JP2008037509A - Operation regulating device of vehicle for high lift work - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem wherein there is a risk of breaking or laterally bending of a boom 3 in the case of using an operation regulating device structured not to output an operation regulating signal from an operation regulating signal output section 10a dependently on fluctuation of swing angle of a work bench 5 in a vehicle for high lift work wherein twisting force or laterally bending force to be applied to the boom 3 by a work bench load W exceeds the rated twisting force or the rated laterally bending force. <P>SOLUTION: The operation regulating signal output section 10a (a structural element of the operation regulating device) is structured to reduce the work bench load W in a fluctuation process for changing swing position of the work bench 5 from a position on a boom hoisting locus surface S on a boom tip side to a position crossing the boom hoising locus surface S and to reduce the rated boom falling moment Mlim in the fluctuation process or to increase the boom falling moment M continuously or step by step. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an operation restriction device for an aerial work vehicle.

First, an aerial work vehicle as an application target of the work restriction device of the present invention will be described with reference to FIGS. FIG. 3 is a side view of an aerial work vehicle to which the present invention is applied, and FIG. 4 is a plan view of a work table portion of the aerial work vehicle.

  As shown in FIGS. 3 to 4, the aerial work vehicle to which the work restriction device of the present invention is applied has a constant ground posture regardless of the hoisting operation of the boom 3 at the distal end portion of the boom 3 that can be extended and retracted. This is an aerial work vehicle in which a work table 5 is swingably attached to a posture maintaining member 4 that is swingably mounted in the up-and-down direction of the boom 3 so as to maintain the above.

  In FIG. 3, 1 is a vehicle provided with outrigger jacks 1a, 1a,... 2 is a swivel mounted on the vehicle 1 so as to be able to turn horizontally and to which the boom 3 can be undulated.

  The swing center O of the work table 5 is located on the hoisting locus surface S of the boom 3 (the locus surface drawn by the longitudinal axis of the boom 3 when the boom 3 is raised and lowered). In the plan view, the face center position P of the floor surface is attached to the posture maintaining member 4 so that the swinging operation can be performed across the left and right of the undulation locus surface S of the boom 3.

The posture maintaining member 4 is swingably attached to the tip end portion of the boom 3 (is swingable along the undulation locus surface of the boom 3) via a swing fulcrum shaft 4a. A leveling cylinder 4b is interposed between the posture maintaining member 4 and the boom 3 tip, and the posture maintaining member 4 always maintains a constant posture regardless of the undulation operation of the boom 3 by the leveling cylinder 4b. In this way, it is swung around the swing fulcrum 4a.
By the way, this type of aerial work vehicle is equipped with an operation regulating device for ensuring the safety of aerial work. A conventional operation regulating device equipped in this type of aerial work vehicle is configured as shown in FIG. 5 or FIG.
The conventional operation restricting device shown in FIG. 5 includes a boom hoisting angle detecting means 6 for detecting the boom hoisting angle Θ of the boom 3, a boom length detecting means 7 for detecting the boom length L of the boom 3, and the neck of the work table 3. The swing angle detecting means 8 for detecting the swing angle φ, the boom falling moment detecting means 9 for detecting the boom falling moment M acting on the boom 3, and the detection signals from the detecting means 6 to 9 are received and calculated to control the operation. An operation restriction signal output unit 10a that outputs a signal, and an operation restriction unit 11 that receives the operation restriction signal output from the operation restriction signal output unit 10a and restricts at least the falling operation of the boom 3 and the extension operation of the boom 3. ,
The operation restriction signal output unit 10a includes a boom hoisting angle Θ from the boom hoisting angle detecting means 6, a boom length L from the boom length detecting means 7, and an swinging angle φ from the swing angle detecting means 8. The boom boom moment Mlim as a function of the boom boom moment Mlim is calculated, and when the boom boom moment M from the boom fall moment detector 9 reaches the rated boom fall moment Mlim according to this calculation, an operation restriction signal is output. Yes.

  The operation restriction signal output unit 10a has a work table load (total value of the weight of the work table 5 and the load loaded on the work table 5) W at the time of output of the operation control signal, and the swing position of the work table 5 is It does not fluctuate through a fluctuating process from the position on the boom hoisting locus surface S on the boom tip side to the position on the hoisting locus surface S on the boom proximal end side (in other words, the swing angle of the work table 5 In order to prevent the operation restriction signal from being output due to fluctuations in φ), the rated boom inclining moment Mlim is reduced (shifted) in accordance with the swing angle φ in the same fluctuation process.

  More specifically, the operation restriction signal output unit 10a includes a rated boom moment calculating means 10a-1 for calculating a rated boom overturning moment Mlim as a function of the boom raising / lowering angle Θ and the boom length L according to reception, Rated boom moment processing means 10a-2 that processes the rated boom moment Mlim output from the rated boom moment calculating means 10a-1 based on the swing angle φ, and the ratings after processing processed by the rated boom moment processing means 10a-2 Comparing means 10a-3 that compares the boom moment Mlim with the boom falling moment M for receiving and outputs the operation restriction signal when the latter value reaches the former value.

