JP2004182348A - Boom operation controller for high lift working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To securely prevent a condition in which a tip part of a boom is deviated from an allowable work scope when the boom is inclined and operated to allow inputting while the tip part of the boom reaches a limit region of the allowable work scope. <P>SOLUTION: When the boom 30 of a boom operation lever 51 is operated to tilt it while it is detected that the tip part of the boom 30 reaches the limit region S of the allowable work scope R by position detectors (a rising and falling angle detector 91, a length detector 92, a turn angle detector 93, and a position calculation part 62 of a controller 60), a valve control part 61 of the controller 60 contracts the boom 30 first and then performs tilting operation of the boom 30 in the interlocking operation with contraction operation. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a boom operation control device for an aerial work vehicle configured to have a worktable at a tip end of a telescopic boom provided to be able to move up and down and extend and contract.
[0002]
[Prior art]
The telescopic boom-type aerial work vehicle is a vehicle in which a telescopic boom is provided on a traveling body so as to be able to move up and down so that a work platform for workers can move freely. Alternatively, it is used for work at various heights such as wall painting work for ships. The boom operation control device provided in such an aerial work vehicle allows the boom to move up and down and extend and retract (or in some cases also pivot) only under conditions where the traveling body does not fall due to the overturning moment. In general, a safety device for restricting the operation of the boom that deviates from the above conditions is incorporated, thereby ensuring the safety of work.
[0003]
There are roughly two types of configurations of such a safety device.One is to sequentially calculate the overturning moment acting on the traveling body and compare it with a predetermined allowable moment, and the overturning moment exceeds the allowable moment. It regulates the operation of the boom (moment regulation). The other is to compare the detected position of the tip of the boom (or the position of the work table) with a predetermined allowable working range, and to operate the boom such that the tip of the boom deviates from the allowable working range. It is regulated (work range regulation). The allowable work range in the latter work range regulation may be set for each turning posture (turning angle) of the boom. In this case, the allowable work range set on the side of the traveling body is the smallest.
[0004]
In the boom operation control device in which the safety device according to the work range regulation is incorporated, the boom is operated in a state in which the current position of the tip of the boom has reached a predetermined limit area defined inside the outer edge of the allowable work range. When a boom operation in a direction that causes the tip to deviate from the allowable work range (limit area) is performed, the boom operation signal is canceled or a boom operation according to such a boom operation is not performed. The supply of hydraulic pressure to the relevant hydraulic actuator is shut off, thereby preventing the running body from falling down.
[0005]
Also, as an example of such a work range regulation, when the tip of the boom reaches the above-mentioned limit area of the allowable work range, for example, while the boom is being tilted down, the operation of the boom is stopped. There is known a so-called non-stop type working range regulation in which the boom is contracted so as to continue the boom falling operation so that the tip of the boom does not deviate from the allowable working range. For example, see Patent Document 1). According to the working range regulation of such a form, the required boom tilting operation can be performed without stopping the boom, so that there is an advantage that high working efficiency can be obtained.
[0006]
[Patent Document 1]
Japanese Patent Publication No. Hei 4-19159
[Problems to be solved by the invention]
As described above, in the conventional non-stop type working range regulation, when the operation input for lowering the boom is performed while the tip of the boom is within the limit area of the allowable working range, the operation is performed together with the lowering operation of the boom. The boom retracting operation is performed to prevent the boom tip from deviating from the allowable working range.However, when the boom's falling speed is high and the boom's contraction cannot catch up with this, The tip moved out of the allowable working range, and as a result, the tip of the boom could deviate from the allowable working range.
[0008]
The present invention has been made in view of such a problem, and in a state where the tip of the boom or the workbench has reached a predetermined limit area defined inside the outer edge of the allowable working range, the boom tilting operation is performed. When an input is performed, a work platform having a configuration capable of reliably preventing the tip of the boom or the workbench from deviating from an allowable work range (limit area) and improving work safety. It is an object of the present invention to provide a boom operation control device.
