JP2007238279A - Control device for high-lift working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To safely perform high-lift work from a working table side by operation of jacks. <P>SOLUTION: A high-lift working vehicle includes: an upper jack operation lever 34 provided on the working table 24; a lower jack operation lever 33 provided in a vehicle body 10; and a grounding storing part 56 for storing grounding of all of the jacks 40 when all of the jacks 40 are grounded in accordance with operation of the lower jack operation lever 33, in addition to a boom, the working table 24 and the jacks 40. When information indicating that all of the jacks 40 were grounded is stored by the grounding storing part 56, jack operation control in accordance with the operation of the upper jack operation lever 34 is allowed. In the state where the information indicating that all of the jacks 40 are grounded is stored by the grounding storing part 56, when non-grounding of all of the jacks 40 is detected or when the boom is stored on the vehicle body 10, information which indicates that all of the jacks 40 stored by the grounding storing part 56 are grounded, is reset. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a control device for an aerial work vehicle, and includes a lifting device mounted on a vehicle body, a work table attached to a tip of the lifting device, and a plurality of jacks disposed on the front, rear, left and right of the vehicle body. The present invention relates to a control apparatus for a work vehicle.

  Among the above-mentioned aerial work platforms, the boom type aerial work vehicle has a swivel mounted on a swivelable vehicle body that can swivel with respect to the vehicle body. The boom (elevating device) is pivotally connected to the boom so that the boom can be expanded and contracted by the expansion and contraction of the telescopic cylinder inside the boom in which a plurality of boom members are nested. In addition, a work table is attached to the tip of the boom so that it can freely swivel (neck vibration), and an operator who rides on the work table moves the boom up and down, swivels, and expands and contracts, and swivels the work table. The workbench can be moved to a desired or arbitrary height position. In addition, front and rear sides of the vehicle body are provided with jacks that are widened outwardly in the left-right direction and retractable below the vehicle body. The operation lever) is operated to extend the jack downward, so that the jack can support the vehicle body (see, for example, Patent Document 1).

In the aerial work vehicle as described above, the boom is stored on the vehicle body in a predetermined posture during non-high work. This stowed position varies depending on the position of the swivel post, etc., and in an aerial work vehicle in which the swivel post is erected at the front part of the vehicle body, the boom is stored in a posture with its tip end directed toward the rear of the vehicle body . In addition, the work table attached to the tip of the boom stored in the rearward direction of the vehicle body is positioned at the rear and upper parts of the vehicle body at the storage position. Further, during non-high work, jacks disposed on the left and right sides of the vehicle body are stored in a fully contracted state.
JP 2001-354396 A

  By the way, in the past, the operation of the jack was performed by operating the jack operating lever provided on the vehicle body as described above. However, in recent years, the jack operation provided on the work table is performed as follows. A jack is also operated by operating a lever. When starting work at a high place, it is necessary for the worker to board the work table from the ground, but the work table in the retracted position as described above is located at a high position from the ground and is difficult to get in. The following control is performed so that the user can easily get on the work table.

  In other words, the boom is extended from the retracted position by a predetermined length to bring the boom into the ground getting on and off position, and the jack is extended from the retracted position to be brought into contact with the ground so that the vehicle body is inclined to the rear side. As a result, the work table is moved to the ground entry / exit position close to the ground behind the vehicle body. When the work table is located at the ground getting-on / off position, it is close to the ground, so that it is easy to get on the work table, and the worker can safely get on the work table from the ground. After the operator gets on the workbench, the operator on the workbench operates the jack by operating the jack operation lever provided on the workbench to bring the vehicle body into a substantially horizontal state. Start work at height. In addition, after completing work at a high altitude, the operator operates the upper control lever to operate the boom and jack to move the work platform to the ground entry / exit position, so that the worker can safely move from the work platform to the ground. It is possible to get off.

  However, when the jack is operated by the jack operation lever provided on the work table, there is a problem that the worker who is on the work table does not know the condition of the road surface in the vicinity where the jack is grounded. In other words, although the road surface is uneven, an unfavorable situation such as whether the road surface is inclined or has a side groove is difficult to recognize for an operator on the work table. When the road surface is in such a situation, when the operator who has boarded the work table operates the jack by the jack operation lever provided on the work table without knowing the road surface condition, for example, there is a side groove on the road surface. In some cases, overhanging the jack may cause the vehicle body to become unstable. In such a case, for example, if the wheel is not fastened, there is a possibility that the vehicle may run away particularly on an inclined land.

  In view of the above problems, in the present invention, when an operator who has boarded a work table operates a jack operation means provided on the work table to activate the jack, this can be performed safely. An object is to provide a control device for an aerial work vehicle.

  In order to solve the above-described problems, a control device for an aerial work vehicle according to the present invention is provided with an elevating device (e.g., an embodiment) that is provided on a movable vehicle body so as to be movable up and down and is stored in a predetermined storage posture on the vehicle body. Boom 22), a work table that is attached to the tip of the lifting device and can be moved up and down by the lifting device, and is disposed in the front, rear, left and right of the vehicle body, and can be vertically expanded and contracted, and is retracted upward. And a plurality of jacks that extend downward from the vehicle to support the vehicle body, and an operation control means (for example, the controller 50 in the embodiment) that controls the operation of the jacks. Upper jack operating means (for example, the upper jack operating lever 34 in the embodiment) for performing the operation to be operated, and the lower jack for operating the jack provided on the vehicle body. Operation means (for example, ground entry switch SW1 or lower jack operation lever 33 in the embodiment), ground detection means (for example, ground sensor S5 in the embodiment) provided to each of a plurality of jacks, and detecting grounding of the jacks; The storage detecting means (for example, the boom storage sensor S6 in the embodiment) for detecting that the lifting device is stored in a predetermined storage posture on the vehicle body and the jack non-operation by the operation of the jack based on the operation of the lower jack operating means. Ground storage means (for example, ground storage unit 56 in the embodiment) for storing that all jacks are grounded based on detection information by the ground detection means when all jacks are grounded from the ground state; If it is remembered by the ground storage means that all jacks are grounded, It is permitted to control the operation of the jack by the operation control means based on the operation of the means, and the non-grounding of all the jacks is detected by the grounding detecting means in a state where all the jacks are grounded by the grounding storage means. In this case, or when the lifting / lowering device is stored in a predetermined storage posture on the vehicle body by the storage detection means, the information that all jacks stored in the ground storage means are grounded is reset.