The rated boom tilting moment processing means 10a-2 is configured so that the worktable load W at the time when the operation restriction signal is output from the comparison means 10a-3 is the same as the swinging position of the worktable 5 on the boom hoisting locus surface S on the boom tip side. So that it does not fluctuate through a fluctuating process that fluctuates from the position B to the position on the undulation trajectory plane S on the boom base end side (in other words, the operation restriction signal is output by the fluctuation of the swing angle φ of the work table 5). In the same variation process, the rated boom collapse moment Mlim is reduced (shifted) in accordance with the swing angle φ. This reduction processing is performed in a boom process in which the swinging position of the work table 5 fluctuates from the position on the boom hoisting locus surface S on the boom tip side to the position on the hoisting locus surface S on the boom proximal end side. Among them, since the component generated based on the work table load W decreases, the rated boom collapse moment Mlim is reduced according to the swing angle φ by an amount commensurate with the decrease.
The conventional operation restricting device shown in FIG. 5 and described above does not output an operation restricting signal from the operation restricting signal output unit 10a even if the swing angle φ of the work table 5 fluctuates. There is an effect that it is possible to efficiently perform high-altitude work that frequently uses a swing operation.
6 includes a boom hoisting angle detecting means 6 for detecting the boom hoisting angle Θ of the boom 3, a boom length detecting means 7 for detecting the boom length L of the boom 3, and the boom 3. Boom collapse moment detecting means 9 for detecting the acting boom collapse moment M, and attitude maintaining member moment detecting means for detecting the attitude maintaining member moment MD acting on the attitude maintaining member 4 around the swing fulcrum 4a of the attitude maintaining member 4. 12. An operation restriction signal output unit 10b that receives and calculates a detection signal from each of the detection means 6, 7, and 9 and outputs an operation restriction signal; and an operation restriction signal that is output from the operation restriction signal output unit 10b. An operation restricting portion 11 for restricting at least the boom overturning operation and the boom extending operation,
The operation restricting signal output unit 10b is configured such that a subtraction moment M-MD obtained by subtracting a posture maintaining member moment MD from the posture maintaining member moment detecting unit 12 from a boom falling moment M from the boom falling moment detecting unit 9 generates a boom rising and falling. An operation restriction signal is output when the calculated rated subtraction moment (M-MD) lim as a function of the boom raising / lowering angle Θ from the angle detection means 6 and the boom length L from the boom length detection means 7 is reached. ing.

More specifically, the operation restriction signal output unit 10b includes a subtraction moment calculation unit 10b-1 that calculates a subtraction moment M-MD obtained by subtracting the posture maintaining member moment MD from the boom collapse moment M related to reception. The rated subtraction moment Mlim (= (M-MD) lim) as the limit value of the subtraction moment M-MD is calculated as a function of the detected values of the boom undulation angle detection means 6 and the boom length detection means 7. The subtraction moment M-MD calculated by the calculation means 10b-2 and the subtraction moment calculation means 10b-1 is compared with the rated subtraction moment Mlim (= (M-MD) lim) calculated by the rated subtraction moment calculation means 10b. When the former value reaches the latter value, the comparator 10b-3 outputs an operation restriction signal.
The operation restriction signal output unit 10b of the operation restriction device shown in FIG. 6 configured as described above has a work table load (the total value of the weight of the work table 5 and the load loaded on the work table 5 at the time when the operation restriction signal is output). ) W does not fluctuate through a fluctuating process in which the swing position of the work table 5 fluctuates from a position on the boom hoisting locus surface S on the boom tip side to a position on the hoisting locus surface S on the boom proximal end side. (In other words, the operation restriction signal is not output due to the fluctuation of the swing angle φ of the work table 5).
If this point is supplementarily explained, the subtraction moment M-MD is determined by the platform load by the swing operation of the platform 5 under the same boom posture (boom posture determined by the boom hoisting angle Θ and the boom length L). Even if W moves in the direction of increasing or decreasing the working radius of the boom 3, it does not fluctuate. For this reason, in the conventional operation restricting device shown in FIG. 6 and described above, the work table load W at the time when the operation restricting signal is output from the operation restricting signal output unit 10b (comparison means 10c of the output unit 10b) is The swing position does not fluctuate in a fluctuating process that fluctuates from a position on the boom hoisting locus surface S on the boom distal end side to a position on the boom hoisting locus surface S on the boom proximal end side (in other words, the work table 5 The operation restriction signal is not output due to the fluctuation of the swing angle φ).
The conventional operation restricting device shown in FIG. 6 and described above does not output an operation restricting signal from the operation restricting signal output unit 10b even if the swing angle φ of the work table 5 fluctuates. As in the case of the conventional operation regulating device, there is an effect that it is possible to efficiently perform the high place work that frequently uses the swing operation of the work table 5.
The conventional operation regulating apparatus shown in FIG. 5 and described above is disclosed in Japanese Utility Model Publication No. 5-27434.

