JP2004231335A - Boom operation controller for high altitude working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a boom operation controller for a high altitude working vehicle capable of reducing operation speed of a boom in accordance with distance between a work base and an object when the distance is shorter than a predetermined value. <P>SOLUTION: This boom operation controller 90 for the high altitude working vehicle 1 is provided with the boom 4 provided on a vehicle body 2 so as to turn, rise, fall, expand, and contract freely, the work base 8 attached to a tip of the boom 4, an operation device 20 for controlling operation of the boom 4, and a controller 80 for controlling operation of the boom 4 based on an operation signal from the operation device 20. This boom operation controller 90 is provided with a distance sensor 60 provided on the work base 8 to detect distance between the work base 8 and the object. When the distance between the work base 8 and the object which is detected by the distance sensor 60 is shorter than the predetermined value, the controller 80 reduces operation speed of the boom 4 in accordance with the distance. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a boom provided on a vehicle body such that the hydraulic actuator can freely perform operations such as turning, raising and lowering, and expanding and contracting, a work table attached to a tip of the boom, and an operation for controlling operation of the boom. The present invention relates to a boom operation control device for an aerial work vehicle including a device and a controller that controls operation of the boom based on an operation signal from an operation device.
[0002]
[Prior art]
The operating device for an aerial work vehicle as described above is often provided on a workbench. The operating device is provided with a turning operation lever and a raising / lowering / extending / retracting operation lever. The boom is turned by tilting the turning operation lever back and forth, and the boom is operated by tilting / operating the raising / lowering / extending operation lever in the left / right direction. The boom can be extended and retracted by tilting the operating lever in the left-right direction. By operating such an operation lever, the operator can move the workbench on which he / she rides to an arbitrary height, and perform desired height work.
[0003]
However, in such an aerial work vehicle, depending on the position of the work table, it may be difficult to intuitively match the tilting operation of the operation lever. Is technically difficult to move to the position, and requires skill.
[0004]
For example, when the operation lever 101 is tilted toward the worker M (in the direction of the arrow a) in a state where the work table 100 is positioned as shown in FIG. 7A, the boom 102 is raised and lowered and the work table is extended. In the aerial work vehicle configured to be able to move the work table 100 backward (in the direction of arrow A) of the worker M, when the work table 100 is at the position shown in FIG. And the direction in which the operation lever 101 is tilted.
[0005]
However, as shown in FIG. 7B, when the workbench 100 is at a position where the workbench 100 is swung 180 degrees from the position of FIG. 7A, the direction in which the workbench 100 moves and the direction in which the operation lever 101 is tilted are It does not match. For example, when the operation lever 101 is tilted toward the worker M (in the direction of the arrow a), the boom 102 is raised and lowered, and the workbench 100 is not located behind the worker M (in the direction of the arrow B) but in front of the worker M. (In the direction of arrow A).
[0006]
However, since the worker M forgets this and moves the work table 100 at the position of FIG. 7B to the rear of the worker M (in the direction of arrow B), the same direction as the direction in which the work table 100 moves is used. When the operation lever 101 is tilted (in the direction of arrow a), the boom 102 is raised and lowered, and the workbench 100 is moved in a direction (in the direction of arrow A) that is not intended by the operator and approaches the target wall K. Moving.
[0007]
As described above, depending on the swinging position of the worktable, the direction in which the worktable moves and the tilt direction of the operation lever do not always match, so that an inexperienced operator is likely to cause an operation error and interfere with the worktable and the object. May be caused.
[0008]
Therefore, in order to prevent interference between the work table and the object, for example, a plurality of object detection sensors are attached to the side of the work table, and when the operator tilts the operation lever, the moving direction of the work table is changed. There is a configuration in which an object detection sensor provided facing is operated to detect an object existing in a moving direction of a workbench (for example, see Patent Document 1). In this aerial work vehicle, when an object is detected by the object detection sensor, the operation of the work table and the boom is regulated, so that the worker does not need to worry about interference between the work table and the object. .