  Further, in the control device for an aerial work vehicle having the above-described configuration, the lifting device is configured to be at least telescopically movable, and is configured by a boom that is stored on the vehicle body in a boom storage posture in which a tip portion is directed toward the rear of the vehicle body. With all the jacks grounded, the vehicle body is tilted backwards to the vehicle body landing position, and the boom is extended at least to bring the work table to the work table ground landing position close to the ground behind the vehicle body. Operation based on the operation of the upper jack operation means when the ground storage means stores that all the jacks are grounded with the work platform moved to the platform landing position. It is preferable to allow the operation control of the jack by the control means.

  According to the control apparatus for an aerial work vehicle according to the present invention, if all the front, rear, left and right jacks are grounded based on the operation of the lower jack operation means, the grounding of all the jacks is stored in the ground storage means, and once the ground storage means If an ungrounded jack occurs during work at a high altitude, the operator who has boarded the work table operates the upper jack operation means provided on the work table, so that the jack can be removed from the work table. It is possible to control the operation. This is because it is confirmed that there is no problem in grounding in that place because all the jacks on the front, rear, left and right are once grounded by operating the lower jack operating means provided on the so-called vehicle body side. It is guaranteed that there are no elements that obstruct the grounding of the jack, such as overhangs on the ground and side grooves on the road surface, so that the vehicle body becomes unstable even if the jack is extended and retracted in the same place. This is because there is no fear.

  However, it is not always possible to operate the jack from the work table by operating the upper jack operation means. If ungrounding of all the front, rear, left and right jacks is detected, or the lifting device (boom) is Is detected, the information stored in the ground storage means that all the front, rear, left and right jacks are grounded is deleted. When all the front, rear, left and right jacks are ungrounded, operating the jack by operating the upper jack operation means will cause the vehicle body to become unstable, and it is necessary to ensure the safety of workers on the work table. As a result, the vehicle body becomes unstable when the information is erased by making all the front, rear, left, and right jacks ungrounded (by making the jack operation impossible by operating the upper jack operating means). Can be prevented. In addition, when moving the vehicle and starting work at a high place at another work site, the road surface condition around the jack is different from that before the movement due to the movement of the vehicle, so information that the lifting device is stored on the vehicle body It can be said that the safety of the work according to the road surface condition is ensured by using the conditions for erasing. That is, in the present invention, when the information stored in the ground storage means is reset, the jack is provided on the vehicle body side so that the jack can be operated by the operation of the upper jack operation means provided on the work table. Since it is necessary to ground all the jacks again by operating the lower jack operating means, it is possible to operate the jack by operating the upper jack operating means, while ensuring the safety of work at high places. .

  Hereinafter, a preferred embodiment of an aerial work vehicle according to the present invention will be described with reference to FIGS. 1 to 6. An example of the aerial work vehicle is shown in FIGS. 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 and rear wheels 11a and 11a and rear wheels 11b and 11b. The working device 20 is provided, and four jacks 40, 40,... 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 turning post 21 is erected on the front part of the vehicle body 10 and at the rear part of the driving cabin, and is configured to be able to turn by receiving the drive of the built-in turning motor BA3. The boom 22 is configured by combining a base end boom 22 a and a front end boom 22 b in a nested manner. The base end boom 22 a is pivotally attached to the turning post 21, and is turned together with the turning post 21. The boom 22 is configured to expand and contract in response to the expansion and contraction operation of the built-in expansion cylinder BA1, and is also moved up and down in response to the expansion and contraction operation of the hoisting cylinder BA2 disposed between the swing post 21 and the proximal boom 22a. It is configured to be up and down freely. A vertical post 23 is attached to the front end portion of the front end boom 22b so as to be swingable up and down, and an extendable leveling cylinder A1 is disposed between the front end boom 22b and the vertical post 23. The vertical post 23 is swung in response to the expansion / contraction operation of the leveling cylinder A1.

  The work table 24 is composed of a bucket 24a for boarding an operator and a work table holding bracket 24b attached to the bucket 24a. The work table holding bracket 24b is vertically movable in a state in which the neck can freely vibrate around the axis of the vertical post 23. Attached to the post 23. 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 to the vertical post 23 so that the floor surface of the bucket 24a is horizontal when the vertical post 23 is in the vertical posture. 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 to the notched portion so as to be opened and closed. Then, the operator can get on and off the bucket 24a by opening the door 24c as shown by a two-dot chain line (see FIG. 1).

  The work device 20 is stored on the vehicle body 10 as shown in FIGS. 1 and 2 when the work vehicle 1 is not in operation, such as during travel. In this retracted position, the telescopic cylinder BA1 is fully contracted to bring the boom 22 into a fully contracted state, and the swing post is set at a swing angle such that the tip of the fully contracted boom 22 does not protrude from the vehicle body 10 in plan view. 21 is located. Further, a boom receiver 13 formed with a boom placement surface 13a for placing the base end boom 22a at the upper end is erected at the rear portion of the vehicle body 10, and the boom 22 is placed on the boom placement surface 13a in the retracted position. The hoisting cylinder BA2 is operated so as to be placed.