[0009]
[Means for Solving the Problems]
In order to achieve such an object, a boom operation control device for an aerial work vehicle according to the present invention includes a traveling body, a telescopic boom provided on the traveling body so as to be able to undulate and expand and contract, and a distal end of the telescopic boom. , A commanding means (for example, a boom operating lever 51 in the embodiment) for instructing the telescopic boom to move up and down, and a position detecting means for detecting a position of the tip of the telescopic boom or the worktable. (For example, a position detection device including the undulation angle detector 91, the length detector 92, the turning angle detector 93, and the position calculation unit 62 of the controller 60 in the embodiment), and the position detection unit according to a command from the command unit. Boom operation control means for controlling the operation of the telescopic boom within a range in which the position of the detected telescopic boom tip or the worktable does not deviate from a predetermined allowable working range (for example, Valve control unit 61) of the controller 60 in the embodiment, and the tip of the telescopic boom or the workbench has reached a predetermined limit area defined inside the outer edge of the allowable working range by the position detecting means. When a command to lower the telescopic boom is issued by the command means in a state where the telescopic boom is detected, the tip of the telescopic boom or the workbench is within the limit area (for example, the limit area S of the allowable work range R in the embodiment). In the boom operation control device of the aerial work vehicle having a configuration in which the boom operation control means performs not only the fall-down operation of the telescopic boom but also the contraction operation of the telescopic boom, the position detection means detects the tip of the telescopic boom or the work. When a command to lower the telescopic boom is issued by the command means while the platform is detected to have reached the predetermined limit area, the boom operation control is performed. Stage, the telescopic boom is contracted initially actuated, it has a lodging operation of subsequently telescopic boom so as to take place in conjunction with the contraction operation. Here, as described above, the contraction operation of the telescopic boom performed before the falling operation of the telescopic boom is performed by simply contracting the telescopic boom and by performing the contracting operation of the telescopic boom in conjunction with the falling operation. Any of them may be used.
[0010]
In the boom operation control device for the aerial work vehicle according to the present invention, the telescopic boom is extended or retracted in a state where the tip end or the worktable reaches a predetermined limit area defined inside an outer edge of a predetermined allowable working range. When the boom tilt operation input is performed, not only the telescopic boom tilt operation but also the telescopic boom contraction operation is performed while the tip of the boom or the workbench is within the above-mentioned limit area. Before the interlocking operation between the operation and the contraction operation, the contraction operation of the telescopic boom is performed. Therefore, when the telescopic boom is tilted down while the tip of the telescopic boom or the workbench is within the limit area of the allowable working range, the retracting operation of the telescopic boom is changed to the tilting operation of the telescopic boom. It is possible to prevent a situation where the tip of the telescopic boom or the workbench deviates from the limit area without catching up with, so that work safety can be improved.
[0011]
Further, the boom operation control means in the boom operation control apparatus for an aerial work vehicle according to the present invention is configured such that the position detection means detects that the tip end or the workbench of the telescopic boom has reached a predetermined limit area. The retracting operation command of the telescopic boom by the command means performed in a state where the telescopic boom is retracted in accordance with the command exceeds the predetermined speed limit. In some cases, regardless of the command from the command means, the boom's lodging operation speed is limited so that the contraction speed of the telescopic boom is within the speed limit, and the boom's lodging operation and contracting operation are linked. It is preferred that With such a configuration, an operation input (operation of the command means) for causing the telescopic boom to fall down at a high speed from a state in which the distal end portion of the telescopic boom or the workbench is stationary within the limit area of the allowable work range is performed. If the tip of the boom or the platform enters the limit area when the telescopic boom is tilted down at a high speed, the tip of the boom or the platform is While the telescopic boom is in the limit area, the telescopic boom can be suppressed at a low speed. It is possible to reliably prevent a situation in which the tip of the telescopic boom or the working table deviates from the limit area of the allowable working range without the operation catching up with the lodging operation.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 2 is a side view of an aerial work vehicle equipped with a boom operation control device according to one embodiment of the present invention. The aerial work vehicle 1 is provided with tire wheels 11, 11,..., A truck-type traveling body 10 which can be operated by traveling from a driving cabin 12, a revolving body 20 provided on the traveling body 10, and A telescopic boom (hereinafter simply referred to as a boom) 30 attached to a top of a support 21 extending upward from the body 20 by a foot pin 22 so as to be able to swing up and down, and an operation attached to the distal end of the boom 30 And a worktable 40 for boarding a passenger.