A conventional operation regulating device shown in FIG. 6 and described above is disclosed in Japanese Patent Publication No. 7-47475. In Japanese Patent Publication No. 7-47475, it is described that the movement of the platform load to the working radius increase / decrease side of the boom 3 does not affect the subtraction moment (the subtraction moment does not change). It is not explained about application to an aerial work platform where the platform swings and always guarantees the swing motion of the platform. However, those skilled in the art can reasonably understand that this is applied to the aerial work platform as described above in which the work table 5 is swingable so that the swing operation of the work table is always guaranteed. .
Japanese Utility Model Publication No. 5-27434 Japanese Patent Publication No. 7-47475

  Both of the above-described two conventional operation restricting devices (the operation restricting device shown in FIG. 5 and the operation restricting device shown in FIG. 6) operate even when the swing angle φ of the work table 5 fluctuates. Since an operation restriction signal is not output from the restriction signal output unit 10, there is an effect that it is possible to efficiently perform a work at a high place where the swing operation of the work table 5 is frequently used.

  By the way, in this kind of aerial work vehicle, at the swing position of the work table 5 where the position of the center of gravity of the work table load W is separated from the undulation locus surface S of the boom 3 in the left-right direction, the boom is caused by the work table load W. Torsional force or lateral bending force acts on 3. This torsional force or lateral bending force can be explained by defining the case where the swing position of the work table 5 is on the undulation trajectory surface S on the tip end side of the boom 3 as a swing angle of 0 degrees. It is minimum at degrees, and is maximum at a swing angle of ± 90 degrees.

The conventional operation regulating device shown in FIGS. 5 and 6 described above has a rated torsional force of the boom 3 (a torsional force that may cause the boom 3 to be damaged if a higher torsional force is applied) or a rated lateral bending force (more than that). Torsional force acting on the work platform, that is, the boom 3 is larger than the torsional force or lateral bending force caused by the work table load W. Alternatively, an aerial work vehicle that does not need to consider lateral bending force is intended for attachment.
However, the height of the boom 3 is increasing in recent aerial work vehicles in order to ensure a large working head or working radius.

  In an aerial work platform equipped with such an elongated boom 3, the boom in which the torsional force or lateral bending force due to the work table load W exceeds the rated torsional force or rated lateral bending force of the boom 3. Something with a posture appears.

  Such an aerial work vehicle (an aerial work vehicle having a boom posture in which the torsional force or lateral bending force due to the work table load W exceeds the rated torsional force or rated lateral bending force of the boom 3) is described above. Equipped with a conventional operation restricting device, that is, an operation restricting device that does not output an operation restricting signal from the operation restricting signal output unit 10 even when the swing angle φ of the workbench 5 fluctuates, it is safe to work at high places. However, there is a problem that the boom 3 cannot be prevented from being damaged by the torsional force or lateral bending force due to the work table load W.

  The operation restricting device according to the present invention is an aerial work vehicle having a boom posture in which the torsional force or lateral bending force acting on the boom 3 due to the work table load W exceeds the rated torsional force or lateral bending force of the boom 3. It is an object to be attached, and is intended to provide an operation regulating device that can prevent the boom 3 from being damaged by such a torsional force or lateral bending force.