  Note that the boom receiver 13 is disposed with the height position of the boom placement surface 13a set so that the undulation angle of the boom 22 when set to the retracted position becomes a negative angle (for example, about -10 degrees). The hoisting cylinder BA2 can be further reduced, and the boom 22 can be further lowered. The work table 24 attached to the tip of the boom 22 in such a storage posture is located at the rear and upper part of the vehicle body 10, and on the left side of the boom 22 and in the contraction direction so as not to protrude from the vehicle body 10 in plan view. Stored at the swing angle toward. Further, the boom placement surface 13a is activated when the boom 22 reduced to the fully contracted state is placed on the boom placement surface 13a at the height position set as described above, and the boom placement surface 13a is activated. A boom storage sensor S6 including a limit switch capable of outputting a detection signal indicating the storage state 22 is provided.

  The boom receiver 13 is configured by nesting a base post 13b that extends upward and is fixed to the vehicle body 10 and an extendable post 13c that forms a boom mounting surface 13a at the upper end. The telescopic post 13c is configured to be vertically expandable and contractible by the expansion and contraction operation of the boom receiving cylinder A2 incorporated in 13c. With such a configuration, the boom receiver 13 can be moved up and down to adjust the height position of the boom placement surface 13a.

  The work table 24 includes an operation unit 30 for performing an operation for operating the boom 22 and the like. As shown in FIG. 3, the operation unit 30 includes 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. And an upper jack operation lever 34 for performing expansion and contraction operations of the jacks 40, 40,..., And the boom 22, the work table 24 and the jacks 40, 40,... Are configured to perform predetermined operations. The operation unit 30 includes an operation lever 31, 32, 34, a work table automatic storage switch SW5 that operates the boom 22 and the work table 24 so that the boom 22 and the work table 24 are automatically in the stored posture, and will be described later. A work state transition switch SW2 and an automatic ground descent switch SW3 are provided.

  At the base of the boom operation lever 31, there is provided a boom operation sensor S1 including an expansion / contraction potentiometer that detects a boom expansion / contraction operation, a undulation potentiometer that detects a boom undulation operation, and a turning potentiometer that detects a boom turning operation. 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. At the base of the upper jack operation lever 34, a jack operation sensor S7 including an expansion / contraction potentiometer that detects a jack expansion / contraction operation is provided.

  The jacks 40, 40, 40, 40 provided on the front, rear, left and right of the vehicle body 10 are respectively inserted in the vertical direction from the lower end of the outer post 41 and the outer post 41 fixed to the side of the vehicle body 10 and extending in the vertical direction. The inner post 42 and a jack pad 43 swingably attached to the lower end of the inner post 42. The inner post 42 is moved by the expansion and contraction of the built-in jack cylinder JA1 (JA2, JA3, JA4). It can be expanded and contracted up and down. The inner posts 42, 42,... Of the four jacks 40, 40,... Are extended 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. .

  Each of the jack cylinders JA1 to JA4 is supplied and discharged according to the opening / closing operation of the jack control valves JV1 to JV4 provided in correspondence thereto, and the jack control valves JV1 to JV4 are connected to the vehicle body 10. The lower jack operation levers 33 and 33 provided are opened and closed by lever operation. In addition to the lower jack operation levers 33, 33, a ground entry switch SW1 and a vehicle body automatic storage switch SW4 are provided at the rear portion of the vehicle body 10, respectively. The jack control valves JV1 to JV4 can be driven to open and close by operating the upper jack operating lever 34 provided on the work table 24.

  Further, each jack 40, 40,... Is provided with a limit switch type ground sensor S5 that detects whether the jack 40 is grounded, so that each jack 40, 40,. It is possible to detect whether or not

  FIG. 4 is a block diagram showing the configuration of the control device 100 for an aerial work vehicle according to the present invention. A controller 50 that controls various operations of the aerial work vehicle 1 is connected to a valve control unit 51 for driving and controlling a control valve of a hydraulic actuator provided in the boom 22, the jack 40, and the like. Leveling control unit 53, ground entry control unit 54, work state transition control unit 55, ground sensor S5, boom storage sensor S6, and ground storage unit 56 connected to work state transition control unit 55, as well as interlock unit 52 It is comprised.

  The valve control unit 51 is provided corresponding to each of the hydraulic actuators JA1 to JA4, BA1 to BA4, A1, and A2, and controls each of the control valves JV1 to JV4, BV1 to BV4, V1, and V2 that controls supply and discharge of hydraulic oil. Drive control is performed. As shown in FIG. 4, the operation signals of the boom operation sensor S1 provided on the boom operation lever 31 and the swing operation sensor S2 provided on the swing operation lever 32 are output to the valve control unit 51, respectively. Has been. Based on the operation signals output from both operation sensors S1 and S2, the valve control unit 51 electromagnetically drives the expansion / contraction movement control valve BV1 to extend / contract the expansion cylinder BA1 and electromagnetically drives the movement control valve BV2 to cause the movement. The cylinder BA2 is expanded and contracted, the swing 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.

  Further, the valve control unit 51 electromagnetically drives 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 jacks 40, 40,... 2 according to the lever operation of the lower jack operation lever 33 or the upper operation lever 34 is performed. Further, the valve control unit 51 can electromagnetically drive the leveling control valve V1 to expand and contract the leveling cylinder A1, and electromagnetically drive the boom receiving control valve V2 to expand and contract the boom receiving cylinder A2.

  The hydraulic oil supplied to and discharged from each hydraulic actuator is configured to be discharged from a hydraulic pump P provided at a predetermined position of the vehicle body 10, and the hydraulic oil discharged from the hydraulic pump P passes through the control valves. It is supplied to and discharged from the corresponding hydraulic actuator. The hydraulic pump P is driven by receiving the rotational output of an electric motor M that is operated by a battery (not shown).