[0013]
The revolving unit 20 is attached to the rear part of the traveling unit 10 so as to be freely rotatable around the vertical axis by 360 degrees. The revolving unit 20 can be horizontally rotated by hydraulically driving a revolving motor 23 built in the traveling unit 10. The boom 30 includes a base boom 30a, an intermediate boom 30b, and a distal boom 30c, which are nested. The entire boom 30 can be expanded and contracted by hydraulically driving a telescopic cylinder 31 provided therein. it can. Further, the boom 30 can be raised and lowered in the upper and lower surfaces by hydraulically driving the lifting cylinder 24 provided between the base end boom 30a and the support column 21.
[0014]
A vertical post holding bracket 32 is attached to the distal end of the tip boom 30c, and the lower end of a vertical post 34 is attached to the vertical post holding bracket 32 via a swing pin 33. The vertical post 34 is configured to be always held in a vertical posture by a post holding device (not shown) provided in the boom 30 irrespective of the elevation angle of the boom 30.
[0015]
The workbench 40 includes a box-shaped workbench main body 41 on which an operator rides, and a workbench holding bracket 42 attached to the workbench main body 41. It is rotatably attached to the upper end of the vertical post 34 via a built-in bearing (not shown). A swing motor 43 is provided inside the workbench holding bracket 42, and the swing motor 43 is hydraulically operated, and a pinion gear (not shown) meshes with a ring gear (not shown) installed around the vertical post 34. (Not shown), the entire worktable 40 can be swung around the vertical post 34. Here, since the vertical post 34 is always kept in the vertical posture as described above, the floor surface of the workbench main body 41 is always kept horizontally as a result.
[0016]
Outrigger jacks 13, 13,... For supporting the running working body 10 in a stable state are provided at each of the front, rear, left and right portions of the running body 10. Each of the outrigger jacks 13 includes an outer jack (cylinder tube) 13a extending in the vertical direction, an inner jack (piston rod) 13b provided in the outer jack 13a and capable of expanding and contracting in a downward direction, and a lower end of the inner jack 13b. A jack pad 13c is swingably attached to the outer jack 13, and the inner jack 13b is moved downward (extended) in each outrigger jack 13 so that the jack pad 13c is brought into contact with the ground and is stretched. The traveling body 10 can be supported in a raised state. In addition, each outrigger jack 13 can be protruded to the side of the traveling body 10 so that higher stability of the traveling body 10 can be obtained. The operation of the outrigger jacks 13, 13,... Is performed by operating a jack operating lever 14 provided at the rear of the traveling body 10.
[0017]
As shown in FIG. 3, a boom operation lever 51 for performing up / down, extension / contraction, and turning operations of the boom 30 and a swing operation of the work table 40 are provided in an operation box 50 provided on the work table 40. And a worktable swing operation lever 52 are provided. In the operation box 50, an alarm lamp 57 and an alarm buzzer 58 are provided to call attention to an operator when the operation of the boom 30 described later is restricted.