In order to achieve the above-described object, the operation restriction device for an aerial work vehicle according to the present invention is configured as follows.
(Regarding the configuration of the operation restriction device for an aerial work vehicle according to claim 1)
The posture maintaining member 4, which is swingably mounted in the hoisting direction of the boom 3 so as to maintain a constant ground posture irrespective of the hoisting operation of the boom 3, can be swung freely. An operation restriction device for an aerial work vehicle to which a workbench 5 is attached, a boom hoisting angle detecting means 6 for detecting a boom hoisting angle Θ of the boom 3, and a boom length detection for detecting a boom length L of the boom 3. Means 7, swing angle detection means 8 for detecting the swing angle φ of the work table 3, boom fall moment detecting means 9 for detecting the boom fall moment M acting on the boom 3, and detection from the detection means 6 to 9. An operation restriction signal output unit 10a that receives and calculates a signal and outputs an operation restriction signal, and an operation restriction signal output from the operation restriction signal output unit 10a. The operation restriction signal output part 10a is configured to restrict the boom operation and the extension operation of the boom 3, and the operation restriction signal output unit 10a is provided with the boom up / down angle Θ from the boom up / down angle detecting means 6 and the boom length detecting means 7 Rated boom fall moment Mlim as a function of boom length L and swing angle φ from swing angle detection means 8 is calculated, and boom fall moment M from boom fall moment detection means 9 is used for this calculation. When the rated boom falling moment Mlim is reached, an operation restriction signal is output.
The operation restriction signal output unit 10a is configured so that the worktable load W at the time when the operation restriction signal is output is such that the swing angle φ of the worktable 5 is determined from the position on the boom hoisting locus surface S on the boom tip side. The rated boom breakdown moment Mlim is decreased continuously or stepwise or the boom collapse moment M is decreased continuously or stepwise in the variation process so as to decrease continuously or stepwise in the variation process varying to a position orthogonal to the position. An operation control device for an aerial work vehicle, characterized in that the operation control device is configured to be increased to
(Regarding the configuration of the operation restriction device for an aerial work vehicle described in claim 2)
The posture maintaining member 4, which is swingably mounted in the hoisting direction of the boom 3 so as to maintain a constant ground posture irrespective of the hoisting operation of the boom 3, can be swung freely. An operation restriction device for an aerial work vehicle to which a workbench 5 is attached, a boom hoisting angle detecting means 6 for detecting a boom hoisting angle Θ of the boom 3, and a boom length detection for detecting a boom length L of the boom 3. Means 7, boom fall moment detecting means 9 for detecting a boom fall moment M acting on the boom 3, and a posture maintenance member moment MD acting on the posture maintenance member 4 around the swing fulcrum 4a of the posture maintenance member 4. Posture maintenance member moment detection means 12, and an operation restriction signal output unit 1 for receiving detection signals from the respective detection means 6, 7, 9, 12 and calculating and outputting an operation restriction signal b, and an operation restriction signal 11 that receives the operation restriction signal output from the operation restriction signal output unit 10b and restricts at least the falling operation of the boom 3 and the extension operation of the boom, and the operation restriction signal output unit 10b includes: The subtraction moment M-MD obtained by subtracting the posture maintenance member moment MD from the posture maintenance member moment detection means 12 from the boom fall moment M from the boom fall moment detection means 9 is the boom uplift angle from the boom uplift angle detection means 6. In a configuration that outputs an operation restriction signal when the calculated rated subtraction moment (M-MD) lim as a function of Θ and the boom length L from the boom length detection means 7 is reached.
A swing angle detection means 8 for detecting the swing angle φ of the work table 5 and inputting it to the operation restriction signal output unit 10b is provided, and the operation restriction signal output unit 10b is a work table load when the operation restriction signal is output. W is decreased continuously or stepwise in a variation process in which the swing angle φ of the work table 5 varies from a position on the boom hoisting locus surface S on the boom tip side to a position orthogonal to the boom hoisting locus surface S. In the variation process, the rated subtraction moment (M-Mb) lim is reduced continuously or stepwise, or the subtracted moment M-MD is continuously or stepwise increased. Operation control device for aerial work platforms.

(Regarding the function and effect of the operation restriction device for an aerial work vehicle according to claim 1)
The operation restriction device for an aerial work vehicle according to claim 1 has the same configuration as the conventional operation restriction device shown in FIG. However, the configuration of the operation restricting device 10a shown in the following characteristic portion is different from that of the conventional operation restricting device.

  In other words, in the conventional operation restricting device shown in FIG. 5 and described above, the operation restricting output unit 10a has a work table load at the time when the operation restricting signal is output (the weight of the work table 5 and the load mounted on the work table 5). The total load value W) fluctuates through a fluctuating process in which the swing position of the work table 5 fluctuates from a position on the boom hoisting locus surface S on the boom distal end side to a position on the boom hoisting locus surface S on the boom proximal end side. In other words (in other words, the operation restriction signal is not output due to the fluctuation of the swing angle φ of the work table 5), the rated boom collapse moment Mlim is changed according to the swing angle φ in the process of the change. In the operation restricting device according to claim 1 of the present invention, the operation restricting signal output unit 10a has a work table load at the time when the operation restricting signal is output. W is working table 5 In order to reduce the swinging position continuously or stepwise in the changing process in which the swing position changes from the position on the boom hoisting locus surface S on the boom tip side to the position orthogonal to the boom hoisting locus surface S, The moment Mlim is reduced continuously or stepwise or the boom collapse moment M is increased continuously or stepwise.

  According to the operation restricting device of the first aspect of the present invention configured as described above, the position where the swinging position of the work table 5 is orthogonal to the boom hoisting locus surface S from the position on the boom hoisting locus surface S on the boom tip side. Decrease continuously or step by step in the fluctuation process. In other words, the work table load W at the time when the regulation signal is output is compared with the work table 5 compared with the position of the swing position of the work table 5 on the boom hoisting locus surface on the boom tip side (the swing angle is 0 degree). Can be reduced at a position (the swing angle is ± 90 degrees) perpendicular to the boom hoisting locus surface S.

