JP2006341995A - Ground embarkation controlling device of vehicle for high lift work - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a ground embarkation controlling device of a vehicle for high lift work capable of avoiding an interference between a work bench and the ground irrespective of the inclination of the ground. <P>SOLUTION: This ground embarkation controlling device comprises a ground inclination angle detection means S4 detecting the inclination angle of the ground relative to a horizontal plane, a vehicle body inclination angle detection means S4 detecting the inclination angle of a vehicle body 10 relative to the horizontal plane, and an operation amount calculation means 54 for obtaining the operation amount of a working device necessary for moving the work bench 24 to a ground embarkation position based on a ground inclination angle θ1 detected by the ground inclination angle detection means S4 and a ground-contact vehicle body inclination angle θ2 detected by the vehicle body inclination angle detection means S4 when a ground embarkation operation means SW1 is operated (step S6). The operating control of the working device is so performed that the working device is operated by an operation amount provided by the operation amount calculation means. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an aerial work vehicle in which a work table is attached to a front end of a boom that is provided on a vehicle body and is stored with a front end directed rearward, and the work platform is placed on the ground near the ground. The present invention relates to an on-ground control device for an aerial work vehicle that performs control to be moved to a vehicle.

  An aerial work platform has a work platform for operator boarding at the tip of a boom mounted on a swivel stand erected on the vehicle body, and a desired work platform can be obtained by turning, raising and lowering and extending and retracting the boom. It is possible to work at a high place by moving it to a high place. Further, depending on the direction in which the boom is operated, a moment in the direction of overturning the vehicle body acts on the vehicle body, and the vehicle body becomes unstable. For this reason, an aerial work vehicle is equipped with, for example, four jacks that can be vertically expanded and contracted at the front, rear, left and right sides of the vehicle body. By extending the jacks downward and supporting the vehicle body in a horizontal state, Work at height is performed with the body stabilized. Thus, in order to ensure safety during work, there is proposed an aerial work vehicle that operates a jack so that the vehicle body is automatically supported in a horizontal state regardless of the inclination of the ground.

  Also, in an aerial work vehicle with a swivel base at the front part of the vehicle body, the boom is fully retracted when the vehicle is not working, such as when traveling, and the tip part is directed to the rear of the vehicle body, with the work table positioned at the rear and upper parts of the vehicle body. Some of them are stored in the pose. In this type of aerial work platform, at the start and end of work, the boom is extended and laid down, and control is performed to move the work platform to the ground entry position near the ground. There is one configured so as to be able to easily perform (see, for example, Patent Document 1). According to such a configuration, it is not necessary to get on and off the work table at the upper part of the vehicle body, and the danger of falling or the like is avoided and safety at the time of getting on and off is achieved.

Noto 2530250 gazette

  When an aerial work vehicle with the above configuration brings the work table close to the ground, in order to reduce the amount of boom operation (extension amount, etc.) and reduce the space required around the vehicle, A form in which the work table is brought close to the ground in advance with a sufficient tilt angle is conceivable. However, for example, in a configuration in which the extension operation of the jack is controlled so that the vehicle body always has a constant inclination angle with respect to the horizontal plane, when the ground is horizontal, the work table is placed on the ground until the operator can easily get on and off. On the other hand, when the ground is lowered forward, there is a problem that if the boom is operated similarly after the vehicle body is tilted backward, the work table may interfere with the ground and damage the work table.

  In view of such a problem, the present invention provides an aerial work vehicle that can get on and off the work platform on the ground, and can be used to avoid interference between the work platform and the ground regardless of the inclination of the ground. An object is to provide a ground-in control device.

  In order to achieve the above object, in the ground entry control apparatus for an aerial work vehicle according to the first aspect of the present invention, a vehicle body that can travel and a vehicle body that is provided on the vehicle body and is configured to be at least extendable and retractable, the front end portion is located behind the vehicle body. A boom that is stored on the vehicle body toward the vehicle body, a work device that is attached to the tip of the boom and is stored on the vehicle body, and a work device that is provided on the side of the vehicle body and can be vertically expanded and contracted. A jack that extends downward and supports the vehicle body, and a ground entry operation means provided on the vehicle body, and receives an operation signal from the ground entry operation means when the vehicle body is supported by the jack. The present invention relates to a ground entry control device for an aerial work vehicle that performs control to operate a work device and move a stored work table to a ground entry position near the ground behind a vehicle body. In addition, ground inclination angle detecting means for detecting the inclination angle of the ground relative to the horizontal plane, vehicle body inclination angle detecting means for detecting the inclination angle of the vehicle body relative to the horizontal plane, ground inclination angle detected by the ground inclination angle detecting means, and Based on the vehicle body inclination angle at the time of contact detected by the vehicle body inclination angle detection means when the ground boarding operation means is operated, the operation amount of the work device necessary for moving the work table to the ground entry position is calculated. And an operation amount calculation means to be obtained. The operation device is controlled so that the work device is operated by the operation amount obtained by the operation amount calculation means.

  At this time, it is provided with a work start operation means that is operated when starting an aerial work with the vehicle stopped, and the ground inclination angle detection means is operated when the vehicle body inclination angle detection means and the work start operation means are operated. Storage means for storing the vehicle body inclination angle at the start of work detected by the vehicle body inclination angle detection means, and the operation amount calculation means is configured so that the vehicle body inclination angle at the start of work is used as the ground inclination angle. It is preferable.

  In addition, the automatic horizontal operation means provided on the vehicle body and the operation of the jack are controlled so that the jack is extended in response to an operation signal from the automatic horizontal operation means and the vehicle body is lifted and supported horizontally regardless of the inclination of the ground. When the operation control of the jack is performed by the automatic horizontal control means, the operation amount of the work device is obtained by the operation amount calculation means, and the work device is moved by the operation amount obtained by the operation amount calculation means. You may comprise so that operation control of a working device may be performed so that it may operate | move.