[0018]
The boom operation lever 51 can be tilted forward (toward the rear side), rearward (to the front side), leftward and rightward with the vertical position, which is the automatic return position, as a neutral position, and can be rotated left and right around the axis. It is possible to perform a twisting operation. Here, when the boom operation lever 51 is tilted forward from the neutral position, the boom 30 can be operated to fall down, and when tilted backward from the neutral position, the boom 30 can be raised. When the boom operation lever 51 is tilted to the right from the neutral position, the boom 30 can be extended, and when the boom operation lever 51 is tilted to the left from the neutral position, the boom 30 can be contracted. Further, when the boom operation lever 51 is twisted counterclockwise (counterclockwise) from the neutral position, the boom 30 can be turned clockwise (clockwise) from the neutral position. When the torsion operation is performed, the boom 30 can be turned clockwise.
[0019]
The worktable swing operation lever 52 can be tilted left and right with the vertical position, which is the automatic return position, as the neutral position. Here, when the workbench swing operation lever 52 is tilted leftward from the neutral position, the workbench 40 can be swung clockwise (clockwise). When the workbench 40 tilts rightward from the neutral position. The work table 40 can be swung counterclockwise (counterclockwise). The operating speed of the boom 30 and the worktable 40 in each direction is increased substantially in proportion to the operation amount (tilt amount) of the corresponding lever, and the operator operates the levers 51 and 52. By adjusting the amount as desired, the operation of the boom 30 and the workbench 40 can be performed by selecting the optimum operation speed.
[0020]
FIG. 1 is a block diagram showing an operation system of the boom 30 and the work table 40 in the aerial work vehicle 1. The operation state (operation direction and operation amount) of the boom operation lever 51 in the front-back tilt direction, the operation state in the left-right tilt direction, and the operation state in the left-right twist direction are respectively an up / down detection potentiometer 53 provided at the base of the boom operation lever 51. Signals detected by the detection potentiometer 54 and the turning detection potentiometer 55 and output from the potentiometers 53, 54, 55 are used as valve control signals of the controller 60 installed in the vehicle 10 as a boom up / down signal, a boom expansion / contraction signal, and a boom turning signal. The data is input to the unit 61. The operation state of the worktable swing operation lever 52 in the left-right tilt direction is detected by a swing detection potentiometer 56 provided at the base of the worktable swing operation lever 52, and a signal output from this potentiometer 56 is output to the worktable. It is also input to the valve control unit 61 of the controller 60 as a swing signal.
[0021]
The valve control section 61 of the controller 60 electromagnetically drives the first control valve V1 corresponding to the up / down cylinder 24 based on the boom up / down signal output from the up / down detection potentiometer 53, and outputs the boom expansion / contraction signal output from the expansion / contraction detection potentiometer 54. , The second control valve V2 corresponding to the first telescopic cylinder 31 is electromagnetically driven. Further, the valve control section 61 electromagnetically drives the third control valve V3 corresponding to the swing motor 23 based on the boom swing signal output from the swing detection potentiometer 55, and the workbench swing output from the swing detection potentiometer 56. The fourth control valve V4 corresponding to the swing motor 43 is electromagnetically driven based on the signal.
[0022]
Hydraulic oil discharged from a hydraulic pump P provided in the traveling body 10 passes through the first to fourth control valves V1, V2, V3, and V4, and the up / down cylinder 24, the telescopic cylinder 31, the swing motor 23, and the swing motor are used. 43. The spools (not shown) of the first to fourth control valves V1, V2, V3, and V4 driven by the valve control unit 61 of the controller 60 operate in the respective directions of the boom operation lever 51 and the work platform swing operation lever 52. In the direction according to the operation amount so as to have the spool opening degree according to the operation amount. As a result, the direction of the hydraulic oil sent to the up-and-down cylinder 24, the telescopic cylinder 31, the turning motor 23, and the oscillating motor 43 The flow rate is controlled according to the operation of the boom operation lever 51 or the workbench swing operation lever 52. For this reason, the up-and-down cylinder 24, the telescopic cylinder 31, the turning motor 23, and the oscillating motor 43 move in the direction corresponding to the operating direction of the boom operation lever 51 and the workbench oscillating operation lever 52 at an operation speed according to the operation amount. It will work. Here, the swing movement of the workbench 40 is performed by the controller 60 that has received the operation signal of the workbench swing operation lever 52 driving the spool of the fourth control valve V4. The spool of the fourth control valve V4 may be configured to be directly moved by operating the worktable swing operation lever 52 without going through the controller 60.