The work table load W at the time when the operation restriction signal is output is orthogonal to the boom hoisting locus surface S from the position on the boom hoisting locus surface S on the boom tip side (the swing angle φ is 0 degree). In the process of changing to the position (the swing angle φ is 90 degrees), it can be reduced continuously or stepwise.

Accordingly, by appropriately selecting this reduction tendency (selecting through the process of reducing the rated boom falling moment Mlim or the process of increasing the boom falling moment M), the torsional force or lateral bending force acting on the boom 3 due to the platform load W is reduced. The boom 3 can be regulated within the range of the rated torsional force or the rated lateral bending force.
(Regarding the function and effect of the operation restriction device for an aerial work vehicle according to claim 2)
The operation restricting device for an aerial work vehicle according to claim 2 has the same configuration as the conventional operation restricting device shown in FIG. However, the configuration of the operation restricting device 10b shown in the following characteristic portion is different from that of the conventional operation restricting device.

  That is, in the conventional operation restricting device shown in FIG. 6 and described above, the operation restricting signal output unit 10b is connected to the posture maintaining member moment detecting means 12 from the boom falling moment M from the boom falling moment detecting means 9. The subtracted moment M-MD obtained by subtracting the attitude maintaining member moment MD is calculated as a function of the boom hoisting angle Θ from the boom hoisting angle detecting means 6 and the boom length L from the boom length detecting means 7. When reaching (M-MD) lim, an operation restriction signal is output. Here, the swing angle φ of the work table 5 is not involved in the output of the operation restriction signal.

On the other hand, the operation restricting device according to claim 2 of the present invention is provided with the swing angle detecting means 8 for detecting the swing angle φ of the work table 5 and inputting it to the operation restricting signal output unit 10b. In the restriction signal output unit 10b, the worktable load W at the time when the operation restriction signal is output is such that the swing angle φ of the worktable 5 is orthogonal to the boom hoisting locus surface S from the position on the boom hoisting locus surface S on the boom tip side. The rated subtraction moment (M-MD) lim is reduced continuously or stepwise in the same variation process or the subtraction moment M-MD is continuously reduced so as to decrease continuously or stepwise in the variation process that fluctuates up to It is configured to increase processing step by step or step by step.

According to the operation restricting device according to claim 2 of the present invention configured as described above, the position at which the swing position of the work table 5 is orthogonal to the boom hoisting locus surface S from the position on the boom hoisting locus surface S on the boom tip side. Decrease continuously or step by step in the fluctuation process. In other words, the work table load W at the time when the regulation signal is output is compared with the work table 5 compared with the position of the swing position of the work table 5 on the boom hoisting locus surface on the boom tip side (the swing angle is 0 degree). Can be reduced at a position (the swing angle is ± 90 degrees) perpendicular to the boom hoisting locus surface S.

The work table load W at the time when the operation restriction signal is output is orthogonal to the boom hoisting locus surface S from the position on the boom hoisting locus surface S on the boom tip side (the swing angle φ is 0 degree). In the process of changing to the position (the swing angle φ is 90 degrees), it can be reduced continuously or stepwise.

Therefore, the torsional force acting on the boom 3 due to the work table load W is selected by appropriately selecting this reduction tendency ( selecting through the reduction process of the rated subtraction moment (M-MD) lim or the increase process of the subtraction moment M-MD). Alternatively, the lateral bending force can be regulated within the range of the rated torsional force or the rated lateral bending force of the boom 3.

  Hereinafter, an embodiment of an operation restriction device for an aerial work vehicle according to the present invention will be described with reference to FIGS.

  FIG. 1 is a block diagram showing a configuration of an operation restriction device for an aerial work vehicle according to claim 1. The operation restriction device shown in FIG. 1 differs from the conventional operation restriction device shown in FIG. 5 in the configuration of the operation restriction signal output unit 10a. Therefore, only the difference will be described below, and the description of the conventional operation regulating device shown in FIG.

  As shown in FIG. 1, the operation restriction signal output unit 10a is configured such that the worktable load W at the time when the operation restriction signal is output from the operation restriction signal output unit 10a is the swinging position of the worktable 5 and the boom is raised and lowered on the boom tip side. The rated boom collapse moment Mlim is reduced continuously or stepwise in the changing process so that it decreases continuously or stepwise in the changing process that fluctuates from the position on the locus surface S to the position perpendicular to the boom hoisting locus surface S. Alternatively, the boom lodging moment M is increased continuously or stepwise.

