JP2003128394A - Operation control device for post - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation control device for a post, capable of automatically stopping a post within a preset vertical rocking range and making fine adjustment. SOLUTION: This operation control device is provided with a vertical operation switch 31, a post derrick cylinder 55 for operating the post 10, and a controller 40 for controlling the post 10 to be bent by the post derrick cylinder 55 according to the operation of the vertical operation switch 31. The operation of the post derrick cylinder 55 is controlled by the controller 40 so that when the post 10 is moved within the preset vertical rocking range, the post 10 is stopped.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a boom in which a hoisting motion or the like is freely arranged on a vehicle body, a post pivotally connected to a tip end portion of the boom in a vertically swingable manner, and a vertical end portion to a tip end portion of the post. The present invention relates to an aerial work vehicle including a work platform pivotally connected to the work platform.

[0002]

2. Description of the Related Art The aerial work vehicle as described above has already been used, and one example thereof is an aerial work vehicle called a bridge inspection vehicle or an overfence work vehicle. A bridge inspection vehicle has a body of a vehicle that can travel freely, a hoisting boom that can be hoisted, expanded, retracted, and swung, a post that is pivotally connected to the tip of the hoisting boom, and a tip of the post. And a workbench pivotally connected to each other in a vertically swingable manner. Workers board the workbench and move the workbench by their own operations to perform work at a desired position, for example, to repair or inspect the side or lower part of the bridge, or to repair the backside of the soundproof wall. Inspection work can be performed.

In such a bridge inspection vehicle, safety measures are considered to prevent the vehicle body from tipping over due to a tipping moment (a moment acting in the direction of tipping over the vehicle body). As an example thereof, a region in which the post can be extended and the work platform can be swung without the vehicle body being overturned (hereinafter referred to as “vertical swing range”, for example, the deflection angle θ that is an angle formed by the vertical axis and the post is ± 2. By setting the post so that it falls within this vertical swing range and extending the post downwards and horizontally rotating the workbench relative to the post, you can safely I am ready to work.

[0004]

By the way, in the conventional bridge inspection vehicle, the posts were previously fixed vertically to ensure safety as described above. In other words, both when working and when storing
Since the post was held vertically, it was difficult to control the vehicle height. Therefore, in order to suppress the vehicle height, there is a configuration in which the post is laid down horizontally and stored in the vehicle body as shown in FIG. When carrying out work with such a bridge inspection vehicle, it is necessary to move the post from the retracted storage position in the horizontal direction to the preset vertical swing range. Since it is a narrow range of ± 2 degrees, it is troublesome for the operator to manually operate the operation means for keeping the post within this range, and there is a problem that workability is deteriorated.

The present invention has been made in view of the above problems, and automatically stops the post in the vertical swing range,
An object is to provide a post operation control device capable of improving workability.

A bridge inspection vehicle is a work vehicle that mainly performs work by moving a work table downward (that is, in the direction of the negative head) from the road above the bridge, but is classified as an aerial work vehicle because of the form of the vehicle. Therefore, the aerial work vehicle referred to in the present specification is also used to mean such a work vehicle.

[0007]

In order to achieve the above-mentioned object, the present invention provides a boom, which is provided on a vehicle body such that the boom can be freely moved up and down, and a tip portion of the boom between a retracted position and a working position. A post operation control device in an aerial work vehicle that includes a post pivotally connected to the post and a work platform pivotally pivoted up and down at the tip of the post, and detects the post swing angle. Post angle detection means (for example, the post angle sensor 45 in the embodiment), operation means for transmitting an operation signal for operating the post (for example, the vertical operation switch 31 in the embodiment), and operation of the post. The post actuating actuator (for example, the post hoisting cylinder 55 in the embodiment) and the post actuating actuator swings the post between the retracted position and the working position in response to the operation of the operating means. Performs control, swing angle of the post, which is detected by the post angle detection means, preset vertical swing range (e.g., -2 degrees in the present embodiment <deflection angle θ
And a controller that controls the operation of the post-actuating actuator so that the swing of the post is stopped when it is determined that the post has moved within <2 degrees.