[0023]
Since the high-altitude working vehicle 1 has the above-described configuration, the operator who is on the workbench 40 operates the boom operation lever 51 to raise, lower, extend, and turn the boom 30 at a desired operating speed. By operating the worktable swing operation lever 52, the worktable 40 can be swung around the vertical post 34 at a desired operation speed, and the worktable 40 can be moved as desired by operating its own lever. It is possible to perform work at any position.
[0024]
Further, the controller 60 is provided with a position calculation unit 62 and an allowable work range data storage unit 63. The position calculation unit 62 is provided in the base boom 30a and detects the undulation angle of the boom 30. The position calculation unit 62 is provided at the tip of the base boom 30a and detects the length of the boom 30. The position of the tip of the boom 30 with respect to a predetermined reference position of the traveling body 10 is calculated based on each detection information from a turning angle detector 93 provided in the traveling device 92 and the traveling body 10 for detecting the turning angle of the boom 30. The result is output to the valve control unit 61, and information on the turning angle of the boom 30 detected by the turning angle detector 93 is output to the allowable work range data storage unit 63 described later. The position calculating unit 62 constitutes a position detecting device that detects the position of the tip of the boom 30 together with the detectors 91, 92, and 93.
[0025]
The allowable work range data storage unit 63 of the controller 60 is a part that stores allowable work range data for each turning posture (turning angle) of the boom 30. The allowable work range data storage unit 63 stores the allowable work range data corresponding to the turning posture of the boom 30 at that time based on detection information from the turning angle detector 93 sent via the position calculating unit 62. (Data of allowable working range) is selected and output to the valve control unit 61.
[0026]
The valve control unit 61 compares the current position of the tip of the boom 30 calculated by the position detection device with an allowable work range corresponding to the turning posture of the boom 30 given from the allowable work range data storage unit 63, and A determination is made as to whether or not the distal end of T. 30 has reached a predetermined limit area defined inside the outer edge of the allowable working range. If it is determined that the tip of the boom 30 has reached the limit area of the allowable working range, a boom operation signal (such as described above) that causes the tip of the boom 30 to deviate from the allowable working range (limit area). (Or shut off the supply of hydraulic pressure to the associated hydraulic actuator so that the boom 30 is not operated in response to such boom operation). . As a result, the operation of the boom 30 is forcibly stopped, so that the tip of the boom 30 does not deviate from the allowable working range. Therefore, the traveling body 10 does not fall over due to an excessive falling moment, and the safety of the work is achieved. Further, the alarm lamp 57 and the alarm buzzer 58 on the operation box 50 are electrically connected to the valve control unit 61 of the controller 60, and the valve control unit 61 determines that the end of the boom 30 has the allowable working range as described above. Is determined to have reached the above-mentioned limit area, the alarm lamp 57 is turned on and the alarm buzzer 58 generates an alarm sound to call attention to the worker on the work table 40.
[0027]
FIG. 4 shows an example of an allowable work range set on the side of the traveling body 10 in accordance with the turning posture of a certain boom 30 (and the overhang width of the outrigger jack 13). Here, the area bordered by oblique lines in the figure corresponds to the allowable work range R. Then, a region S located inside the outer edge of the allowable working range R (in FIG. 4, a region extending in a band shape along the outermost outer edge of the allowable working range R) S moves along the distal end of the boom 30. It is the limit area (limit area) that can be performed. Hereinafter, for convenience of explanation, an area that is within the allowable work area R and is not the limit area S is referred to as a normal work area R ′.