  The work table 24 is provided with a gravity-type work table tilt angle sensor S 3, and is configured such that a detection signal of the tilt angle with respect to the substantially horizontal direction of the work table 24 is sequentially output to the leveling control unit 53. Based on the detection signal output from the work table inclination angle sensor S3, the leveling control unit 53 determines the inclination state of the work table 24 and outputs a leveling control signal to the valve control unit 51. The valve control unit 51 drives and controls the leveling control valve V1 based on the leveling control signal, causes the leveling cylinder A1 to extend and contract, and swings so that the vertical post 23 is always held in a vertical posture. As a result, the work table 24 (the floor surface of the bucket 24a) is always kept in a horizontal state regardless of the state of the boom 22 being raised or lowered.

  The operation signal of the automatic ground descent switch SW3 provided on the work table 24 is output to the valve control unit 51. Further, the ground entry control unit 54 and the work state transition control unit 55 receive a detection signal of the inclination angle of the vehicle body 10 with respect to the substantially horizontal direction by the gravity-type vehicle body inclination angle sensor S4 provided on the vehicle body 10 on the ground. .. Are input to the ground control unit 54 and the ground storage unit 56. The ground state detection signals of the jacks 40, 40,... In addition, the ground storage unit 56 is supplied with a detection signal of the stored state of the boom 22 by the boom storage sensor S6 provided on the boom placement surface 13a of the boom receiver 13.

  The controller 50 is provided with an interlock portion 52 that operates when the operation state of the jack 40 and the boom 22 becomes a predetermined condition. When the interlock unit 52 is operated, control signals are output to the control valves JV1 to JV4 and BV1 to BV4, and interlock control is performed to restrict simultaneous operation of the boom 22 and the jacks 40, 40,. Yes.

  The operation signal of the ground entry switch SW1 provided in the vehicle body 10 is configured to be output to the ground entry control unit 54, and the operation signal of the work state transition switch SW2 provided in the work table 24 and the vehicle body 10 are configured. An inclination angle detection signal with respect to the vertical direction of the vehicle body 10 by the gravity-type vehicle body inclination angle sensor S4 provided above is output to the work state transition control unit 55. The work state transition control unit 55 is connected to the interlock unit 52.

  In the ground entry control unit 54, a detection signal of the inclination angle of the vehicle body 10 by the vehicle body inclination angle sensor S4, and detection of the grounding state of the jacks 40, 40,... By the ground sensor S5 provided in each jack 40, 40,. A signal and a detection signal of a storage state of the boom 22 in the vehicle body 10 by a storage sensor S6 provided on the boom placement surface 13a are input.

  The configuration of the control device 100 mounted on the aerial work vehicle 1 and the operation thereof have been described above. Next, the procedure of the aerial work performed using the aerial work vehicle 1 and the operation at the aerial work are described. The operation of the valve control unit 51, the ground entry control unit 54, the work state transition control unit 55, and the operation of the jack 40 will be mainly described. Prior to the start of the aerial work, the aerial work vehicle 1 has the boom 22 and the work table 24 in the retracted position as shown in FIGS. 1 and 2, and the jacks 40, 40,. The front wheel 11a, 11a and the rear wheel 11b, 11b are in a grounded state.

  In the state as described above, first, the ground entry switch SW1 provided in the vehicle body 10 is operated. When the ground boarding switch SW1 is operated, an operation signal of the ground boarding switch SW1 is output to the ground boarding control unit 54, and a ground boarding control signal is output from the ground boarding control unit 54 to the valve control unit 51. The

  When receiving the ground boarding control signal, the valve control unit 51 controls the opening / closing of the expansion / contraction motion control valve BV1, the undulation motion control valve BV2, the swing motion control valve BV3, and the jack control valves JV1 to JV4. Specifically, control is performed to open valves other than the turning control valve BV3. In this way, by operating the ground entry switch SW1, it is possible to supply hydraulic oil to the telescopic cylinder BA1 and the hoisting cylinder BA2 and supply hydraulic oil to the jacks 40, 40,.

  Then, the valve control section 51 drives and controls the front left and front right jack control valves JV1 and JV2 to extend both the front left and front right jack cylinders JA1 and JA2 until the maximum extension amount is reached. The 40, 40 inner posts 42, 42 are extended downward with a maximum extension amount. Further, the rear left and rear right jack control valves JV3, JV4 are driven and controlled to extend the rear left and rear right jack cylinders JA3, JA4, and the inner posts 42, 42 of the rear left and right jacks 40, 40 are extended downward. Operate. At this time, the rear left and rear right jack control valves JV3, JV4 are driven so that the jack pads 43, 43 are extended by an extension amount that allows grounding.

  By operating the jacks 40, 40,... In this way, the front, rear, left and right jacks 40, 40,... Are all grounded, the rear wheels 11b, 11b remain grounded, and the front wheels 11a, 11a are grounded. Then, the vehicle body 10 is tilted rearward at a predetermined rearward inclination angle θ1 (see FIG. 5), the rear end portion of the vehicle body 10 is brought close to the ground, and the bottom surface of the work table 24 is brought close to the ground. At this time, the ground storage unit 56 stores that the front, rear, left and right jacks 40, 40,... Are all grounded based on the detection by the ground sensor S5. In addition, when the jacks 40, 40,... Are operated by the operation of the ground entry switch SW1 as in the present embodiment and these are grounded, the ground storage unit 56 stores this, and the lower jack operation is performed. When the jacks 40, 40,... Are operated by operating the lever 33 and all the jacks 40, 40,.

  Here, the grounding sensor S5 detects the grounding of the front, rear, left and right jack pads 43, 43,..., And the vehicle body tilt angle sensor S4 provided on the vehicle body 10 causes the vehicle body 10 to tilt backward with a rearward tilt angle θ1. When detected, these detection signals are output to the ground boarding control unit 54, whereby the valve control unit 51 stops the extension operation of the jack cylinders JA1 to JA4. The ground sensor S5 may be configured by a method of detecting whether or not the ground is detected from the pressure values of the jack cylinders JA1 to JA4, or the jack cylinders JA1 to JA4 are attached to the outer posts 41, 41,. It may also be configured by a method of detecting whether or not the robot has been grounded by detecting whether or not it has moved by the amount of play set.