According to the above-described post operation control device, the controller controls the operation of the post operation actuator so that the post oscillation is automatically stopped when the post moves within a preset vertical oscillation range. So
Since the operator can put the post in the vertical swing range without manually operating the complicated operation means,
Workability is improved.

Further, in the post operation control device having the above-described structure, the swing angle of the post detected by the post angle detecting means has a preset vertical vicinity range including the vertical swing range (for example, in the present embodiment, − 10 degrees <deflection angle θ <10 degrees)
When it is inside, the operation control of the post actuating actuator is performed so that the post does not swing in the vertical swing range even if the operating means is operated, and the post is oscillated according to the operation of the operating means. It may be performed.

According to the operation control device of the post having the above-mentioned structure, the controller does not stop the post within the vertical swing range even if the operating means is operated when the post is positioned within the vertical vicinity range. The post can be rocked according to the operation of. Therefore, the operator can freely make fine adjustments to the post within the vertical vicinity.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. As an example of the aerial work vehicle according to the present invention, a vehicle side view of the bridge inspection vehicle 1 in a stored state is shown in FIG. 2, a vehicle side view of the bridge inspection vehicle 1 is shown in FIG. 3, and a bridge inspection vehicle in a working state. FIG. 4 shows a view of the vehicle 1 viewed from the rear of the vehicle. The bridge inspection vehicle 1 has a driving cabin 2a in the front and is configured based on a truck chassis that can run with front and rear tire wheels 3a and 3b. Driving cabin 2
A swivel base 4 is mounted on the vehicle body 2 behind a so as to project upward, and can swivel horizontally. The swivel base 4 is swiveled and driven by a swivel motor 51 provided below the swivel base 4. A boom 5 is pivotally connected to the upper part of the swivel base 4,
And the boom 5 are connected to the boom 5, and the hoisting cylinder 52 stretches the hoisting motion. The boom 5 is composed of a base boom 5 a pivotally connected to the swivel base 4 and a tip boom 5 b that is telescopically inserted into the base boom 5 a, and a telescopic cylinder 53 mounted inside the boom 5 is used. It is constructed so that it can expand and contract.

A bending post 6 is provided at the tip of the tip boom 5b.
Is pivotally connected so as to be vertically swingable, and a link arm 7 is pivotally connected coaxially with the swing shaft of the bending / stretching post 6. The rod-side end of the post leveling cylinder 54 is pivotally connected to the upper end of the link arm 7,
The bottom side end of the is connected to the inside of the tip boom 5b.
Further, the rod-side end of the post hoisting cylinder 55 is pivotally connected to the lower end of the link arm 7, and the bottom-side end of this cylinder is pivotally connected to the lower part of the bending / extending post 6. A post 10 is fixed to the front end of the bending / stretching post 6.

The post hoisting cylinder 55 is expanded and contracted by an independent operation operation, and the link arm 7 and the tip boom 5 are moved.
The bending / stretching post 6 can be swung up and down with respect to b to set the post 10 at a desired bending / stretching angle position. Note that the post 10 is normally held vertically as shown in FIGS. 3 and 4 to perform work, and as shown in FIG.
It is stored by being folded horizontally on the vehicle body 2 so as to be overlaid above. On the other hand, the bottom side oil chamber of the post leveling cylinder 54 and the rod side oil chamber of the hoisting cylinder 52 are connected by an oil passage to form a so-called hydraulic circuit type leveling mechanism, and the boom 5 is hoisted (tilted). At this time, the bending / extending post 6 is tilted (elevated) by the same angle as the hoisting angle of the boom 5 via the link arm 7 and the post hoisting cylinder 55, and the post 10 is constantly operated regardless of the hoisting angle of the boom 5. Acts to hold vertical.

The post 10 includes a holder 10h fixed to the bending / extending post 6, and a first post 10a, a second post 10b, and a third post 1 which are telescopically inserted into the holder 10h.
0c and the fourth post 10d, and the lifting cylinder 56 stretched between the holder 10h and the first post 10a.
Also, the first to fourth posts 10 to 10d are configured to be capable of expanding and contracting with respect to the holder 10h by an expansion and contraction mechanism including a chain loop arranged inside the post. An arm 11 is pivotally connected to the tip portion of the fourth post 10d so as to be swingable with respect to the extending direction of the post (swingable in the direction orthogonal to the paper surface of FIGS. 3 and 4), and an arm swiveling cylinder (not shown). Driven by. It should be noted that the swing operation of the arm 11 (referred to as swinging) is allowed only when the post 10 is in a horizontal state.
Is used when the vehicle is stored in the vehicle body 2.