[0028]
Further, the valve control unit 61 of the controller 60 determines whether or not the tip of the boom 30 has reached the limit area S of the allowable working range R as described above. When the input is received, the contraction operation of the boom 30 is performed prior to the falling down operation of the boom 30 while the tip of the boom 30 is within the limit area S. That is, while the tip of the boom 30 is within the limit area S, the simple operation of contracting the boom 30 is performed before the falling operation of the boom 30, or the ratio of the contracting operation of the boom 30 is the rate of the falling operation. After the setting, the contraction operation of the boom 30 is performed in conjunction with the falling operation of the boom 30.
[0029]
FIG. 5 shows the valve control unit 61 when the boom operation signal for lowering the boom 30 is received with the tip of the boom 30 reaching the limit area S of the allowable working range R as described above. FIG. 5A is a diagram showing a movement trajectory of the tip end of the boom 30 corresponding to the control content performed by the controller. FIG. 5A is a diagram in which the control content causes the boom 30 to simply contract before the boom 30 falls down. This is an example of a certain case, and the movement trajectory of the tip of the boom 30 is A1 → A2 → A3 →. FIG. 5B shows an example in which the control performed by the valve control unit 61 is such that the contraction operation of the boom 30 is performed in conjunction with the falling down operation of the boom 30, and The movement trajectory is B1 → B2 → B3 →. Here, the setting of the ratio of the contraction operation of the boom 30 and the ratio of the falling operation performed in the latter control example is, specifically, the tip of the boom 30 at the time when the boom operation for falling the boom 30 is performed. Of the part from the normal working range R ′ (obtained by comparing the position of the tip of the boom 30 detected by the position detecting device with the allowable working range R) and the boom operation lever 51 Is performed based on the amount of forward tilting (the amount of tilting in the direction in which the boom 30 falls down). The operation of the boom 30 is performed when a tilt operation of the boom operation lever 51 (tilt operation for lowering the boom 30) is performed from a state in which the tip of the boom 30 is within the limit area S (stopped). Not only that, the tilt operation of the boom operation lever 51 has already been performed, and the operation is performed both when the tip end of the boom 30 enters the limit area S while moving.
[0030]
As described above, in the boom operation control device provided in the aerial work vehicle 1, the tip of the boom 30 reaches the predetermined limit area S defined inside the outer edge of the predetermined allowable working range R. When the fall operation input of the boom 30 is performed in the state where the boom 30 is in the state, not only the fall operation of the boom 30 but also the contraction operation of the boom 30 are performed while the tip of the boom 30 is within the limit area S. Prior to the interlocking operation of the falling operation and the contracting operation, a contracting operation of the boom 30 (a simple contracting operation or a contracting operation performed in conjunction with the falling operation) is performed. Therefore, when the boom 30 is tilted down while the tip end of the boom 30 is within the limit area S of the allowable working range R, the contraction operation of the boom 30 is changed to the tilting operation of the boom 30 as in the related art. A situation in which the tip of the boom 30 deviates from the limit area S without catching up can be prevented, and work safety can be improved. In particular, in the latter control example (control in which the boom 30 is contracted in conjunction with the boom 30 being down), the down operation of the boom 30 is continued without being stopped. Are better.
[0031]
When the latter control example (control in which the contraction operation of the boom 30 is performed in conjunction with the falling operation of the boom 30) is employed, the valve control unit 61 of the controller 60 uses the position detection device to control the operation of the boom 30. A boom 30 tilting operation command (operation) by the operation of the boom operation lever 51 performed in a state in which it is detected that the tip portion has reached the above-mentioned limit area S is based on this command. If the operation speed of the contraction operation of the boom 30 to be linked with the lodging operation exceeds the predetermined speed limit (specifically, if the forward tilt operation amount is too large), the boom operation lever 51 is used. Irrespective of the above-mentioned command by the operation of the above, the lowering operation speed of the boom 30 is limited so that the contraction speed of the boom 30 is within the above-mentioned speed limit, and the lowering operation and the contraction operation of the boom 30 are performed. It is preferably adapted to carry out the interlocking operation.