  As described above, along with the extension movement of the jacks 40, 40,..., The valve control unit 51 drives and controls the expansion / contraction movement control valve BV1 to extend the expansion cylinder BA1 and extend the boom 22 by a predetermined extension amount. Let Since the boom 22 has its tip portion directed rearward in the retracted posture, the work table 24 moves rearward by the extension operation of the boom 22. Further, as the vehicle body 10 approaches the rearward inclination angle θ1 due to the extension movement of the jacks 40, 40,..., The extending direction of the boom 22 is further inclined downward so that the work table 24 approaches the ground by the extension operation of the boom 22. Moving.

  When the extension operation of the boom 22 is finished, the valve control unit 51 drives and controls the raising / lowering control valve BV2 to reduce the raising / lowering cylinder BA2, and the boom 22 is lowered by a predetermined tilt angle θ2 (see FIG. 5). . As a result, the work table 24 is further brought closer to the ground as compared with the boom 22 only extending. Further, as shown in FIG. 5, the valve control unit 51 controls the boom receiving control valve V2 to reduce the boom receiving cylinder A2 simultaneously with the driving control of the raising / lowering control valve BV2, and contracts the telescopic post 13c. The height position of the boom placement surface 13a is lowered according to the fall operation of the boom 22.

  As described above, when the ground entry switch SW1 is operated, the vehicle body 10 is moved rearward as shown in FIG. 5 by the drive control of the valve control unit 51 based on the control signal output from the ground entry control unit 54. The boom 22 is tilted and the boom 22 is extended and laid down, and the work table 24 attached to the tip of the boom 22 moves to the ground boarding / alighting position. When the work table 24 is located at the ground entry / exit position, the work table 24 is close to the ground, so that the operator can easily get into the bucket 24a by opening the door 24c of the work table 24 from the ground. Become. It should be noted that hydraulic oil can be supplied to the turning motor BA3 when the work table 24 moves to the ground getting-on / off position, and the boom 22 can turn. As described above, when all the front, rear, left and right jacks 40, 40,... Are grounded, the ground storage unit 56 stores that all the front, rear, left and right jacks 40, 40,.

  When the workbench 24 is located at the ground getting-on / off position, the workbench 24 is moved from the retracted position by the extension operation of the jack 40 and the boom 22 by the summation of the rearward tilt angle θ1 and the fallen angle θ2 in FIG. It will be tilted backward as shown by the dotted line. In this embodiment, the controller 50 is provided with a leveling control unit 53. After the operation of the ground entry switch SW1, the rear tilt angle of the vehicle body 10 and the change in the tilt angle of the boom 22 are changed from the work table tilt angle sensor S3. The detection signal shown is sequentially output to the leveling control unit 53, and the drive control of the leveling control valve V1 by the valve control unit 51 based on the control signal from the leveling control unit 53 is always performed. For this reason, the work table 24 is always kept in a horizontal state as shown by a solid line in FIG. 5 regardless of the rearward tilt angle of the vehicle body 10 and the tilt angle of the boom 22.

  Next, the operator who has boarded the work table 24 operates the work state transition switch SW2 provided in the operation unit 30 of the work table 24. When the work state transition switch SW2 is operated, an operation signal of the work state transition switch SW2 is output to the work state transition control unit 55. Further, a detection signal of an inclination angle with respect to the horizontal plane of the vehicle body 10 by the vehicle body inclination angle sensor S4 is output to the work state transition control unit 55.

  When the operation signal from the work state transition switch SW2 is input, the work state transition control unit 55 stores whether or not the front, rear, left and right jacks 40, 40,... Judging. Further, the work state transition control unit 55 determines that the inclination angle of the vehicle body 10 with respect to the horizontal plane is within a predetermined range based on the detection by the vehicle body inclination angle sensor S4 (for example, when the vehicle body inclination angle around 10 is less than 5 degrees, It is determined whether or not the inclination angle is 2 degrees or less. When these conditions are satisfied, that is, when the grounding conditions of all the front, rear, left and right jacks 40, 40,... And the condition of the inclination angle of the vehicle body 10 are satisfied, the work state transition control unit 55 performs a work state transition control signal. Is output to the valve control unit 51. Here, when the vehicle body 10 is tilted rearward and the work table 24 is moved to the ground entry / exit position, the front, rear, left, and right jacks 40, 40,... ,... Are located on the side grooves, the work state shift control unit 55 does not output a work state shift control signal. In such a case, even if the upper jack operation lever 34 is operated, the jacks 40, 40,... Cannot be operated based on such an operation.

  On the other hand, when the valve control unit 51 receives the work state transition control signal by satisfying the above conditions, it outputs control signals to the front, rear, left and right jack control valves JV1, JV2, JV3, JV4, and the upper jack operating lever 34. The expansion and contraction movement of the jacks 40, 40,. For this reason, by operating the upper jack operation lever 34, the vehicle body 10 can be moved back and forth as shown in FIG. 6 from the state shown in FIG. 5 even if all the front and rear jacks 40 are not grounded. The rear jacks 40, 40 can be extended so as to be horizontal, and the front jacks 40, 40 can be contracted. At this time, the work state transition control signal is also output to the interlock unit 52. When the interlock unit 52 receives the work state transition control signal, the interlock unit 52 outputs an interlock control signal to the telescopic motion control valve BV1 and the like, and the boom 22 Regulate the operation of In this way, interlock control is performed to restrict simultaneous operation of the jacks 40, 40,.