A swivel base 12 is pivotally connected to the tip of the arm 11 so as to be vertically swingable, and a workbench leveling cylinder 57 is stretched between the base end of the arm 11 and the upper end of the swivel base 12. It has been passed. A worktable bracket 13 that can be swiveled with respect to the swivel base 12 is fixed to a lower end of the worktable bracket 13 so that the worktable bracket 13 can extend and contract in a direction orthogonal to the swivel axis of the worktable bracket 13. A workbench 20 is attached via a flexible telescopic beam 14.

The operation of the workbench leveling cylinder 57 is controlled by a so-called electric leveling device. That is, the workbench leveling cylinder 57 is controlled in its expansion / contraction operation based on the detection signal of the tilt detector provided in the workbench 20, and the hoisting angle of the boom 5 and the post 1 are controlled.
Leveling control is performed so that the workbench 20 is always kept horizontal (the workbench bracket 13 is always extended vertically) regardless of the bending angle of 0. Note that the specific operation is performed by using the hydraulic pressure, and the leveling device controls the operation of the electromagnetic control valve to control the flow (supply direction and flow rate) of the hydraulic oil supplied to the workbench leveling cylinder 57. It is done by As a result, the floor of the workbench 20 is always kept horizontal regardless of the hoisting angle of the boom 5 and the bending / extending angle of the post 10, and is supported by the swivel base 12 so as to be horizontally swivelable.

A workbench 20 is attached so as to be expandable / contractible in the direction of expansion / contraction axis of the expansion / contraction beam 14. Telescopic beam 1
Reference numeral 4 denotes a base end beam 14a whose base end is fixedly mounted on the workbench bracket 13, an intermediate beam 14b telescopically inserted into the base end boom 14a, and a tip beam 14c.
The telescopic cylinder 58 disposed inside the telescopic beam 14 is operated to expand and contract, whereby the proximal beam 14
The intermediate beam 14b and the tip beam 14c can be expanded and contracted with respect to a.

The workbench 20 also has a swivel base 4 in a desired direction.
A swinging operation, a boom 5 undulating and expanding / contracting operation, a bending / extending post 6 undulating (bending / extending) operation, a post 10 expanding / contracting operation,
An operation device 30 is provided which operates the work table bracket 13 to rotate the work table bracket 13. Therefore, the workbench 2
By operating the operation device 30, the worker who is on board 0
The swivel 4 is swung in a desired direction, the boom 5 is hoisted and expanded / contracted, the bending / extending post 6 is hoisting (flexing), the post 10 is expanded / contracted, and the work platform bracket 13 is swung.
The workbench 20 can be enlarged / reduced.

Roller jacks 17 are provided at four positions on the front, rear, left and right of the vehicle body 2 so that the roller jacks 17 can be expanded and contracted to the left and right of the vehicle body 2 and can be expanded and contracted vertically. The roller jack 17 has an outrigger 17a that can be widened in the left-right direction of the vehicle body, a jack 17b that can be expanded and contracted in the vertical direction, and a roller 17c that is attached to the lower end of the jack 17b and can roll in the vehicle front-rear direction. As shown in FIG. 3, the roller 17c is grounded on the road surface to stably support the vehicle body against the overturning moment acting on the vehicle body, and the vehicle can be moved forward and backward. There is. Use the roller jack 17 to move the vehicle back and forth with a constant boom posture,
It is also possible to do work. In this bridge inspection vehicle 1, the operating device 30 and the driving cabin 2a are provided with a communication device including a microphone and a speaker, and the roller jack 17 is used by mutual communication through this communication device. Since the vehicle can be moved forward and backward while maintaining a constant boom posture, other workers can operate the cabin 2a.
By performing the traveling operation of the vehicle body 2 from above, the worker on the workbench 20 can also continuously perform repair / inspection work over the entire area of the bridge B.