[0009]
[Patent Document 1]
Japanese Utility Model Publication No. 8-10594
[Problems to be solved by the invention]
By the way, the operator tried to move the platform in the direction away from the target, but the position of the platform changed during high-altitude work, and the direction in which the platform moved and the tilting direction of the operation lever did not match. If the operator accidentally tilts the platform in a direction to approach the object, the greater the tilt angle of the operation lever, the faster the boom will operate, and (depending on the tilt angle) will suddenly approach the object. There was a risk of doing so. In addition, if the operator notices such an operation error and suddenly releases his / her hand from the operation lever performing the tilting operation, or performs an operation of returning to the neutral position, the operating boom stops suddenly, There has been a problem that the body of the worker on the work table shakes and becomes unstable.
[0011]
The present invention has been made in view of such a problem, and when a distance between a work table and an object is closer than a predetermined value, the operating speed of the boom is reduced according to the distance. It is another object of the present invention to provide a boom operation control device for an aerial work vehicle that can surely prevent a contact between a worktable and an object without a shock.
[0012]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides a boom provided on a vehicle body such as a swivel, an up-and-down operation, a telescopic operation and the like, a worktable attached to a tip of the boom, and an operation control of the boom. An operating device for controlling the operation of the boom based on an operation signal from the operating device, a boom operation control device for an aerial work vehicle, provided on a workbench, between the workbench and the object A distance detecting unit (for example, the distance sensor 60 in the present embodiment) for detecting the distance is provided, and the controller is configured to determine whether the distance between the worktable and the object detected by the distance detecting unit is shorter than a predetermined value. The operation speed of the boom is reduced according to the distance.
[0013]
With such a configuration, with a simple configuration, when the distance between the worktable and the object is closer than a predetermined value, the operating speed of the boom is reduced according to this distance. Contact can be reliably prevented. Further, the worker does not need to consider the distance between the work table and the object as in the related art, so that the burden on the worker is reduced and the working efficiency can be improved.
[0014]
Also, the present invention provides a boom provided on a vehicle body such as a swivel, an up-and-down operation, an expansion and contraction operation, a work table attached to a tip of the boom, an operation device for controlling operation of the boom, and an operation device. A boom operation control device for an aerial work vehicle, comprising a controller that controls operation of a boom based on an operation signal from the device, wherein a distance detection unit is provided on the work table and detects a distance between the work table and an object. (For example, the distance sensor 60 in the present embodiment) and position detecting means for detecting the position of the tip of the boom with respect to the vehicle body (for example, the turning angle sensor 61, the undulation angle sensor 62, the extension amount sensor 63, the swing angle) The sensor 64), and the controller calculates a predicted movement direction of the workbench based on the operation signal from the operation device and the tip position of the boom detected by the position detection means, When measuring the moving direction is the direction toward the object, and is configured to decelerate the operating speed of the boom in accordance with the distance between the working platform and the object to be detected by the distance detecting means.
[0015]
With such a configuration, when the distance between the work table and the object is smaller than a predetermined value, the operating speed of the boom is reduced according to the distance, and the contact between the work table and the object is reliably performed. Since it can be prevented, work can be performed safely.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 2 shows an example of an aerial work vehicle having an inspection device according to the present invention. The aerial work vehicle 1 is horizontally rotatable with respect to the vehicle body 2 by driving a rotation motor 11 (hydraulic motor, not shown in FIG. 2) on a vehicle body 2 of a vehicle having a driving cabin 2a. A swivel 3 is provided, and a boom 4 is pivotally mounted on the swivel 3 so that the boom 4 can be moved up and down by an up / down cylinder 12. The boom 4 is configured such that a proximal end boom 4a, an intermediate boom 4b, and a distal end boom 4c are nestedly combined and can be extended and retracted by a built-in retractable cylinder 13.
[0017]
The boom 4 is configured to be placed and stored in the boom receiver 5, and when the work is not performed (for example, before the start of work or after the end of the work), the boom 4 is fully contracted, and 2 and fall down substantially horizontally, and are placed and stored on a boom receiver 5 provided on the vehicle body 2.
[0018]
A vertical post 6 is attached to the distal end of the tip boom 4c so as to be swingable in a vertical plane including the axis of the boom 4, and a worktable 8 for an operator is mounted on the vertical post 6. (Hydraulic motor, not shown in FIG. 2).