  At this time, the ground inclination angle detection means comprises a vehicle body inclination angle detection means and a storage means for storing the vehicle body inclination angle at the start of work detected by the vehicle body inclination angle detection means when the automatic horizontal control means is operated. It is preferable that the vehicle body inclination angle at the start of work is used as the ground inclination angle by the operation amount calculation means.

  Moreover, in the ground entry control device for an aerial work vehicle according to the second aspect of the present invention, the vehicle body that can travel and the vehicle body that is provided on the vehicle body and configured to be at least extendable and retractable, the front end portion faces the rear of the vehicle body. A working device comprising a boom stored on the vehicle body, a work table attached to the tip of the boom and stored on the vehicle body, and provided on a side portion of the vehicle body so as to be vertically extendable and configured to extend downward. An aerial work vehicle having a jack that extends and supports a vehicle body includes ground entry operation means provided on the vehicle body and ground inclination angle detection means that detects an inclination angle of the ground with respect to a horizontal plane. In addition, upon receiving an operation signal from the ground entry operation means, the operation control of the jack for extending the jack so that the vehicle body is lifted and supported horizontally irrespective of the inclination of the ground, and the ground inclination angle detection means. Based on the detected ground inclination angle, the operation amount of the work device is obtained, and the operation control of the work device that operates the work device by the calculated operation amount is performed in parallel, so that the vehicle body is supported horizontally. And a control for moving the work table to a ground entry position near the ground behind the vehicle body.

  According to the ground platform control device for an aerial work vehicle according to the first aspect of the present invention configured as described above, when the ground platform operation means is operated, the ground tilt angle detected by the ground tilt angle detection means and Based on the vehicle body inclination angle when the ground boarding operation means is operated, the operation amount of the work device necessary for moving to the ground boarding position is calculated. Therefore, even if the ground is inclined, and regardless of the inclination angle of the vehicle body when the ground entry operation means is operated, the work device may operate excessively and the work table may interfere with the ground. It can be avoided and damage to the workbench can be prevented.

  At this time, it is provided with a work start operation means that is operated when starting an aerial work with the vehicle stopped, and a storage means that stores a vehicle body inclination angle when the work start operation means is operated. The vehicle body inclination angle stored in the storage means can be substituted for the inclination angle. Thereby, the vehicle body inclination angle detection means can also detect the ground inclination angle, and the configuration of the aerial work vehicle can be simplified.

  In addition, when the automatic horizontal operation means provided on the vehicle body is operated, it is equipped with an automatic horizontal control means for controlling the operation of the jack so that the vehicle body becomes horizontal regardless of the inclination of the ground, thereby getting on the work table from the ground. Later work at heights can be performed more safely.

  At this time, by providing storage means for storing the vehicle body inclination angle detected by the vehicle body inclination angle detection means when the automatic horizontal means is operated, the ground inclination angle is substituted with the vehicle body inclination angle stored in the storage means. be able to. Thereby, the vehicle body inclination angle detection means can also detect the ground inclination angle, and the configuration of the aerial work vehicle can be simplified. Further, when the automatic leveling means is operated, it is a state immediately before starting the high-altitude work. For this reason, the inclination angle memorize | stored in a memory | storage means can be substituted as a ground inclination angle at the time of work with high reliability.

  Also, in the ground platform control device for an aerial work vehicle according to the second aspect of the present invention, as in the first aspect of the present invention, even when the ground is inclined, the ground platform operation means is operated. Regardless of the inclination angle of the vehicle body at that time, it is possible to avoid the work device from operating excessively and the work table from interfering with the ground, thereby preventing the work table from being damaged. Furthermore, since the inclination angle of the vehicle body that is lifted and supported by the jack is horizontal regardless of the inclination of the ground, the extension amount can be obtained only in accordance with the inclination angle of the ground. The operation control is performed in parallel. Thereby, the time required to move the workbench to the ground entry position can be shortened, and the work efficiency can be improved.

  Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 show an aerial work vehicle 1 according to an embodiment of the present invention. Note that the direction of the arrow F shown in FIG. 1 is the front, the direction of the arrow R is the right, and the direction of the arrow U shown in FIG. The aerial work vehicle 1 includes front wheels 11a and 11a and rear wheels 11b and 11b, and is configured to be capable of traveling on four wheels. .. And the four jacks 40, 40,... Provided on the front, rear, left and right sides of the vehicle body 10. The working device 20 includes a turning post 21 erected on the vehicle body 10, a boom 22 having a base end attached to the turning post 21, and a work table 24 attached to the distal end of the boom 22.

  The swivel post 21 is erected on the front part of the vehicle body 10 and at the rear part of the driving cabin 12, and is configured to be swiveled by being driven by a built-in swivel motor BA3. The boom 22 is configured by nesting a proximal boom 22a and a distal boom 22b. The proximal boom 22a is pivotally connected to the turning post 21 and is turned together with the turning post 21. In addition, the boom 22 is configured to expand and contract by receiving the expansion and contraction operation of the built-in expansion cylinder BA1, and the expansion and contraction operation of the hoisting cylinder BA2 disposed between the turning post 21 and the base end boom 22a. And can be raised and lowered freely. A vertical post 23 is swingably attached to the tip of the tip boom 22b. The vertical post 23 is swung in response to an expansion / contraction operation of a leveling cylinder (not shown), and is always held in a vertical posture.

  The work table 24 is composed of a bucket 24a for boarding an operator, and a work table holding bracket 24b attached between the bucket 24a and the vertical post 23. The work table holding bracket 24b is arranged around the axis of the vertical post 23. It is attached to the neck freely. The worktable holding bracket 24b incorporates a swing motor BA4. When the swing motor BA4 is driven, the worktable holding bracket 24b and the bucket 24a swing around the axis of the vertical post 23. The work table 24 is attached so that the floor surface of the bucket 24a is in a horizontal state when the vertical post 23 is in a vertical posture, and the floor surface of the bucket 24a is always held in a horizontal state. A part of one side of the bucket 24a is notched from the upper end to the lower end, and a door 24c is attached so that the notched portion can be opened and closed. The worker opens and closes the door 24c as shown by the two-dot chain line to get on and off the bucket 24a.