The post operation control device 70 provided in the bridge inspection vehicle 1 having such a structure will be described. As shown in FIG. 1, the post operation control device 70 of the present invention is provided with a vertical operation switch 31, a controller 40, a post angle sensor 45, and a post hoisting cylinder 55.

The post angle sensor 45 is provided in the holder 10h of the post 10 and detects the deflection angle θ of the post 10 with respect to the vertical axis.

The vertical operation switch 31 is for operating to move the post 10 from the horizontal position at the retracted position to the vertical position at the working position.
When the vertical operation switch 31 is operated to perform the tilting operation, an operation signal is output to the operation control unit 41 included in the controller 40. In response to this, the operation control unit 41 controls the hydraulic control valve 58. The hydraulic control valve 58 is the hydraulic pump 5 driven by the engine E.
The hydraulic pressure of 9 is controlled to supply / discharge the post undulating cylinder 55. The post hoisting cylinder 55 receives the supply and discharge of the hydraulic pressure to expand and contract to swing the post 10 in the front-back direction of the vehicle body 2 in the vertical plane.

The controller 40 comprises an operation control section 41, an operation determination section 42, a vertical swing range memory 43, and a vertical neighborhood range memory 44. In the vertical swing range memory 43, the vertical swing range shown in the range of α to α ′ in FIG. 4 is preset. As described above, the vertical swing range is a region where the post can be extended and the workbench can be swung without the vehicle body falling, and in the present embodiment, −2 degrees <.
The range of deflection angle θ <2 degrees is set. The vertical neighborhood range memory 44 is preset with the vertical neighborhood range indicated by the range β to β ′ in FIG. As will be described later, fine adjustment of the post is possible in this range, and in this embodiment, a range of −10 degrees <deflection angle θ <10 degrees including the vertical swing range is set. The operation determination unit 42 compares the absolute angle θ of the post 10 detected by the post angle sensor 45 with the vertical swing range stored in the vertical swing range memory 43, and the post 10 falls within the vertical swing range. When it is determined that the post 10 is within the vertical swing range, a control signal is transmitted to the work control section 41. The operation control unit 41 controls the operation of the hydraulic control valve 58 according to the operation signal from the vertical operation switch 31.
When the control signal is received from the operation determination unit 42, the operation of the hydraulic control valve 58 is controlled to stop the post 10.

The operation control device 7 for the post having such a configuration
According to 0, when the vertical operation switch 31 is operated, an operation signal is output from the vertical operation switch 31 to the operation control unit 41. The operation control unit 41 controls the operation of the post hoisting cylinder 55 according to this operation signal. The post hoisting cylinder 55 receives this and expands and contracts to swing the post 10. When the deflection angle θ of the post detected by the post angle sensor falls within the vertical swing range (−2 degrees <deflection angle θ <2 degrees) set in the vertical swing range memory 43, the operation determination unit 42 causes the post to move. It is determined that the deflection angle θ of the is within the vertical swing range, and a control signal is output to the operation control unit 41. The operation control unit 41 receives the control signal and performs control to stop the operation of the post 10.

When the tilting operation is performed by operating the vertical operation switch 31 as described above, the controller 40 controls the operation of the post 10 so that the post 10 automatically stops within the vertical swing range, so that the operator Workability can be improved without being bothered by manual operation.

By the way, as described above, the controller 40
Therefore, even if the post 10 is automatically stopped, the stop position may be wrong, the loading condition of the workbench 20 may be changed even if the post 10 is automatically stopped in the vertical swing range, or the bridge may be moved while the vehicle body 2 is traveling. When the underside is repaired or inspected, the vehicle body 2 may tilt due to unevenness on the road surface,
The post 10 may deviate from the vertical swing range. In such a case, it is convenient if the vertical operation switch 31 is operated to finely adjust the post 10. Therefore, the post operation control apparatus 70 of the present invention uses the post 1 when the post 10 deviates from the vertical swing range as described above.
A vertical proximity range memory 44 in which a finely adjustable vertical proximity range of the post 10 is set in advance so that 0 can be finely adjusted.
Is equipped with.