[0019]
Outrigger jacks 18 are provided at four positions on the front, rear, left and right sides of the vehicle body 2 so as to be able to expand in the width direction of the vehicle body 2 and expand and contract in the vertical direction. The vehicle body 2 is raised and supported by extending the width and extending downward.
[0020]
An operation device 20 is provided on the worktable 8. The operation device 20 is provided with operation levers for giving operation commands such as a turning operation of the swivel base 3, an up-and-down and extension / retraction operation of the boom 4, a swinging operation of the work table 8, and the like. And an operation signal proportional to the tilt angle is output to the controller 30. A jack operating device 21 for operating the outrigger jack 18 is provided at a rear portion of the vehicle body 2.
[0021]
The aerial work vehicle 1 having such a configuration is provided with the boom operation control device of the present invention. As shown in FIG. 1, the boom operation control device 70 of the first embodiment includes an operating device 20, a controller 30, a distance sensor 60, a turning angle sensor 61, an undulation angle sensor 62, and an extension amount sensor 63. , A swing angle sensor 64, a turning motor 11, an up-and-down cylinder 12, a telescopic cylinder 13, and a swing motor 14. In the following, the operating device 20, the turning motor 11, the up-and-down cylinder 12, the telescopic cylinder 13, and the oscillating motor 14 have been described above, and the description thereof will be omitted.
[0022]
The distance sensor 60 is for detecting the distance between the worktable 8 and the target using laser light, infrared rays, ultrasonic waves, or the like. It is attached to the vicinity of 20 (the top surface of the worktable 8) and the bottom surface. The turning angle sensor 61 is for detecting the turning angle of the turntable 3. The undulation angle sensor 62 is for detecting the undulation angle of the boom 4 with respect to the vehicle body 2. The extension amount sensor 63 is for detecting the extension amount of the boom 4. The swing angle sensor 64 is for detecting the swing angle of the worktable 8 with respect to the boom 4. The detection values detected by the sensors 60 to 64 are transmitted to the controller 30.
[0023]
The controller 30 includes an operation control unit 31, an arithmetic processing unit 32, and a memory 33 that stores an allowable proximity distance between the worktable 8 and the object. In FIG. 1, the electric or optical signal circuit is indicated by a solid line, and the hydraulic circuit is indicated by a dotted line.
[0024]
When receiving the operation signal from the operation device 20, the operation control unit 31 outputs a command signal based on the operation signal (the tilt direction and the tilt angle of the operation lever) to the hydraulic unit 40. The hydraulic unit 40 is a unit that controls the operation of each hydraulic actuator 50 by controlling the flow of hydraulic oil supplied to each hydraulic actuator 50 in response to a command signal from the controller 30, and includes a tank 41 that stores hydraulic oil, an engine Alternatively, a hydraulic pump 42 driven by an electric motor to discharge hydraulic oil of a predetermined hydraulic pressure and flow rate, a hydraulic motor discharged from the hydraulic pump 42 in a supply direction and a supply amount based on a command signal, the turning motor 11 and the undulating cylinder 12, telescopic cylinder 13 proportional solenoid valve supplies the control to the hydraulic actuator 50, such as _SV 1 ~SV _4, and a an oil cooler for cooling the temperature increased hydraulic fluid (not shown).
[0025]
In the arithmetic processing unit 32, the work table is based on detection values (the tip position of the boom 4) and operation signals input from each of the turning angle sensor 61, the undulation angle sensor 62, the extension amount sensor 63, and the swing angle sensor 64. 8 based on the predicted movement trajectory 8 and the detected value input from the distance sensor 60 (the current distance between the work table 8 and the object). And calculating a predicted distance between the object and the object. If the predicted distance is shorter than the allowable proximity distance stored in the memory 33, the working speed of the boom 4 is detected by the work table 8 detected by the distance sensor 60. A correction signal is transmitted to the operation control unit 31 so as to decelerate according to the distance to the object.