In FIG. 1, the processing of the rated boom overturning moment Mlim (reduction processing related to the swing angle φ) by the rated boom moment processing means 10a-2 in the operation restriction signal output unit 10a is performed at the time when the operation restriction signal is output. The platform load W decreases continuously or stepwise in a variation process in which the swing position of the work table 5 varies from a position on the boom hoisting locus surface S on the boom tip side to a position orthogonal to the boom hoisting locus surface S. In the same fluctuation process, it is reduced continuously or stepwise.
However, in place of the rated boom moment processing means 10a-2, boom fall moment processing means 10a-4 (illustrated by phantom lines in FIG. 1) for processing the boom fall moment M detected by the boom fall moment detecting means 9 is provided. The boom falling moment processing means 10a-4 processes the boom falling moment M, and this processing is performed with the work table load W at the time when the operation restriction signal is output, and the swing position of the work table 5 is the boom tip side. In order to decrease continuously or stepwise in the changing process that fluctuates from the position on the boom hoisting locus surface S to the position orthogonal to the boom hoisting locus surface S, the increase process may be performed continuously or stepwise in the same changing process. .

  According to the operation restricting device according to claim 1 of the present invention configured as described above, the worktable load W at the time when the operation restricting signal is output indicates that the swinging position of the worktable 5 is the boom undulation locus surface S on the boom tip side. It decreases continuously or stepwise in a fluctuating process that fluctuates from an upper position to a position perpendicular to the boom hoisting locus surface S. In other words, the work table load W at the time when the regulation signal is output is compared with the work table 5 compared with the position of the swing position of the work table 5 on the boom hoisting locus surface on the boom tip side (the swing angle is 0 degree). Can be reduced at a position (the swing angle is ± 90 degrees) perpendicular to the boom hoisting locus surface S.

  Therefore, by appropriately selecting this reduction tendency, the torsional force or lateral bending force acting on the boom 3 due to the platform load W can be regulated within the range of the rated torsional force or rated lateral bending force of the boom 3. .

  FIG. 2 is a block diagram showing the configuration of the operation restriction device for an aerial work vehicle according to claim 2. The operation restricting device shown in FIG. 2 detects the swing angle φ of the work table 5 and inputs it to the operation restricting signal output unit 10b with respect to the conventional operation restricting device shown in FIG. 6 and described above. And the difference in the configuration of the operation restriction signal output unit 10b. Accordingly, only the difference will be described below, and the description of the conventional operation regulating device shown in FIG.

  In FIG. 2, 8 is a swing angle detecting means for detecting the swing angle φ of the work table 5 and inputting it to the operation restriction signal output unit 10b.

  The operation restriction signal output unit 10b has a platform loading load W when the operation restriction signal is output from the operation restriction signal output unit 10b, and the swing angle φ of the work table 5 is on the boom hoisting locus surface S on the boom tip side. The rated subtraction moment (M-MD) lim is reduced continuously or stepwise in the changing process so that it decreases continuously or stepwise in the changing process that fluctuates from the position to the position perpendicular to the boom hoisting locus surface S. Alternatively, the subtraction moment M-MD is increased or processed in a stepwise manner.

  In FIG. 2, the rated subtraction moment processing means 10b-4 is provided in the operation restriction signal output section 10b, and the rated subtraction moment calculation means 10b-2 calculated by the rated subtraction moment processing means 10b-4 (M− MD) lim is processed and input to the comparison means 10b-3. The processing of the rated subtraction moment (M-MD) lim by the rated subtraction moment processing means 10b-4 is the work table load W at the time when the operation restriction signal is output from the operation restriction signal output section 10b (the comparison means 10b-3). However, the fluctuation of the swinging position of the work table 5 is reduced continuously or stepwise in a fluctuation process in which the swing position of the work table 5 fluctuates from a position on the boom hoisting locus surface S on the boom tip side to a position orthogonal to the boom hoisting locus surface S. In the process, the rated subtraction moment (M-MD) lim is reduced continuously or stepwise.

  However, in place of the rated subtraction moment processing means 10b-4, subtraction moment processing means 10b-5 (shown by phantom lines in FIG. 2) is provided, and this subtraction moment processing means 10b-5 uses the subtraction moment calculation means 10b-1. The calculated subtraction moment M-MD may be processed and input to the comparison means 10b-3. In this case, the processing of the subtraction moment M-MD by the subtraction moment processing means 10b-5 is based on the work table load W at the time when the operation restriction signal is output from the operation restriction signal output unit 10b (comparing means 10b-3). Subtract in the fluctuation process so that the swing position of the platform 5 decreases continuously or stepwise in the fluctuation process that fluctuates from the position on the boom hoisting locus surface S on the boom tip side to the position orthogonal to the boom hoisting locus surface S. The moment M-MD is increased continuously or stepwise.

  According to the operation restricting device according to claim 2 of the present invention configured as described above, the worktable load W at the time when the operation restricting signal is output indicates that the swinging position of the worktable 5 is the boom undulation locus surface S on the boom tip side. It decreases continuously or stepwise in a fluctuating process that fluctuates from an upper position to a position perpendicular to the boom hoisting locus surface S. In other words, the work table load W at the time when the regulation signal is output is compared with the work table 5 compared with the position of the swing position of the work table 5 on the boom hoisting locus surface on the boom tip side (the swing angle is 0 degree). Can be reduced at a position (the swing angle is ± 90 degrees) perpendicular to the boom hoisting locus surface S.