  A work state shift control signal is output until the vehicle body 10 is in a horizontal state based on a detection signal from the vehicle body tilt angle sensor S4, and drive control of each jack control valve JA1 to JA4 is possible by this work state shift control signal. Therefore, by operating the upper jack operation lever 34, the vehicle body 10 can be supported in a horizontal state as shown in FIG. Until the vehicle body 10 is supported in a horizontal state, the interlock control for restricting the operation of the boom 22 is performed as described above, and the boom 22 moves up and down regardless of the operation signal output from the boom operation sensor S1. , Telescopic movement and turning movement are restricted. Therefore, the jacks 40, 40,... Can be operated safely until the vehicle body 10 is stably supported in a horizontal state.

  Note that the vehicle body 10 changes from the tilted rearward state shown in FIG. 5 to the horizontal state shown in FIG. 6 while changing its posture so as to lift the rear part of the vehicle body 10, but the boom 22 and the jack 40 are also in the meantime. , 40,..., The drive control of the leveling control valve V1 by the valve control unit 51 based on the control signal from the leveling control unit 53 is performed in the same manner as when the work table 24 is moved to the ground getting on / off position. Thus, the work table 24 is held in a horizontal state regardless of the posture of the vehicle body 10.

  When the vehicle body 10 is in the horizontal state, the output of the work state transition control signal from the work state transition control unit 55 to the interlock unit 52 is stopped. At this time, the boom 22 is moved up and down and retracted by the input of the operation signal from the boom operation sensor S1 based on the operation of the boom operation lever 31 and the operation signal from the swing operation sensor S2 based on the operation of the swing operation lever 32. It is possible to move the work table 24 to a desired high position by turning the work table 24 to vibrate the neck. At this time, the operation of the front, rear, left and right jacks 40, 40,... Is restricted by the interlock control, so that the work table 24 can be safely moved while the vehicle body 10 is stably supported.

  Here, when working at a high place by moving the work table 24 to a desired or arbitrary high position, depending on the operating direction of the boom 22, the vehicle body 10 is caused by the overturning moment acting from the boom 22 side to the vehicle body 10 side. May be twisted and one to three of the four jacks 40 may be lifted off the road surface. In such a case, according to the present invention, an operator who has boarded the work table 24 operates the upper jack operation lever 34 to expand and contract the jacks 40, 40,... According to the road surface conditions. It is possible to adjust the jack 40 to be grounded. This is because the valve control unit 51 reads the grounding information stored in the grounding storage unit 56 (information that all jacks 40 in the front, rear, left, and right are grounded) (the work table 24 is moved to the ground getting on / off position). The valve control unit 51 outputs control signals to the front, rear, left, and right jack control valves JV1, JV2, JV3, and JV4. Even if all the front, rear, left and right jacks 40 are not grounded, the jacks 40, 40,. In this way, even when the work table 24 is located at a high position, the extension amount of the jack 40 can be adjusted by operating the upper jack operation lever 34. The conditions for resetting the ground information of the jack 40 stored in the ground storage unit 56 (deletion of the memory that all the front, rear, left, and right jacks 40 are grounded) will be described later.

  Next, a series of operations until the boom 22 and the jack 40 are stored in the vehicle body 10 after completion of the work at a high place at a high place will be described. As described above, an operator who moves the work table 24 to a desired height position and performs the height work, operates the automatic ground descent switch SW3 provided in the operation unit 30 when the height work is finished. When the automatic ground descent switch SW3 is operated, an automatic ground descent control signal based on this operation is input from the automatic ground descent switch SW3 to the valve controller 51.

  When the automatic ground descent control signal is input, the valve control unit 51 first drives and controls the expansion / contraction motion control valve BV1 and the undulation motion control valve BV2 to cause the boom 22 to perform the reduction operation and the overturn operation, and the boom 22 is moved from a high place. The vehicle body 10 is lowered to a predetermined safe state. At the same time, the swing motion control valve BV3 and the neck vibration control valve BV4 are driven and controlled, the swing post 21 is positioned at the swing angle in the retracted posture, and the work table 24 is positioned at the swing angle in the retracted posture (see FIG. 6).

Then, the valve control unit 51 determines whether or not it is stored in the ground storage unit 56 that all of the front, rear, left and right jacks 40, 40,. Further, the valve control unit 51 determines whether or not the inclination angle of the vehicle body 10 with respect to the horizontal plane is within a predetermined range based on the detection by the vehicle body inclination angle sensor S4. When these conditions are satisfied, the valve control unit 51 outputs a control signal to the front, rear, left and right jack control valves JV1, JV2, JV3, and JV4.
At this point, it is stored that all the jacks 40, 40,... Front, rear, left and right are grounded (because they have not been reset yet), so that the condition of the inclination angle of the vehicle body 10 is substantially satisfied. do it. When a control signal is output to the front, rear, left and right jack control valves JV1, JV2, JV3, JV4, the jack 40 based on the operation of the upper jack operation lever 34 even if all the front, rear, left and right jacks 40 are not grounded. , 40,... Can be expanded and contracted. For this reason, when an operator boarding the work table 24 operates the upper jack operation lever 34, the rear jacks 40, 40 are contracted and the vehicle body 10 is tilted backward, so that the work table 24 is moved as shown in FIG. Move to the landing position. When the operations of the rear jacks 40, 40, the boom 22, and the work table 24 are stopped, the operator can open the door 24c and get down from the bucket 24a to the ground.

  The worker who got off the ground operates the automatic vehicle body retracting switch SW4 provided on the vehicle body 10. When the vehicle body automatic storage switch SW4 is operated, a vehicle body automatic storage control signal based on this operation is input to the valve control unit 51.