[0026]
Control contents of the boom operation control device 70 having such a configuration will be described with reference to the flowchart of FIG. First, the distance between the worktable 8 and the target is detected based on the detection value input from the distance sensor 60 (step S11). Next, the tip position of the boom 4 is calculated based on the detection values input from the turning angle sensor 61, the undulation angle sensor 62, the extension amount sensor 63, and the swing angle sensor 64 (step S12). Next, a predicted movement locus of the worktable 8 is calculated based on the tip position of the boom 4 calculated in step S12 and the operation signal input from the operation device 20 (step S13). Then, a predicted distance between the work table 8 and the target when the robot moves based on the distance detected in step S11 and the predicted movement trajectory calculated in step S13 is calculated (step S14), and calculated in step S14. It is determined whether or not the predicted distance is closer than a preset allowable proximity distance (step S15). Here, when it is determined that the predicted distance is closer than the allowable proximity distance, the operating speed of the boom 4 is set according to the predicted distance instead of the operation signal (step S16). If it is determined in step S15 that the predicted distance does not approach the allowable proximity distance (for example, when the user moves away), the operation speed of the boom 4 is set according to the operation signal (step S17).
[0027]
For example, as shown in FIG. 4, a case where the work table 8 is brought closer to the target object wall K than the allowable proximity distance d _MAX by an operation of an operator who is riding on the work table 8 (arrow R in the figure) The movement in the direction) reduces the operating speed of the boom 4 in the direction approaching the wall K according to the distance between the worktable 8 and the wall K (that is, as the worktable 8 approaches the object). . Further, when the operator brings the work table 8 closer to the target object than the allowable proximity distance d _MIN (<d _MAX ), the movement of the boom 4 is stopped. In addition, when the work board 8 is not brought closer to the wall K than the allowable proximity distance d _MAX by an operator riding on the work table 8, and the work table 8 is closer to the wall K than the allowable proximity distance d _MAX . Is moved away from the object (movement in the direction of arrow L in the figure), the operating speed of the boom 4 is set according to the tilt angle of the operation lever.
[0028]
Next, a second embodiment of the boom operation control device of the present invention will be described with reference to FIGS. As shown in FIG. 5, the boom operation control device 90 includes a controller 80, the above-described operating device 20, the distance sensor 60, the turning motor 11, the up / down cylinder 12, the telescopic cylinder 13, the swing motor 14, It is configured with. In the following, when the same components as those in the first embodiment are used, the same reference numerals are used and the description will be omitted.
[0029]
The controller 80 includes an operation control unit 81, an arithmetic processing unit 82, and a memory 83 that stores an allowable proximity distance between the worktable 8 and the object. In FIG. 5, the electric or optical signal circuit is indicated by a solid line, and the hydraulic circuit is indicated by a dotted line.
[0030]
When receiving the operation signal from the operation device 20, the operation control section 81 outputs a command signal based on the operation signal (the tilt direction and the tilt angle of the operation lever) to the hydraulic unit 40.
[0031]
In the arithmetic processing unit 82, first, the amount of change in the distance between the work table 8 and the object is obtained from the detection value input from the distance sensor 60, and the moving direction of the work table 8 is determined based on the amount of change in the distance. calculate. Further, it is determined whether or not the detection value input from the distance sensor 60 is closer than the allowable proximity distance stored in the memory 83. If the detection value is closer than the allowable proximity distance, the operating speed of the boom 4 is detected by the distance sensor 60. A correction signal is transmitted to the operation control unit 81 so as to decelerate according to the detected value.
[0032]
The control contents of the boom operation control device 90 of the second embodiment will be described with reference to the flowchart of FIG. First, when the operation device 20 is tilted, the boom 4 operates at a speed according to the operation signal (step S21). Next, the distance sensors 60 provided on the six sides (that is, the side surface, the upper surface, and the lower surface) of the work table 8 detect the distance between the work table 8 and the object in each direction (Step S22), and the detected distance is detected. The moving direction of the work table 8 is calculated from the change amount of the distance (step S23). Then, it is determined whether or not the distance between the worktable 8 and the object detected in step S22 is closer than the allowable proximity distance (step S24). Here, if it is determined that the distance is closer than the allowable proximity distance, the moving direction of the work table 8 in the moving direction of the work table 8 calculated in step S23 is calculated according to the detected value (the distance between the work table 8 and the object). The operation speed of the boom 4 is corrected (decelerated) (step S25). If the detected value in step S22 does not approach the allowable proximity distance, the flow is terminated. That is, the operation speed of the boom 4 is set according to the operation signal input in step S21.