Therefore, by appropriately selecting this reduction tendency, the torsional force or lateral bending force acting on the boom 3 due to the platform load W can be regulated within the range of the rated torsional force or rated lateral bending force of the boom 3. .

The operation restriction device for an aerial work vehicle according to the first and second aspects of the present invention includes the work table load W at the time when the operation control signal is output, and the boom undulation when the swing position of the work table 5 is the boom tip side. Reduced continuously or stepwise in the process of changing from a position on the trajectory plane S (the swing angle φ is 0 degree) to a position perpendicular to the boom hoisting trajectory plane S (the swing angle φ is ± 90 degrees). Thus, the torsional force or lateral bending force acting on the boom 3 due to the work table load W is to be regulated within the range of the rated torsional force or rated lateral bending force of the boom 3.

In addition, in the operation control device for an aerial work vehicle according to the first and second aspects of the present invention, the swing position of the work table 5 is at a position (swing angle ± 90 degrees) perpendicular to the boom hoisting locus surface S. In the process of fluctuation from the position to the position on the boom hoisting locus surface S on the boom base end side (the swing angle of 180 degrees), how to increase or decrease the platform load W at the time of output of the operation restriction signal, There is no particular limitation.

As for how to increase or decrease the platform load W at the time when the operation restriction signal is output in this variation process, the rated reverse bending force of the boom 3 (the boom reverse bending force acting on the boom due to the platform load W ... boom 3 Any of the following may be selected according to the force (the rated value of the force to bend in the direction opposite to the reverse side).

・The rated reverse bending force of boom 3 is larger than the reverse bending rated torsional force or the rated lateral bending force.
In this case, the operation restriction signal output unit 10a is configured as shown in a) or b) below.

a. 2. The operation according to claim 1, wherein the work table load W at the time when the operation restriction signal is output increases continuously or stepwise in a fluctuation process in which the swing angle φ of the work table 5 varies from ± 90 degrees to 180 degrees. The regulating device is configured to increase the rated moment Mlim continuously or stepwise or decrease the boom collapse moment M continuously or stepwise in the variation process. In the operation restricting device according to claim 2, the rated subtraction moment (M-MD) lim is increased continuously or stepwise or the subtraction moment M-MD is decreased continuously or stepwise in the same variation process. To do.

b. In the operation restricting device according to claim 1, the work load W at the time when the operation restriction signal is output does not fluctuate in a fluctuating process in which the swing angle φ of the work table 5 fluctuates from ± 90 degrees to 180 degrees. The rated moment Mlim is configured to use the rated moment Mlim after the reduction process corresponding to the swing angle ± 90 degrees or the boom collapse moment M after the increase process. Further, in the operation restricting device according to claim 2, the rated subtraction moment (M-MD) lim is reduced or increased after the reduction process corresponding to the swing angle ± 90 degrees in the variation process. The subtraction moment M-MD after processing is used.

-The rated reverse bending force of the boom 3 is smaller than the reverse bending rated torsional force or the rated lateral bending force.
In this case, the operation restriction signal output unit 10a is configured as in the following c).

  c. 2. The operation according to claim 1, wherein the work table load W at the time when the operation restriction signal is output decreases continuously or stepwise in a fluctuation process in which the swing angle φ of the work table 5 varies from ± 90 degrees to 180 degrees. The regulating device is configured to decrease the rated moment Mlim continuously or stepwise or increase the boom collapse moment M continuously or stepwise in the variation process. In the operation restricting device according to claim 2, the rated subtraction moment (M-MD) lim is decreased continuously or stepwise or the subtraction moment M-MD is increased continuously or stepwise in the same variation process. To do.

It is a block diagram which shows the structure of the operation control apparatus of the aerial work vehicle which concerns on Claim 1 of this invention. It is a block diagram which shows the structure of the operation control apparatus of the aerial work vehicle which concerns on Claim 2 of this invention. It is a side view of an aerial work vehicle. It is a top view of the work-table part of the aerial work vehicle shown in FIG. It is a block diagram which shows the structure of an example of the conventional operation control apparatus of an aerial work vehicle. It is a block diagram which shows the structure of the other example of the conventional operation control apparatus of an aerial work vehicle.