  When the vehicle body automatic storage control signal is input, the valve control unit 51 drives and controls the hoisting and moving control valve BV2 to extend the hoisting cylinder BA2 and to raise and lower the boom 22 and to move the telescopic motion control valve BV1. Drive control is performed so that the telescopic cylinder BA1 is contracted to the fully contracted state, and the boom 22 is contracted to the fully contracted state. Accordingly, the jack control valves JV1 to JV4 are driven and controlled to control the jack cylinders JA1 to JA1. The JA4 is contracted to the fully contracted state, and the inner posts 42, 42,... Of the jacks 40, 40,. In addition to the drive control of the raising / lowering control valve BV2, the boom receiving control valve V2 is driven and controlled to extend the boom receiving cylinder A2, and the extendable post 13c is extended to raise the height of the boom mounting surface 13a. Move. As a result, the front wheels 11a and 11a are grounded, and the boom 22 and the workbench 24 are in the retracted posture shown in FIGS.

  Here, when all the front, rear, left and right jacks 40 are ungrounded, the detection signals from the respective ground sensors S5 are input to the ground storage unit 56, and all the front, rear, left and right jacks 40 stored in the ground storage unit 56 are displayed. The information that it is grounded is deleted. Alternatively, as described above, the boom 22 is mounted on the boom mounting surface 13a in a state where the boom 22 is contracted to the fully contracted state and the boom mounting surface 13a is moved up to a predetermined height position. When it is placed and stored, the detection signal from the boom storage sensor S6 is input to the ground storage unit 56, and the storage information in the ground storage unit 56 (information that all the front, rear, left, and right jacks 40 are grounded) is stored. It may be deleted. In any case, if the stored information in the ground storage unit 56 is erased, the jack 40 cannot be operated by the operation of the upper jack operation lever 34 thereafter. In order to enable the operation of the motor 40 again, the ground entry switch SW1 or the lower jack operation lever 33 is operated to temporarily ground all the jacks 40, 40,. Need to be remembered.

  As mentioned above, although embodiment of this invention was described, the range of this invention is not limited to the above-mentioned embodiment, The following embodiments may be sufficient. In the above description, when it is stored in the ground storage unit 56 that all the front, rear, left and right jacks 40, 40,... Are grounded, the jacks 40, 40,. However, the operation of the jacks 40, 40,... Is enabled not by the operation of the upper jack operation lever 34 but by the operation of the work state transition switch SW2 or the automatic ground descent switch SW3. It may be a configuration. Alternatively, it is not always necessary to separately provide the upper jack operation lever 34, the work state transition switch SW2, and the automatic ground descent switch SW3. The work state transition switch SW2 or the automatic ground descent switch SW3 also functions as the upper jack operation lever 34. May be.

  Further, for example, the jack 40 is grounded to such an extent that the front and rear wheels 11a and 11b do not cut the ground, and the boom 22 is operated within a narrower working range than the case where the front and rear wheels 11a and 11b are cut off the ground. However, depending on the position of the work object, it is necessary to expand the work range. In such a case, if the front and rear wheels 11a and 11b are not grounded and the jack 40 does not receive a grounding reaction force firmly from the road surface, the vehicle body 10 may escape if it continues working at a high place. Since it is not preferable, it is necessary for the operator who has boarded the work table 24 to operate the upper jack operation lever 34 to extend the jack 40 and to ground the front and rear wheels 11a and 11b.

  In the present invention, such an adjustment can be performed. That is, since all the jacks 40 are grounded at the start of the work at a high place, the ground storage unit 56 in the controller 50 stores that all the jacks 40 are grounded. At this time, if it is detected by the detection by the vehicle body inclination angle sensor S4 that the inclination angles in the front-rear direction and the left-right direction of the vehicle body 10 are within a predetermined range, a control signal is output from the valve control unit 51. Thus, the jack control valves JV1 to JV4 can be opened and closed, and the upper jack operation lever 34 can be operated without having to operate the lower jack operation lever 33 after the boom 22 is temporarily stored on the vehicle body 10. The jack 40 can be expanded and contracted. For this reason, it is possible to ground the front and rear wheels 11a and 11b by extending all the jacks 40 from the work table 22 side. By cutting the ground in this way, there is no risk of the work vehicle 1 running away, so that the work range of the boom 22 can be expanded in the middle of high-altitude work.

  Alternatively, as described above, the present invention can also adjust the jack 40 as follows. When working at a high place with the boom 22 moving up and down, turning, and extending to move the work table 24 to a desired high position, depending on the operating direction of the boom 22, A falling moment that causes the vehicle body 10 to become unstable acts on the 10 side, and one to three of the four jacks 40 that are equipped may float from the road surface. Such a situation can also occur when the road surface is severely uneven or when the road surface has a relatively large inclination angle. In such a case, if the work at a high place is continued while the jack 40 is lifted, the vehicle body 10 becomes unstable, which is not preferable, so that an operator who has boarded the work table 24 operates the upper jack operation lever 34. It is necessary to make adjustments to extend or contract any of the jacks 40.

  In the present invention, such adjustment is possible. That is, since all the jacks 40 are grounded at the start of the high-altitude work, all the jacks 40 were grounded before any of the jacks 40 was lifted during the high-altitude work. This is stored in the storage unit 56 (that all four jacks 40 are grounded). At this time, when the control signal is output from the valve control unit 51, the jack control valves JV1 to JV4 can be opened / closed (interlock is released), and the upper jack operating lever 34 is operated to expand and contract the jack 40. It is possible to move. For this reason, the jacks 40 are extended or contracted from the work table 22 side so that all the jacks 40 are grounded, and the front and rear and left and right inclination angles of the vehicle body 10 are adjusted to be in a substantially horizontal state. Can do.

  Furthermore, in the above-described embodiment, as an aerial work vehicle, a boom type aerial work vehicle using a boom that is telescopically mounted on the vehicle body and provided with a work table at the tip is described as an example. The aerial work vehicle related to the invention is not limited to this, and for example, a scissor link device pivotally connected so as to cross a plurality of arm members extends in the front-rear direction on the chassis, and is disposed at the upper end of the scissor link device. The present invention is a scissor type aerial work vehicle configured such that a worktable on which an operator can ride is attached and the work table is moved up and down by moving the scissor link device up and down by an extension cylinder disposed between the vehicle base and the scissor link device. You may apply to the control apparatus which concerns on.

