device based on an operation signal from the boom operating device An aerial work vehicle, comprising: a position detection unit configured to detect a position of a tip portion of the hoisting boom with respect to the vehicle body, wherein the operation control device controls the boom device based on the operation signal. When operating, the position of the tip of the up-and-down boom detected by the position detector is within a predetermined regulation range within the outermost of the vehicle body set to the side of the vehicle body. A bending and extension boom type aerial work vehicle, wherein the operation of the boom device is controlled so as to be located at 2. The operation control device according to claim 1, wherein the operation signal is a turning operation signal for commanding a turning operation of the turning table. The bending / extension boom type height according to claim 1, wherein the raising / lowering operation of the raising / lowering boom and the bending / extension operation of the bending / extension boom are controlled such that the table turns while maintaining a turning radius in a plan view. Work vehicle. 3. The operation control device according to claim 2, wherein the operation signal is a turning operation signal for commanding a turning operation of the turning table, wherein the operation control device is configured to move a tip end of the up-and-down boom through the predetermined regulation range, and The bending / extension boom type according to claim 1, wherein the raising / lowering operation of the raising / lowering boom and the bending / extension operation of the bending / extension boom are controlled such that the table turns while maintaining a height position with respect to the vehicle body. Aerial work vehicles. 4. The operation control device, wherein at least one of the up-and-down boom and the bending / extending boom is configured to be able to expand and contract, and the operation signal is a turning operation signal for commanding a turning operation of the turning table. Raising and lowering the hoisting boom so that the tip of the hoisting boom passes through the predetermined regulation range, and the worktable turns while maintaining a turning radius in plan view and a height position with respect to the vehicle body. The bending / extension boom type aerial work vehicle according to claim 1, wherein at least one of an operation, a bending / extension operation of the bending / extension boom, an extension / retraction operation of the up / down boom, and an extension / extension operation of the bending / extension boom is controlled. . 5. At least one of the up-and-down boom and the bending / extending boom is configured to be able to expand and contract, and the operation signal is a movement operation signal for commanding a movement direction of the worktable, and the movement operation signal is the movement operation signal. In the case of including the swiveling operation of the swivel table, the operation control device, the tip of the hoisting boom passes through the predetermined regulation range, so that the work table moves in the moving direction according to the moving operation signal, Controlling at least one of a swing operation of the swivel base, an up / down operation of the up / down boom, an up / down operation of the bending / extension boom, an extension / extension operation of the up / down boom, and an extension / extension operation of the bending / extension boom. Item 4. A bending and stretching boom type aerial work vehicle according to Item 1.