  The working device 20 is stored on the vehicle body 10 as shown in FIGS. In this retracted position, the telescopic cylinder BA1 is fully contracted to bring the boom 22 into the fully contracted state, and the turning angle (rightward) is such that the tip of the fully contracted boom 22 does not protrude from the vehicle body 10 in plan view. The swivel post 21 is located at the swivel position. A boom receiver 13 having a boom placement surface 13a for placing the base end boom 22a at the upper end is erected at the rear of the vehicle body 10, and the boom 22 is placed on the boom placement surface 13a. The hoisting cylinder BA2 is actuated as described above. The boom receiver 13 is disposed so that the undulation angle of the boom 22 in the retracted position is a negative angle (for example, about −10 degrees), but the undulation cylinder BA2 can be further reduced, and the boom 22 can be further tilted from the undulation angle of the retracted position. The work table 24 attached to the tip of the boom 22 stored in this way is located at the rear and upper part of the vehicle body 10 and is directed in the contracting direction of the boom 22 so as not to protrude from the vehicle body 10 in plan view. Stored at a swing angle along the left side.

  Each jack 40 is fixed to a side portion of the vehicle body 10 and extends in the vertical direction, an inner post 42 inserted in a vertically extending manner from the lower end of the outer post 41, and a lower end portion of the inner post 42. The inner post 42 can be vertically expanded and contracted by an expansion and contraction operation of a built-in jack cylinder JA1 (JA2, JA3, JA4). The inner posts 42, 42,... Of the four jacks 40, 40,... Extend downward to ground the jack pads 43, 43,. At this time, by setting the vehicle body 10 in a horizontal state, the vehicle body 10 becomes stable, and the boom 22 can be operated safely against the overturning moment acting on the vehicle body 10 according to the operation of the boom 22. .

  The work table 24 is provided with an upper operating device 30 as shown in FIG. The upper operation device 30 is provided with a boom operation lever 31 for performing the expansion / contraction operation, raising / lowering operation and turning operation of the boom 22 and a swing operation lever 32 for performing the swing operation of the work table 24. . At the base of the boom operation lever 31, a boom operation sensor S1 including a telescopic potentiometer that detects a boom telescopic operation, a hoisting potentiometer that detects a boom hoisting operation, and a swivel potentiometer that detects a boom swiveling operation is provided. The base of the swing operation lever 32 is provided with a swing operation sensor S2 including a switch that is turned off at the neutral position and turned on at the left and right tilt positions.

  The upper operation device 30 has an upper automatic storage switch for operating the boom 22 and the work table 24 so that the boom 22 and the work table 24 are automatically moved to the storage position together with the operation levers 31 and 32. SW5 and an automatic ground descent switch SW3 for operating the boom 22 and the work table 24 so as to move the work table 24 from a high position to a ground boarding position described later are provided.

  A lower operation device 35 is provided at the rear of the vehicle body 10. The lower operation device 35 is provided with a ground entry switch SW1 and an automatic horizontal switch SW2 together with a jack operation device 36 for operating the expansion and contraction operation of the jacks 40, 40,. Further, a lower automatic storage switch SW4 for automatically operating the boom 22 from the ground entry position to the storage position is provided.

  FIG. 4 is a block diagram showing the configuration of the controller 50 of the aerial work vehicle 1. The controller 50 that controls the operation of the aerial work vehicle 1 includes a valve control unit 51, an automatic horizontal control unit 52, and a ground boarding control unit 53 including a memory 53a that can store various types of information. Composed.

  Various sensors and switches are connected to the controller 50. The boom operation sensor S1 and the swing operation sensor S2 are connected to the controller 50, and the detection signal of the potentiometer constituting the boom operation sensor S1 and the detection signal of the switch constituting the swing operation sensor S2 are both operated levers. The operation signals 31 and 32 are input to the controller 50.

  The vehicle body 10 is provided with a vehicle body inclination angle sensor S4 configured to be able to detect the inclination angle of the vehicle body 10 with respect to the horizontal plane H, and detection signals from the vehicle body inclination angle sensor S4 are sequentially input to the controller 50. Furthermore, the operation signals of the switches SW1 to SW5 provided in the upper operating device 30 and the lower operating device 35 are also input to the controller 50.

  The valve control unit 51 is provided corresponding to each hydraulic actuator and performs drive control of each control valve that controls supply and discharge of hydraulic oil. When the operation signals of the boom operation sensor S1 and the swing operation sensor S2 are input to the controller 50, based on the operation signals, the expansion / contraction motion control valve BV1 is electromagnetically driven to expand / contract the expansion cylinder BA1, and the undulation motion control valve is operated. BV2 is electromagnetically driven to extend and retract the undulation cylinder BA2, the swing motion control valve BV3 is electromagnetically driven to drive the swing motor BA3, and the neck vibration control valve BV4 is electromagnetically driven to drive the swing motor BA4. Thereby, the operation of the boom 22 according to the lever operation of the boom operation lever 31 and the swing operation of the work table 24 according to the operation of the swing operation lever 32 are performed.

  In addition, the valve control unit 51 can electromagnetically drive the jack control valves JV1 to JV4 to expand and contract the corresponding jack cylinders JA1 to JA4. Thereby, the expansion / contraction operation of the inner posts 42, 42,... Is performed.