[0033]
With such a configuration, the boom operation control device 90 controls the work table 8 and the object when the work table 8 is brought closer to the object than the allowable proximity distance by the operation of the worker on the work table 8. (I.e., the closer the worktable 8 approaches the target), the operating speed of the boom 4 in the direction approaching the target is reduced (and stopped). Further, when the worker on the work table 8 does not bring the work table 8 closer to the object than the allowable close distance, and when the work table 8 is closer to the object than the allowable close distance, the work table 8 is moved from the object. If the user wants to move away, the operating speed of the boom 4 is set according to the tilt angle of the operation lever.
[0034]
【The invention's effect】
INDUSTRIAL APPLICABILITY As described above, the present invention provides a boom provided on a vehicle body such as a swivel, an up-and-down operation, an expansion and contraction operation, a worktable attached to a tip of the boom, and an operating device for controlling the operation of the boom. And a boom operation control device for an aerial work vehicle that includes a controller that controls the operation of the boom based on an operation signal from an operation device, wherein the boom operation control device is provided on a workbench and detects a distance between the workbench and an object. When the distance between the work table and the object detected by the distance detecting means is closer than a predetermined value, the controller is configured to reduce the operating speed of the boom according to the distance. Have been.
[0035]
With such a configuration, with a simple configuration, when the distance between the worktable and the object is closer than a predetermined value, the operating speed of the boom is reduced according to this distance. Contact can be reliably prevented. Further, the worker does not need to consider the distance between the work table and the object as in the related art, so that the burden on the worker is reduced and the working efficiency can be improved.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating a configuration of a boom operation control device according to the present invention.
FIG. 2 is a side view of an aerial work vehicle equipped with a boom operation control device according to the present invention.
FIG. 3 is a flowchart showing control contents of a boom operation control device according to the present invention.
FIG. 4 is a diagram illustrating a specific example using a boom operation control device according to the present invention.
FIG. 5 is a block diagram showing a configuration of a second embodiment of the boom operation control device according to the present invention.
FIG. 6 is a flowchart showing control contents of a second embodiment of the boom operation control device according to the present invention.
FIG. 7 is a plan view for explaining a conventional operation of a work table.
[Explanation of symbols]
Reference Signs List 1 aerial work vehicle 2 body 3 turning table 4 boom 8 work table 11 turning motor 12 undulating cylinder 13 telescopic cylinder 14 oscillating motor 20 operating device 30, 80 controller 31, 81 operation controller (controller)
32, 82 arithmetic processing unit (controller)
33, 93 Memory (controller)
60 distance sensor (distance detection means)
61 Turning angle sensor (Position detecting means)
62 Undulating angle sensor (Position detecting means)
63 Extension amount sensor (Position detection means)
64 Swing angle sensor (position detection means)
70, 90 Boom operation control device

Claims (2)

A boom provided on the vehicle body to freely perform operations such as turning, raising and lowering, and expansion and contraction, a work table attached to a tip of the boom, an operating device for controlling the operation of the boom, and In a boom operation control device for an aerial work vehicle, comprising a controller that controls operation of the boom based on an operation signal,
The work table includes a distance detection unit that detects a distance between the work table and an object,
The controller, when the distance between the work table and the object detected by the distance detection unit is closer than a predetermined value, reduces the operating speed of the boom according to the distance. Operation control device for aerial work platforms. A boom provided on the vehicle body to freely perform operations such as turning, raising and lowering, and expansion and contraction, a work table attached to a tip of the boom, an operating device for controlling the operation of the boom, and In a boom operation control device for an aerial work vehicle, comprising a controller that controls operation of the boom based on an operation signal,
Distance detection means provided on the work table, for detecting a distance between the work table and the object,
Position detecting means for detecting a tip position of the boom with respect to the vehicle body,
The controller calculates a predicted movement direction of the worktable based on an operation signal from the operation device and a tip position of the boom detected by the position detection unit, and the predicted movement direction approaches the object. In the case of the direction, the operating speed of the boom is reduced according to the distance between the work table and the object detected by the distance detecting means, and the boom operation control device for the aerial work vehicle is characterized in that .

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