The operation determination unit 42 compares the absolute angle θ of the post 10 detected by the post angle sensor 45 with the vertical neighborhood range stored in the vertical neighborhood range memory 44,
It is determined whether or not the post 10 is located within the vertical vicinity range, and when it is determined that the post 10 is within the vertical vicinity range, this information is transmitted to the work control unit 41.
The operation control unit 41 receives the information that the post 10 is located in the vertical vicinity range from the operation determination unit 42, and receives the post 10
Vertical operation switch 31 without stopping the switch within the vertical swing range.
The operation signal from is output to the hydraulic control valve 58 as it is.

The operation control device 7 for the post having such a configuration
According to 0, when the vertical operation switch 31 is tilted,
The operation signal is transmitted to the operation determination unit 42 via the operation control unit 41. The operation determination unit 42 compares the deflection angle θ of the post 10 detected by the post angle sensor 45 with the vertical proximity range (−10 degrees deflection angle θ <10 degrees) preset in the vertical proximity range memory 44. , It is determined whether the post 10 is located within the vertical vicinity range. When the operation determination unit 42 determines that the post 10 is located within the vertical vicinity, it outputs a control signal to the operation control unit 41. Upon receiving this control signal, the operation control unit 41 does not automatically stop the post 10 within the vertical swing range, but performs control to enable the operation of the post 10 according to the operation of the vertical operation switch 31.

In the post operation control device 70 thus constructed, the post 10 is automatically stopped within the vertical swing range even when the vertical operation switch 31 is operated when the post 10 is positioned in the vertical vicinity range. No, vertical operation switch 31
The post 10 can be operated according to the operation of.
For this reason, the operator can freely make fine adjustments when the post 10 is in the vertical vicinity range without being bothered by the automatic stop control of the post 10 in the vertical swing range, so that workability is further improved. To do.

Here, the post operation control device 7 of the present invention.
A specific example using 0 will be described with reference to FIGS. 2 and 4.

In the bridge inspection vehicle 1 having the above structure, when the work table 20 is moved to the lower surface of the bridge to inspect the bridge B when the vehicle is stopped on the left side of the road as shown in FIG. Driving on the road from 2a,
Move the bridge inspection vehicle 1 to the work site. When traveling on the road, the workbench 20 is stored as shown in FIG. The storage state will be described in detail. The boom 5 extends substantially forward and backward along the vehicle body 2 horizontally, and is folded down to be stored.
The post 10 is rocked so as to be bent approximately 180 degrees downward with respect to the boom 5, is extended parallel to the upper side of the boom 5 and is stored and supported by the post receiver 9, and is supported by the work table. 20 is stored on the left side of the boom 5. When the vehicle arrives at the work site, as shown in FIG. 4, the vehicle body 2 is stopped in the direction parallel to the fence F (the direction in which the bridge B is installed), and the four roller jacks 17 are extended to stabilize the vehicle body.

Then, the operator gets on the workbench 20 from the ground. The operator who has boarded the workbench 20 operates the operating device 30 to perform the hoisting operation from the retracted state to the maximum of the boom 5, and then the extension operation. Bend / Post 6
With the boom 5 in parallel with the work platform bracket 13, the work platform bracket 13 is turned to the left. Then, the swivel base 4 is swung to the fence F side, and the tip of the boom 5 is moved to a position directly above the fence F. At this time, as shown in P of FIG. 4, the post 10 remains in the horizontal state as in the case of storage.

From the horizontal state P of the post 10 to the vertical state Q which is the working position, the operator operates the vertical operation switch 31.
Is operated to perform the tilting operation, the automatic stop is performed within the vertical swing range (the range of α to α ′) predetermined by the post operation control device 70 of the present invention.

Since the post 10 is set to be capable of expanding and contracting when it is located within the vertical swing range, the operator subsequently operates the operating device 30 after the post 10 automatically stops within the vertical swing range. The post 10 is extended downward to lower the workbench 20, and when the workbench 20 is located below the bridge B, the workbench bracket 13 is swiveled to swivel the workbench 20 to approach the work target. Position the workbench 20 in position. Finally, the telescopic beam 14 is extended to expand the workbench 20, and necessary inspection work is performed.