  The hydraulic oil supplied to and discharged from each hydraulic actuator is discharged by a hydraulic pump P provided in the vehicle body 10, and the hydraulic oil from the hydraulic pump P is supplied to and discharged from the corresponding hydraulic actuator via each control valve. The Further, a power take-off mechanism (power take-off mechanism) PTO capable of taking out the drive force of the engine E is provided so as to be detachable with respect to the power transmission mechanism that transmits the drive force from the engine E to the wheels 11a, 11a, 11b, 11b. The hydraulic pump P is driven by the driving force of the engine E taken out by the power take-out mechanism PTO. The operation cabin 12 is provided with a PTO switch SW6 for operating the connecting / disconnecting operation of the power take-out mechanism PTO. Note that an operation signal is input to the controller 50 when the PTO switch SW6 is operated.

  Next, the procedure for working at height using the aerial work vehicle 1 and the operation control of the working device 20 and the jack 40 performed by the controller 50 will be described with reference to FIGS. By the way, as shown in FIGS. 5 (a) and 7 (a), the aerial work vehicle 1 has the boom 22 and the work table 24 in the retracted position and the jacks 40, 40,. The front wheels 11a and 11a and the rear wheels 11b and 11b are grounded and stopped. In starting the work, first, the PTO switch SW6 is operated (step S1). As a result, the driving force of the engine E is taken out by the power take-off mechanism PTO, and the hydraulic pump P is driven so that each hydraulic actuator can be operated.

  In the state where the front wheels 11a, 11a and the rear wheels 11b, 11b are grounded, the ground G and the vehicle body 10 are in a substantially parallel relationship, and the ground inclination angle θ1 from the inclination angle of the vehicle body 10 regardless of the inclination of the ground G. Can be calculated.

  The aerial work vehicle 1 can project the jacks 40, 40,... Manually and automatically. First, the operation of manually extending the jacks 40, 40,... Will be described with reference to FIGS. In this case, when the PTO switch SW6 is operated and an operation signal is input to the controller 50, the tilt angle with respect to the horizontal plane of the vehicle body 10 detected by the vehicle body tilt angle sensor S4 at this time (hereinafter referred to as the work start tilt angle). Θ1 is stored in the memory 53a of the ground boarding control unit 53 (step S2). Since the work start inclination angle θ1 is detected when the wheels 11a, 11a, 11b, and 11b are in contact with the ground, the inclination angle θ1 is substantially equal to the ground inclination angle θ1.

  Next, the jack 40 is extended to support lifting of the vehicle body 10 (step S3). When working at a high place, it is preferable that the vehicle body 10 is supported horizontally in order to guarantee a stable operation. Therefore, the inner post 42 is supported so that the vehicle body 10 is supported in a horizontal state by the operation of the jack operation device 36. , 42,... Are expanded.

  Here, in a state where the vehicle body 10 is lifted and supported in a horizontal state by the jacks 40, 40,..., When the vehicle 10 stops on the ground having the same ground inclination angle θ1, the difference in the extension amount of the jacks 40, 40,. The generated error in the distance between the vehicle body 10 and the ground G is small. When the ground inclination angle θ1 is thus determined, the distance relationship between the work table 24 and the ground G when the vehicle body 10 is supported in a horizontal state is related to the difference in the extension amount of the jacks 40, 40,. In general, it can be determined.

  When the jack operating device 36 is operated in this way and the vehicle body 10 is lifted and supported as shown in FIG. 5B, the ground entry switch SW1 is operated (step S4). When the ground entry switch SW1 is operated and an operation signal is input to the controller 50, an inclination angle (hereinafter also referred to as an inclination angle at the time of contact) θ2 with respect to the horizontal plane of the vehicle body 10 detected by the vehicle body inclination angle sensor S4 at this time is obtained. This is input to the ground boarding control unit 53 (step S5).

  The ground boarding control unit 53 is provided with an operation amount storage unit 54. In the operation amount storage unit 54, the work device 20 that is optimal for moving the workbench 24 to the ground entry position according to the ground inclination angle (inclination angle at the start of work) θ1 and the inclination angle θ2 at the time of ground contact. Is stored a table (map) for determining the operation amount (the extension amount of the boom 22, the undulation angle and the turning angle). Such an operation amount is obtained from the difference between the ground inclination angle θ1 and the inclination angle θ2 at the time of ground contact, and is an angle formed between the extending direction of the vehicle body 10 and the ground G in a state where it is lifted and supported by the jacks 40, 40,. It can be set in advance from the distance relationship between the work table 24 and the ground G corresponding to θ3. When the ground entry switch SW1 is operated and the ground inclination angle θ2 is input, the ground entry control unit 53 receives the ground inclination angle (inclination angle at the start of work) θ1 stored in the memory 53a, and the ground entry control angle 53 Based on the inclination angle θ2, the operation amount of the work device 20 is obtained from the operation amount storage unit 54 (step S6).

  Here, regarding the extension amount of the boom 22 in the operation amount of the work device 20, as shown in FIG. 6, the ground G is determined based on when the ground G is in a horizontal state (FIG. 6B). It is set so that the extension amount of the boom 22 stored in advance in the operation amount storage unit 54 is reduced in accordance with this when the inclination angle θ1 is increased forward (FIG. 6A). Further, when the ground G rises forward and the inclination angle θ1 increases, the extension amount of the boom 22 stored in advance in the operation amount storage unit 54 is set accordingly (FIG. 6 ( c)). In addition, when the forward rising inclination angle θ1 exceeds a predetermined value, it is impossible to approach the ground G even if the boom 22 is extended to the limit. Further, even if the boom 22 is brought close to the ground G before such a state is reached, if the extension amount of the boom 22 is large, a large space is required behind the vehicle body 10. For this reason, when the ground entry control unit 53 calculates the ground inclination angle θ1 such that the work table 24 cannot be brought close to the ground G unless a predetermined extension amount allowed for securing a space is exceeded. Control that the boom 22 is not activated even when the ground entry switch SW1 is operated, and at the same time, a predetermined alarm means such as a buzzer is activated to move the work table 24 to the ground entry position. It can be notified to the person.