Explanation of symbols

1; vehicle,
1a, 1a... Outrigger,
2; swivel,
3; boom,
4; posture maintaining member,
4a; oscillating fulcrum shaft,
4b; leveling cylinder,
5; workbench,
6; boom undulation angle detection means,
7; boom length detection means;
8; swinging angle detection means,
9; means for detecting boom lodging moment,
10a: operation regulation signal output unit,
10a-1; rated boom lodging moment calculating means,
10a-2; rated boom lodging moment processing means,
10a-3; comparison means,
10a-4; boom fall moment processing means 10b; operation restriction signal output unit,
10b-1; subtraction moment calculation means,
10b-2; rated subtraction moment calculation means,
10b-3; comparison means,
10b-4; rated subtraction moment processing means,
10b-5; subtraction moment processing means;
11: Operation restriction part,
12; a posture maintaining member moment detecting means;
Θ: boom up and down angle,
L; boom length,
φ: Swing angle,
M: boom lodging moment,
Mlim: Rated boom lodging moment,
MD: posture maintaining member moment,
M-MD; subtraction moment,
(M-MD) lim; rated subtraction moment,
0: Swing center P: Face center position of work platform floor surface S: Boom hoisting locus surface,
W: platform load,

Claims (2)

The posture maintaining member 4, which is swingably mounted in the hoisting direction of the boom 3 so as to maintain a constant ground posture irrespective of the hoisting operation of the boom 3, can be swung freely. An operation control device for an aerial work vehicle to which a workbench 5 is attached,
Boom undulation angle detecting means 6 for detecting the boom undulation angle Θ of the boom 3;
Boom length detecting means 7 for detecting the boom length L of the boom 3;
A swing angle detecting means 8 for detecting a swing angle φ of the work table 3;
Boom fall moment detecting means 9 for detecting a boom fall moment M acting on the boom 3;
An operation restriction signal output unit 10a for receiving and calculating detection signals from the detection means 6 to 9 and outputting an operation restriction signal;
And an operation restricting portion 11 that receives an operation restricting signal output from the operation restricting signal output portion 10a and restricts at least the falling operation of the boom 3 and the extending operation of the boom 3, and
The operation restriction signal output unit 10a includes a boom hoisting angle Θ from the boom hoisting angle detecting means 6, a boom length L from the boom length detecting means 7, and an swinging angle φ from the swing angle detecting means 8. The boom boom moment Mlim as a function of the calculated boom boom moment Mlim is output, and when the boom boom moment M from the boom crash moment detecting means 9 reaches the rated boom fall moment Mlim according to this calculation, an operation restriction signal is output. In
The operation restriction signal output unit 10a is configured so that the worktable load W at the time when the operation restriction signal is output is such that the swing angle φ of the worktable 5 is determined from the position on the boom hoisting locus surface S on the boom tip side. The rated boom breakdown moment Mlim is decreased continuously or stepwise or the boom collapse moment M is decreased continuously or stepwise in the variation process so as to decrease continuously or stepwise in the variation process varying to a position orthogonal to the position. An operation control device for an aerial work vehicle, characterized in that the operation control device is configured to be increased to The posture maintaining member 4, which is swingably mounted in the hoisting direction of the boom 3 so as to maintain a constant ground posture irrespective of the hoisting operation of the boom 3, can be swung freely. An operation control device for an aerial work vehicle to which a workbench 5 is attached,
Boom undulation angle detecting means 6 for detecting the boom undulation angle Θ of the boom 3;
Boom length detecting means 7 for detecting the boom length L of the boom 3;
Boom fall moment detecting means 9 for detecting a boom fall moment M acting on the boom 3;
Posture maintaining member moment detecting means 12 for detecting a posture maintaining member moment MD acting on the posture maintaining member 4 around the swing fulcrum 4a of the posture maintaining member 4;
An operation restriction signal output unit 10b for receiving detection signals from the respective detection means 6, 7, 9, 12 and calculating and outputting an operation restriction signal;
And an operation regulation unit 11 that receives the operation regulation signal output from the operation regulation signal output unit 10b and regulates at least the fall operation of the boom 3 and the extension operation of the boom,
The operation restricting signal output unit 10b is configured such that a subtraction moment M-MD obtained by subtracting a posture maintaining member moment MD from the posture maintaining member moment detecting unit 12 from a boom falling moment M from the boom falling moment detecting unit 9 generates a boom rising and falling. When the rated subtraction moment (M-MD) lim calculated as a function of the boom undulation angle Θ from the angle detection means 6 and the boom length L from the boom length detection means 7 is reached, an operation restriction signal is output. In things,
A swing angle detection means 8 for detecting the swing angle φ of the work table 5 and inputting it to the operation restriction signal output unit 10b is provided, and the operation restriction signal output unit 10b is a work table load when the operation restriction signal is output. W is decreased continuously or stepwise in a variation process in which the swing angle φ of the work table 5 varies from a position on the boom hoisting locus surface S on the boom tip side to a position orthogonal to the boom hoisting locus surface S. In the variation process, the rated subtraction moment (M-MD) lim is reduced continuously or stepwise, or the subtracted moment M-MD is increased continuously or stepwise. Operation control device for aerial work platforms.

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