At the same time, when another worker drives the bridge inspection vehicle 1 on the road by driving from the driving cabin 2a and continuously performs the inspection work over the entire area of the bridge B at the above-mentioned position, vertical swing due to the unevenness of the road surface. When the operator operates the vertical operation switch 31 when the operator is operating the vertical operation switch 31 when it is located outside the range and in the vertical vicinity range (β to β ′), the post 1 corresponding to the operation of the vertical operation switch 31 is operated during the tilting operation of this switch.
0 operation can be performed, and the operator can finely adjust the post 10.

As described above, in the post operation control device 70 of the present invention, when the vertical operation switch 31 is operated, the post 10 automatically stops within the vertical swing range, so that the operator is not bothered by manual operation. Workability is improved. Also,
When the vertical operation switch 31 is operated when the post 10 is positioned in the vertical vicinity range, the vertical operation switch 31 is tilted and operated without automatically stopping the post 10 within the vertical swing range. It becomes possible to operate the post 10 by operating 31 and fine adjustment of the post 10 can be performed. Further, the operating means for automatically stopping the post within the vertical swing range and the operating means for finely adjusting the post are the same, which is advantageous in terms of cost.

[0037]

As described above, according to the operation control device for a post of the present invention, when the post is located outside the vertical vicinity range, when the operating means is operated, the post stops within the vertical swing range. Since the operation actuator is operated and controlled as described above, the operator can improve workability without being bothered by manual operation.

When the post is positioned in the vertical vicinity, when the operating means is operated, the post can be operated according to the operation of the operating means without automatically stopping within the vertical swing range. Therefore, the fine adjustment of the post can be freely performed, and the usability is further improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a post operation control device according to the present invention.

FIG. 2 is a side view of a bridge inspection vehicle, which is an example of an aerial work vehicle including the operation control device for the post, in a stored state.

FIG. 3 is a side view of a bridge inspection vehicle which is an example of an aerial work vehicle equipped with the post operation control device.

FIG. 4 is a rear view of a bridge inspection vehicle including the operation control device for the post, showing a state in which a workbench is located below the bridge. However, the range of α to α'is a vertical swing range, and the range of β to β'is a vertical vicinity range.

[Explanation of symbols]

1 aerial work vehicle 5 boom 10 posts 20 workbench 31 Vertical operation switch (operation means) 40 controller 55 Post relief cylinder (actuator) 70 Post control system

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Takaaki Ohba             1015 1152 Yamashita, Ryoke, Ageo City, Saitama Prefecture               Aichi Corporation Ageo Kogyo             Inside the hall (72) Inventor Asahi Tanaka             1015 1152 Yamashita, Ryoke, Ageo City, Saitama Prefecture               Aichi Corporation Ageo Kogyo             Inside the hall (72) Inventor Jun Kubo             1015 1152 Yamashita, Ryoke, Ageo City, Saitama Prefecture               Aichi Corporation Ageo Kogyo             Inside the hall (72) Inventor Takashi Sasaki             1015 1152 Yamashita, Ryoke, Ageo City, Saitama Prefecture               Aichi Corporation Ageo Kogyo             Inside the hall F term (reference) 3F333 AA08 AC02 BB11 BB14 DA05                       DA07 DB10 FA09 FD07

Claims (2)

[Claims] 1. A boom in which a hoisting motion and the like are freely arranged in a vehicle body, a post pivotally connected to a tip end portion of the boom between a retracted position and a working position, and a tip end of the post. An operation control device for the post in an aerial work vehicle, comprising: a work table pivotally connected to an upper and lower portion of the post; and a post angle detecting means for detecting a swing angle of the post; An operating means for transmitting an operation signal for performing an operation, a post operating actuator for operating the post, and a post operating actuator for storing the post in a storage position and a working position according to an operation of the operating means. Rocking is performed between the posts, and when it is determined that the rocking angle of the post detected by the post angle detecting means has moved within a preset vertical rocking range, the rocking of the post is performed. So stop, operation controller for a post and having a controller controlling operation of the post-operated actuator. 2. The operating means is operated when the swing angle of the post detected by the post angle detecting means is within a preset vertical vicinity range including the vertical swing range. Also, the operation control of the post actuation actuator is performed so as to cause the post to swing in accordance with the operation of the operating means without stopping the post in the vertical swing range. 1. The operation control device for the post according to 1.