  Moreover, the raising / lowering angle of the boom 22 is set to the direction which makes it fall down with respect to a retracted state. Here, even if the undulation angle is set as the final target value in the direction to fall, if the boom 22 is lowered as it is from the retracted state, the boom receiver 13 may be damaged due to interference with the boom receiver 13. For this reason, in the process from the retracted state to the boom 22 having the final target value, the boom 22 is first lifted by a predetermined angle, then the boom 22 is turned by a predetermined angle, and then the final target value is reached. The boom 22 is laid down to the undulation angle. Thus, the turning angle of the boom 22 in the work device 20 is set to a predetermined angle at which the lower surface of the boom 22 and the boom receiver 13 do not interfere when the boom 22 is tilted down.

  When the operation amount of the work device 20 is obtained, a control signal is output to the valve control unit 51 so that the work device 20 is operated by the obtained operation amount. Based on the output control signal, the extension control valve BV1, the undulation control valve BV2, and the swing control valve BV3 are driven and controlled by the valve control unit 51 to perform the extension operation, the undulation operation, and the swing operation of the boom 22. (Step S7). The controller 50 includes an extension amount sensor S5 for detecting the extension amount of the boom 22 provided at each predetermined position of the boom 22, a undulation angle sensor S6 for detecting the undulation angle, and a turning angle sensor S7 for detecting the turning angle. Detection signals are sequentially output. When the ground entry control unit 53 determines that the predetermined operation amount obtained from the operation amount storage unit 54 has been reached based on the detection signals from the sensors S5 to S7, the valve control unit 53 stops the operation of the work device 20. 51 is controlled.

  As shown in FIG. 5 (c), the boom 22 in the state of being stored on the vehicle body 10 with the front end portion to which the work table 24 is attached facing rearward is extended. The vehicle body 10 is lifted and supported in a horizontal state, and the work table 24 moves to the ground entry position near the ground behind the vehicle body 10 so that the operator can easily get on the work table 24 from the ground. Can do. By tilting the boom 22, the work table 24 can be brought close enough to the ground even if the extension amount is shortened, so that the space that needs to be secured behind the vehicle to move to the ground entry position is compact. Can be.

  Next, the case where the jacks 40, 40,... Are automatically extended will be described with reference to FIGS. In this case, the automatic horizontal switch SW2 is operated (step S12). When the operation signal of the automatic horizontal switch SW2 is input to the controller 50, the inclination angle (work start inclination angle) θ1 with respect to the horizontal plane of the vehicle body 10 detected by the vehicle body inclination angle sensor S4 at this time is It is stored in the memory 53a (step S13). When the automatic horizontal switch SW2 is operated, the wheels 11a, 11a, 11b, and 11b are in contact with the ground immediately before the start of work, and the inclination angle of the vehicle body 10 is substantially equal to the ground inclination angle θ1. .

  When an operation signal from the automatic horizontal switch SW2 is output to the controller 50, a control signal is output from the automatic horizontal control unit 52 to the valve control unit 51, and the valve control unit 51 uses the jack control valve based on this control signal. JV1 to JV4 are electromagnetically driven, and the jack cylinders JA1 to JA4 are extended to operate the inner posts 42, 42,. At this time, detection signals indicating the inclination angle of the vehicle body 10 with respect to the horizontal plane H are sequentially output from the vehicle body inclination angle sensor S4, and the automatic horizontal control unit 52 outputs a control signal to the valve control unit 51 based on this detection signal. Then, drive control of the jack control valves JV1 to JV4 is performed by the valve control unit 51 so that the vehicle body 10 is in a horizontal state. In this way, as shown in FIG. 7B, the vehicle body 10 is configured such that when the automatic horizontal switch SW2 is operated regardless of the ground inclination angle θ1, the front wheels 11a and 11a and the rear wheels 11b and 11b are grounded. And is in a state of being supported horizontally.

  After the vehicle body 10 is thus supported so as to be substantially horizontal, the ground entry switch SW1 is operated (step S14). When the ground entry switch SW1 is operated and an operation signal is input to the controller 50, an inclination angle (hereinafter also referred to as an inclination angle at the time of contact) θ2 with respect to the horizontal plane of the vehicle body 10 detected by the vehicle body inclination angle sensor S4 at this time is obtained. This is input to the ground boarding control unit 53 (step S15). However, when the jacks 40, 40,... Are automatically projected in this way, the ground inclination angle θ2 = 0, and the angle θ3 formed by the extending direction of the lifted and supported vehicle body 10 and the ground G Becomes equal to the ground inclination angle θ1.

  When the ground entry switch SW1 is operated and the ground inclination angle θ2 is input, the ground entry control unit 53 receives the ground inclination angle (inclination angle at the start of work) θ1 stored in the memory 53a, and the ground entry control angle 53 Based on the inclination angle θ2 (= 0), the operation amount of the work device 20 is obtained from the operation amount storage unit 54 (step S16).

  When the operation amount of the work device 20 is obtained in this manner, the valve control unit 51 is operated so that the work device 20 is operated by the obtained operation amount, as in the case where the jacks 40, 40,. A control signal is output to control the operation of the work device 20 (step S17). As shown in FIG. 7C, the vehicle body 10 is supported in a horizontal state and the work table 24 is positioned behind the vehicle body 10. Move to the ground entry position near the ground.

  When the jacks 40, 40,... Are automatically extended, the ground inclination angle θ2 is detected as 0 regardless of the ground inclination angle θ1 as described above. For this reason, when the control of automatically extending the jacks 40, 40,... Is performed, the ground inclination angle θ2 can be treated as a constant (0), and the optimum amount is determined from the operation amount storage unit 54 when the ground inclination angle θ1 is determined. The working amount of the working device 20 can be obtained. In view of such a point, when automatically extending the jacks 40, 40,..., The control shown in FIG. 11 can be performed.

  When the PTO switch SW6 is operated and the hydraulic pressure can be supplied to the hydraulic actuator, the ground entry switch SW1 is operated in the state shown in FIG. 7A (step S22). When the ground entry switch SW1 is operated, an inclination angle (an inclination angle at the start of work) θ1 with respect to the horizontal plane of the vehicle body 10 detected by the vehicle body inclination angle sensor S4 at this time is input to the controller 50 (step S23).