[0032]
With such a configuration, when the boom operation lever 51 that causes the boom 30 to fall down at a high speed from a state in which the tip end of the boom 30 is stationary within the limit area S of the allowable work range R is operated, Alternatively, even when the tip of the boom 30 enters the limit area S when the input for causing the boom 30 to fall down at a high speed is performed, the tip of the boom 30 is within the limit area S. During this time, the lowering operation of the boom 30 can be suppressed to a low speed. Therefore, even when the lowering operation and the contraction operation of the boom 30 are performed in conjunction with each other, the contraction operation of the boom 30 catches up with the lowering operation. The situation in which the tip of the boom 30 deviates from the limit area S of the allowable working range R without fail can be reliably prevented.
[0033]
Although the preferred embodiments of the present invention have been described above, the scope of the present invention is not limited to those shown in the above embodiments. For example, in the above embodiment, the allowable work range R is selected and set by the allowable work range data storage unit 63 based on the detection information from the turning angle detector 93 sent via the position calculation unit 62. However, this is an example where the allowable working range is determined for each turning angle of the boom 30. If the allowable working range is constant regardless of the turning angle of the boom 30, The configuration is not such that the allowable working range is determined based on the detection information from the angle detector 93. Further, if the allowable working range is determined not only by the turning angle of the boom 30 but also by the tension of the outrigger jack 13, an outrigger jack tension detector for detecting the tension of the outrigger jack 13 is provided. The detection information is sent to the allowable work range data storage unit 63, and the allowable work range is determined based on the tension width of the outrigger jack 13.
[0034]
In the above-described embodiment, the position detecting device detects the position of the tip of the boom 30, and the valve control unit 61 of the controller 60 determines the position of the tip of the boom 30 detected by the position detecting device in advance. Although the configuration is such that the tip of the boom 30 has reached the limit of the allowable working range by comparing with the allowable working range, it is assumed that the position detecting device detects the position of the work table 40 and the controller The valve control unit 61 compares the position of the worktable 40 detected by the position detection device with a predetermined allowable work range to determine whether the worktable 40 has reached the limit of the allowable work range. It may be configured.
[0035]
Further, in the above-described embodiment, the allowable work range is not determined based on the load weight of the worktable, but the present invention does not exclude such a method of defining the allowable work range. It is of course possible to apply the boom operation control device according to the present invention to a configuration in which the range varies depending on conditions such as the load weight of the workbench.
[0036]
In addition, although the aerial work vehicle 1 shown in the above-described embodiment has a configuration in which it travels with tire wheels, it does not necessarily travel with tire wheels, but travels with a crawler device or the like. You may. Alternatively, it may be an aerial work vehicle for traveling on a track provided with orbital wheels, or an aerial work vehicle or the like having both tire wheels and orbital wheels. .
[0037]
【The invention's effect】
As described above, in the boom operation control device for an aerial work vehicle according to the present invention, the distal end portion of the telescopic boom or the workbench is within a predetermined limit area defined inside an outer edge of a predetermined allowable work range. If the telescopic boom is laid down in the reached state, while the tip of the boom or the workbench is within the limit area, not only the telescopic boom is laid down but also the telescopic boom is contracted. However, the contraction operation of the telescopic boom is performed before the interlocking operation of the falling operation and the contraction operation. Therefore, when the telescopic boom is tilted down while the tip of the telescopic boom or the workbench is within the limit area of the allowable working range, the retracting operation of the telescopic boom is changed to the tilting operation of the telescopic boom. It is possible to prevent a situation where the tip of the telescopic boom or the workbench deviates from the limit area without catching up with, so that work safety can be improved.