  Here, the effects achieved in the present invention are summarized as follows. That is, in the control apparatus for an aerial work vehicle according to the present invention, if all the front, rear, left, and right jacks are grounded based on the operation of the lower jack operating means, the grounds of all the jacks are stored in the ground storage means. Even if an ungrounded jack is generated during work at a high place if it is stored in the storage means, an operator on the work table operates the upper jack operation means provided on the work table to It is possible to control the operation of the jack. This is because it is confirmed that there is no problem in grounding in that place because all the jacks on the front, rear, left and right are once grounded by operating the lower jack operating means provided on the so-called vehicle body side. It is guaranteed that there are no elements that obstruct the grounding of the jack, such as overhangs on the ground and side grooves on the road surface, so that the vehicle body becomes unstable even if the jack is extended and retracted in the same place. This is because there is no fear.

  However, it is not always possible to operate the jack from the work table by operating the upper jack operation means. If ungrounding of all the front, rear, left and right jacks is detected, or the lifting device (boom) is Is detected, the information stored in the ground storage means that all the front, rear, left and right jacks are grounded is deleted. When all the front, rear, left and right jacks are ungrounded, operating the jack by operating the upper jack operation means will cause the vehicle body to become unstable, and it is necessary to ensure the safety of workers on the work table. As a result, the vehicle body becomes unstable when the information is erased by making all the front, rear, left, and right jacks ungrounded (by making the jack operation impossible by operating the upper jack operating means). Can be prevented. In addition, when moving the vehicle and starting work at a high place at another work site, the road surface condition around the jack is different from that before the movement due to the movement of the vehicle, so information that the lifting device is stored on the vehicle body It can be said that the safety of the work according to the road surface condition is ensured by using the conditions for erasing. That is, in the present invention, when the information stored in the ground storage means is reset, the jack is provided on the vehicle body side so that the jack can be operated by the operation of the upper jack operation means provided on the work table. Since it is necessary to ground all the jacks again by operating the lower jack operating means, it is possible to operate the jack by operating the upper jack operating means, while ensuring the safety of work at high places. .

It is a top view of the aerial work vehicle which concerns on this invention, 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 A direction shown in FIG. It is a perspective view which shows the operation part of the said aerial work vehicle. It is a block diagram which shows the structure which concerns on the controller of the said aerial work vehicle. It is a side view of the aerial work vehicle, and is a side view showing a state in which the work table has moved to the ground entry / exit position. It is a side view of the aerial work vehicle, and is a side view showing a state where the vehicle body is supported in a substantially horizontal state.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Aerial work vehicle 10 Car body 12 Driving cabin 21 Turning post 22 Boom (elevating device)
24 Working table 33 Lower jack operation lever (lower jack operation means)
34 Upper jack operation lever (Upper jack operation means)
40 jack 50 controller (operation control means)
51 Valve control unit 52 Interlock unit 54 Ground entry control unit 55 Work state transition control unit 56 Ground storage unit (ground storage unit)
100 control device BA1 telescopic cylinder BA2 hoisting cylinder BA3 swing motor BV1 telescopic motion control valve BV2 hoisting motion control valve BV3 swing motion control valve JA1 to JA4 jack cylinders JV1 to JV4 jack control valve S4 vehicle body tilt angle sensor S5 grounding sensor (grounding detecting means) )
S6 Boom storage sensor (storage detection means)
SW1 Ground entry switch (lower jack operation means)
SW2 Work state transition switch SW3 Automatic ground descent switch SW4 Auto body storage switch

Claims (2)

A lifting device provided on a vehicle body capable of being moved up and down and stored in a predetermined storage posture on the vehicle body; a work table attached to a tip of the lifting device and movable up and down by the lifting device; and A plurality of jacks that are arranged on the front, rear, left, and right of the vehicle body and can be expanded and contracted up and down, and extend downward from the retracted retracted posture to support the vehicle body, and operations for controlling the operation of the jacks A control device for an aerial work vehicle comprising a control means,
An upper jack operating means provided on the work table for performing the operation of operating the jack;
A lower jack operating means provided on the vehicle body for operating the jack;
A grounding detection means for detecting the grounding of the jack provided in each of the plurality of jacks;
Storage detecting means for detecting that the lifting device is stored in the predetermined storage posture on the vehicle body;
When all the jacks are grounded from the ungrounded state of the jacks by the operation of the lower jack operating means based on the operation of the lower jack operating means, all the jacks are grounded based on the detection information by the grounding detecting means. Ground storage means for storing,
When the ground storage means stores that all the jacks are grounded, the operation control means based on the operation of the upper jack operation means allows the operation control of the jack,
In a state where all the jacks are grounded by the ground storage means, when the ground detection means detects that all the jacks are not grounded, or when the retracting detection means detects the lifting device A control apparatus for an aerial work vehicle, wherein when stored in the predetermined storage posture on a vehicle body, information indicating that all the jacks stored in the ground storage means are grounded is reset. The lifting device is configured to be at least telescopically movable, and is configured with a boom stored on the vehicle body in a boom storage posture in which a tip portion is directed to the rear of the vehicle body,
With all the jacks actuated so that all the jacks are in contact with the ground, the vehicle body is inclined to the vehicle body grounding posture, and the boom is extended at least to bring the work table close to the ground behind the vehicle body. Configured to be able to move to the platform landing position
The operation control means based on the operation of the upper jack operation means, when the ground storage means stores that all the jacks are grounded in a state in which the work table is moved to the platform landing position. The control device for an aerial work vehicle according to claim 1, wherein operation control of the jack is permitted.

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