  When the ground entry switch SW1 is operated, the automatic horizontal control unit 53 is activated, and the operation control of the jacks 40, 40,... Is performed so as to lift and support the vehicle body 10 in the horizontal state in the same manner as described above. (Step S24).

  Further, based on the work start inclination angle θ1 and the ground inclination angle θ2 treated as a constant, the optimum operation amount of the work device 20 is obtained from the operation amount storage unit (step S25). In parallel with the operation control of the jacks 40, 40,..., A control signal is output to the valve control unit 51 so that the work device 20 is operated by the determined operation amount, and the operation control of the boom 22 is performed ( Step S26).

  Here, regarding the extension amount of the boom 22 in the operation amount of the work device 20, as shown in FIG. 8, the ground G is determined with reference to the time when the ground G is in a horizontal state (FIG. 8B). When the angle of inclination θ1 is lower and the tilt angle θ1 becomes larger, the extension amount of the boom 22 stored in advance in the operation amount storage unit 54 is set so as to be smaller (FIG. 8A). Further, when the ground G rises forward and the inclination angle θ1 increases, the extension amount of the boom 22 stored in advance in the operation amount storage unit 54 is set to increase accordingly (FIG. 8 ( c)). If the forward rising inclination angle θ1 exceeds a predetermined value, the boom 22 cannot be brought close to the ground G even if the boom 22 is extended to the limit or is tilted to the limit. Further, even if the boom 22 is brought close to the ground G before such a state is reached, if the extension amount of the boom 22 is large, a large space is required behind the vehicle body 10. For this reason, when the ground entry control unit 53 calculates the ground inclination angle θ1 such that the work table 24 cannot be brought close to the ground G unless a predetermined extension amount allowed for securing a space is exceeded. Control that the boom 22 is not activated even when the ground entry switch SW1 is operated, and at the same time, a predetermined alarm means such as a buzzer is activated to move the work table 24 to the ground entry position. It can be notified to the person. Further, the undulation angle and the turning angle are set in the same manner as when the jacks 40, 40,.

  As a result, the jacks 40, 40,... And the boom 22 operate simultaneously, and the vehicle body 10 is lifted and supported in a horizontal state as shown in FIG. Move to the ground entry position near the ground.

  At this time, if the work device 20 is operated too much during the extension process of the jacks 40, 40,..., The work table 24 may interfere with the ground. Therefore, prior to operating the jacks 40, 40,... And the boom 22 in parallel, only the jacks 40, 40,. You may delay it by time). In performing such control, for example, the operation control of the boom 22 may not be performed until the jack pads 43, 43,... Are grounded and the lifting support of the vehicle body 10 is started.

  When boarding the work table 24 at the ground entry position in this way, the boom operation lever 31 and the swing operation lever 32 provided in the upper operation device 30 are operated to operate the boom 22 and the work table 24 to perform a desired work at a high place. The work table 24 is moved to the position. Since the vehicle body 10 has already been lifted and supported in a horizontal state and is in a stable state when the work table 24 is boarded, the work table 24 can be safely moved to the high place work position.

  When the automatic ground descent switch SW3 provided in the upper operating device 30 is operated after the work is completed, the control valve drive control is performed by the controller 50 which receives the operation signal, and the boom 22 and the work table 24 are operated. 5 (c) and FIG. 7 (c), the work table 24 is moved to the ground entry position. Thereby, the worker can get off the ground from the work table 24. The worker who has come down to the ground operates the lower automatic storage switch SW4 provided in the lower operation device 35. When an operation signal from the lower automatic retracting switch SW4 is output to the controller 50, the controller 50 performs drive control of the control valve, and the boom 22 is contracted and raised, and FIGS. As shown in b), the boom 22 and the work table 24 are moved to the storage position on the vehicle body 10.

  As described above, according to the aerial work vehicle 1 of the present embodiment, the operation of the work device 20 that is optimal for moving the work table 24 to the ground entry position based on the ground inclination angle θ1 and the contact inclination angle θ2. A ground boarding control unit 53 that obtains the amount and controls the operation of the work device 20 so as to obtain such an operation amount is provided. Therefore, regardless of the inclination of the ground, and regardless of the inclination angle of the vehicle body 10 when the vehicle body 10 is lifted and supported by the jacks 40, 40,. be able to. Therefore, even when the vehicle is parked on the ground that is lowered forward or raised and works at a high place, even when the vehicle body 10 cannot be supported in a horizontal state because the jacks 40, 40,. 24 can be moved to the ground entry position without interfering with the ground.

  Further, the ground inclination angle θ1 is substituted for the inclination angle of the vehicle body 10 when the PTO switch SW6 is operated. As described above, when the PTO switch SW6 is operated, the vehicle is stopped and the work is started, the jacks 40, 40,... Are not grounded, and the inclination angle of the vehicle body 10 is set to the ground inclination angle. It can be adequately substituted for θ1. Therefore, it is not necessary to provide a dedicated detector for detecting the road surface inclination angle, and the configuration of the aerial work vehicle can be simplified.

  In addition, by providing the automatic horizontal control unit 52 that automatically puts the vehicle body 10 in a horizontal state, the operation operation of the work device 20 performed after boarding the work table 24 from the ground is safely performed regardless of the inclination of the ground. Can be made.

  Here, even when the PTO switch SW6 is operated and the hydraulic pressure can be supplied to the hydraulic actuator, the power transmission itself from the engine E to the wheels 11a, 11a, 11b, and 11b is not cut off. There is an aerial work vehicle configured to allow the vehicle to run under conditions. In such a case, in the configuration in which the inclination angle of the vehicle body 10 when the PTO switch SW6 is operated as described above is used as the ground inclination angle, the inclination angle stored in the memory 53a is not necessarily used for work at height. There is a possibility that it does not coincide with the ground inclination angle of the point to be performed. In the case where the vehicle body 10 is automatically lifted and supported in a horizontal state, the inclination angle of the vehicle body 10 when the automatic horizontal switch SW2 is operated is used as the ground inclination angle. While simplifying a structure, it can substitute reliably as the ground inclination | tilt angle of the place where an aerial work is performed, and can improve control reliability.