[0038]
Further, the boom operation control means in the boom operation control apparatus for an aerial work vehicle according to the present invention is configured such that the position detection means detects that the tip end or the workbench of the telescopic boom has reached a predetermined limit area. The retracting operation command of the telescopic boom by the command means performed in a state where the telescopic boom is retracted in accordance with the command exceeds the predetermined speed limit. In some cases, regardless of the command from the command means, the boom's lodging operation speed is limited so that the contraction speed of the telescopic boom is within the speed limit, and the boom's lodging operation and contracting operation are linked. It is preferred that With such a configuration, an operation input (operation of the command means) for causing the telescopic boom to fall down at a high speed from a state in which the distal end portion of the telescopic boom or the workbench is stationary within the limit area of the allowable work range is performed. If the tip of the boom or the platform enters the limit area when the telescopic boom is tilted down at a high speed, the tip of the boom or the platform is While the telescopic boom is in the limit area, the telescopic boom can be suppressed at a low speed. It is possible to reliably prevent a situation in which the tip of the telescopic boom or the working table deviates from the limit area of the allowable working range without the operation catching up with the lodging operation.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an operation system of a boom and a workbench in an aerial work vehicle provided with a boom operation control device according to an embodiment of the present invention.
FIG. 2 is a side view of an aerial work vehicle equipped with the boom operation control device.
FIG. 3 is a perspective view showing appearances of a boom operation lever and a worktable swing operation lever provided in an operation box on the worktable.
FIG. 4 is a diagram exemplifying a movable region (allowable work range) of a tip end portion of a boom set to a side of a traveling body in accordance with a turning angle posture of a certain boom;
FIG. 5 is a diagram illustrating a tip of the boom corresponding to the control performed by the valve control unit when a boom operation signal for lowering the boom is received in a state where the tip of the boom has reached the limit area of the allowable working range. It is a figure which shows the movement locus | trajectory of a part, (A) is an example in the case of performing a contraction operation | movement of a boom before performing a fall operation of a boom, (B) is performing the contraction operation of a boom in conjunction with the fall operation of a boom. It is an example.
[Explanation of symbols]
Reference Signs List 1 aerial work platform 10 traveling unit 20 revolving unit 30 telescopic boom 40 work table 51 boom operation lever 52 work table swing operation lever 60 controller 61 valve control unit 62 position calculation unit 63 allowable work range data storage unit 91 undulation angle detector 92 Length detector 93 Turning angle detector R Allowable working range S Limit area of allowable working range

Claims (2)

Traveling body,
A telescopic boom provided on the running body so as to be undulating and telescopic;
A work table attached to the tip of the telescopic boom,
Command means for giving a command to raise and lower the telescopic boom, extend and retract,
Position detection means for detecting the position of the tip of the telescopic boom or the worktable,
A boom that controls the operation of the telescopic boom within a range in which the position of the distal end of the telescopic boom or the work table detected by the position detecting means does not deviate from a predetermined allowable working range in response to the command from the command means. Operation control means,
When the position detecting means detects that the distal end of the telescopic boom or the working table has reached a predetermined limit area defined inside the outer edge of the allowable working range, When a command to lower the telescopic boom is issued, while the tip end of the telescopic boom or the worktable is within the limit area, the boom operation control means performs not only the lowering operation of the telescopic boom but also the telescopic boom. In a boom operation control device for an aerial work vehicle having a configuration that also performs a boom contraction operation,
When a command to lower the telescopic boom is issued by the command means in a state where the tip of the telescopic boom or the workbench is detected to have reached the predetermined limit area by the position detecting means. And a boom operation control device for an aerial work vehicle, wherein the boom operation control means causes the telescopic boom to contract first, and then causes the telescopic boom to fall down in conjunction with the contraction operation. The boom operation control unit may be configured to perform the expansion and contraction by the command unit in a state where the position detection unit detects that the tip end of the telescopic boom or the worktable has reached the predetermined limit area. If the operating speed of the retracting operation of the telescopic boom, which is linked with the tilting operation of the telescopic boom performed based on the command, is greater than a predetermined speed limit, the commanding means Irrespective of the command, the retracting operation speed of the boom is limited so that the contracting speed of the telescopic boom is within the limit speed, and the interlocking operation of the boom falling operation and the contracting operation is performed. The boom operation control device for an aerial work vehicle according to claim 1, wherein

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