  Further, when the vehicle body 10 is automatically lifted and supported in a horizontal state, the inclination angle of the vehicle body 10 in the state of being lifted and supported by the jacks 40, 40,... Is constant regardless of the ground inclination angle. The operating amount of the work device 20 can be obtained according to the ground inclination angle θ1. Therefore, when the ground inclination angle θ1 is determined, the operations of the jacks 40, 40,... And the boom 22 can be performed in parallel, and by operating in this way, the work table is stopped after the vehicle is stopped. The time required to move 24 to the ground entry position can be shortened, and work efficiency can be improved.

  Although the embodiment of the present invention has been described so far, the present invention is not limited to the configuration of the above embodiment. In the above embodiment, the automatic horizontal control unit 52 controls and lifts and supports the vehicle body 10 to bring the work table 24 close to the ground G. However, the aerial work vehicle according to the present invention has the jack 40. , 40,..., 40,... Are operated so as to move the work table 24 closer to the ground G by operating the work device 20 by an operation amount corresponding to the ground inclination angle θ1. Just do it.

  For example, the jacks 40, 40,... Are automatically actuated to support the vehicle body 10 in a horizontal state. It is also possible to provide a new automatic rear tilt control unit for tilting the rear and a new automatic tilt switch for operating the automatic rear tilt control unit. At this time, in the same manner as the automatic horizontal control unit 52, the automatic rearward tilt control unit receives an operation signal from the automatic rearward tilt switch and detects the tilt angle relative to the horizontal plane of the vehicle body 10 detected by the vehicle body tilt angle sensor S4 (the vehicle body at the start of work). A control signal based on the detection signal of (tilt angle) θ1 is output to the valve control unit 51, and the jack control valves JV1 to JV4 are driven and controlled by the valve control unit 51 that has received this control signal, and the vehicle body tilt angle The jacks 40, 40,... Are operated until the vehicle body 10 is lifted and supported so that the inclination angle θ1 of the vehicle body 10 detected by the sensor S4 becomes a predetermined backward inclination angle preset in the automatic rearward tilt control unit. In this configuration example in which the vehicle body 10 is lifted and supported so as to have a predetermined rearward inclination angle regardless of the inclination angle of the ground as described above, the vehicle body support state is determined when the ground inclination angle θ1 is determined in the same manner as in the above embodiment. The distance relationship between the work table 24 and the ground G in FIG. For this reason, the operation amount storage unit 54 stores in advance the operation amount of the work device 20 that is required to be brought close to the ground G in association with the ground inclination angle θ1 based on this distance relationship.

  Even in such a configuration, for example, the front left and right jack cylinders are extended with the maximum extension amount, and the rear left and right jack cylinders are extended with the extension amount such that the jack pads 43, 43,. Even when the predetermined rearward tilt angle is large, it is possible to eliminate the possibility that the work table 24 interferes with the ground G when the ground G is lowered forward as in the above embodiment. Further, according to this configuration, the boom 22 is extended in a state where the vehicle body 10 is tilted rearward. By being tilted rearward, the work table 24 stored behind the vehicle body 10 is directed downward and brought closer to the ground G. For this reason, compared with the form which makes the vehicle body 10 a horizontal state, the extension amount of the boom 22 can be reduced, and the space required behind the vehicle body 10 for moving the work table 24 to the ground entry position can be made compact. can do.

  As described above, even when the vehicle body 10 is tilted backward, the vehicle body 10 has a predetermined inclination angle regardless of the inclination of the ground. Therefore, when the ground inclination angle θ1 is determined, the operation amount of the work device 20 is obtained. Can do. Therefore, when the ground entry switch SW1 is operated, the operation control of the jacks 40, 40,... And the operation control of the boom 22 may be performed in parallel.

  Note that the operation control of the work device 20 performed in the above-described ground entry control is not limited to the extension, undulation, and turning of the boom 22. For example, the work table 24 stored along the side of the boom 22 facing the shrinking direction of the boom 22 may be swung. Accordingly, since the work table 24 is positioned in the extending direction of the boom 22, the work table 24 can be brought closer to the ground G even if the extension amount of the boom 22 is reduced. Further, in an aerial work vehicle provided with a working device in a form in which a bending / extending arm is interposed between the distal end portion of the boom 22 and the work table 24, the bending / extending arm is bent and extended by a predetermined bending / extension angle. Also good.

  In addition, when the boom 22 is operated to fall down by the ground entry control unit 53, the swing operation is performed in advance in order to avoid the interference of the boom receiver 13, but the height of the boom mounting surface 13a is configured to be movable up and down. The height position of the boom placement surface 13a may be moved downward according to the operation of the ground entry switch SW1. For example, the boom receiver 13 may be configured to be telescopically combined in a nested manner, or the boom receiver 13 may be erected so as to be swingable in the front-rear direction of the vehicle body 10.

  10, after the support of the vehicle body 10 by the jacks 40, 40,... Is finished, the operation amount of the work device 20 is obtained, but the timing for obtaining the jacks 40, 40,. It may be when is grounded. In the ground boarding control shown in FIG. 10, the ground boarding switch SW1 and the automatic horizontal switch SW2 may be shared by the automatic horizontal switch SW2. That is, once the automatic horizontal switch SW2 is operated, the jacks 40, 40,... Are automatically extended, and when the automatic horizontal switch SW2 is operated again in a state where the vehicle body 10 is supported horizontally, the work table 24 is moved to the ground. You may comprise so that the working device 20 may be operated-controlled so that it may move to a boarding position. Thereby, the structure of an aerial work vehicle can be simplified.

It is a top view of an aerial work vehicle, and is a top view which shows when a boom and a worktable are in the retracted posture. It is the side view of the said aerial work vehicle seen in the arrow II direction shown in FIG. It is a perspective view which shows the upper operation apparatus of an aerial work vehicle. It is a block diagram which shows the structure which concerns on the controller of an aerial work vehicle. It is a side view of an aerial work vehicle when a jack is manually extended, (a) is a state before starting work, (b) is a state in which the vehicle body is lifted and supported, and (c) is a state where the work platform is mounted on the ground. It is a side view which shows the state moved to the insertion position, respectively. It is a side view of an aerial work vehicle when the work bench is in the ground entry position when the jack is manually extended, when (a) is lowered forward, (b) is horizontal, and (c) is raised forward FIG. It is a side view of an aerial work vehicle when the jack is automatically extended, (a) is a state in which the vehicle body is horizontally lifted and supported, and (b) is a state in which the work table is moved to the ground entry position. FIG. It is a side view when the work bench is in the ground boarding position when the jack is automatically extended, and (a) is a front lowering, (b) is horizontal, and (c) is a side showing the front rising. FIG. It is a flowchart which shows the flow of ground boarding control in the case of extending a jack manually. It is a flowchart which shows the flow of ground boarding control in the case of extending a jack automatically. It is a flowchart which shows the flow of ground boarding control in the case of performing the operation control of a jack and the operation control of a boom in parallel, when a jack is extended manually.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Aerial work vehicle 10 Car body 20 Work apparatus 22 Boom 24 Worktable 30 Upper operation apparatus 35 Lower operation apparatus 36 Jack operation apparatus 40 Jack 50 Controller 52 Automatic horizontal control part (automatic horizontal control means)
53,103 Ground boarding control part (ground boarding control means)
S4 Body tilt angle sensor (body tilt angle detecting means)
SW1 Ground boarding switch (ground boarding operation means)
SW2 Automatic horizontal switch (automatic horizontal operation means)
SW6 PTO switch (work start operation means)
θ1 Ground tilt angle, work start tilt angle θ2 Ground tilt angle

Claims (5)

A vehicle body that can travel,
A boom that is provided on the vehicle body and is configured to be at least extendable and retracted on the vehicle body with a front end portion rearward of the vehicle body, and is mounted on the front end portion of the boom and stored on the vehicle body. A working device comprising a working table,
A jack that is provided at a side of the vehicle body and is configured to be vertically extendable and extended downward to support the vehicle body;
A ground entry operation means provided on the vehicle body,
In a state where the vehicle body is supported by the jack, the operation device is operated in response to an operation signal from the ground entry operation means, and the stored work table is placed on the ground near the ground behind the vehicle body. It is a ground entry control device for an aerial work vehicle that performs control to move it to the entry position,
A ground inclination angle detecting means for detecting an inclination angle of the ground with respect to a horizontal plane;
Vehicle body inclination angle detection means for detecting the inclination angle of the vehicle body relative to a horizontal plane;
Based on the ground inclination angle detected by the ground inclination angle detection means and the vehicle body inclination angle at the time of contact detected by the vehicle body inclination angle detection means when the ground entry operation means is operated, the work table And an operation amount calculating means for determining an operation amount of the working device necessary for moving the operation device to the ground boarding position,
A ground entry control device for an aerial work vehicle, wherein operation control of the work device is performed so that the work device is operated by an operation amount obtained by the operation amount calculation means. Work starting operation means that is operated when the vehicle is stopped to start work at a high place is provided,
The ground inclination angle detection means includes the vehicle body inclination angle detection means, and storage means for storing the vehicle body inclination angle at the start of work detected by the vehicle body inclination angle detection means when the work start operation means is operated. Configured,
The ground entry control device for an aerial work vehicle according to claim 1, wherein the operation amount calculation means uses the vehicle body inclination angle at the start of work as the ground inclination angle. Automatic horizontal operation means provided on the vehicle body;
Automatic horizontal control means for extending the jack in response to an operation signal from the automatic horizontal operation means and controlling the operation of the jack so as to support the vehicle body in a horizontal manner regardless of the inclination of the ground. ,
When the operation control of the jack is performed by the automatic horizontal control means, the operation amount of the work device is obtained by the operation amount calculation means, and the work device is operated by the operation amount obtained by the operation amount calculation means. The ground entry control device for an aerial work vehicle according to claim 1, wherein the operation control of the work device is performed as described above. The ground inclination angle detection means includes the vehicle body inclination angle detection means, and storage means for storing the vehicle body inclination angle at the start of work detected by the vehicle body inclination angle detection means when the automatic horizontal control means is operated. Configured,
The ground entry control device for an aerial work vehicle according to claim 3, wherein the operation amount calculation means uses the vehicle body inclination angle at the start of the work as the ground inclination angle. A vehicle body that can travel,
A boom that is provided on the vehicle body and is configured to be at least extendable and retracted on the vehicle body with a front end portion rearward of the vehicle body, and is mounted on the front end portion of the boom and stored on the vehicle body. A working device comprising a working table,
In an aerial work vehicle having a jack provided on a side portion of the vehicle body and configured to be vertically extendable and extending downward to support the vehicle body,
Ground entry operation means provided on the vehicle body;
A ground inclination angle detecting means for detecting an inclination angle of the ground with respect to a horizontal plane,
Upon receiving an operation signal from the ground entry operation means, the operation control of the jack for extending the jack so that the vehicle body is supported in a horizontal manner regardless of the inclination of the ground, and the ground inclination angle detection means. The amount of operation of the work device is obtained based on the ground inclination angle detected by the step, and the operation control of the work device for operating the work device by the calculated amount of operation is performed in parallel, whereby the vehicle body is leveled. A ground entry control device for an aerial work vehicle, wherein the work platform is controlled to move to a ground entry position near the ground behind the vehicle body.

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