JP2012254863A - Vehicle for high-lift work - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle for high-lift work capable of lowering a work platform as required while restricting movement of the work platform into a movement restricted area.SOLUTION: The vehicle for high-lift work includes a vehicle body, a boom 5 constituted to be capable of rotating movement, telescopic movement, and derricking movement, a vertical post 6 to be swung to be always positioned vertically, and a work platform 8 provided on the vertical post 6 to be vertically and slidably moved, and further includes an upper operation device for performing operations for rotating, telescoping, and derricking the boom 5, a limit switch 9 for detecting a vertical slide position of the work platform 8, and a controller for restricting actuation allowing the boom 5 and the work platform 8 to be moved to the inside of a movement restricted region A that is preset for preventing interference between the boom 5 and the work platform 8 and an operation cab 2a. The controller sets a boom limit falling angle at which falling of the boom 5 is permitted while restricting the movement of the boom 5 and the work platform 8 to the inside of movement restricted area A correspondingly to the vertical slide position of the work platform 8 detected by the limit switch 9.

Description

  The present invention relates to an aerial work vehicle that moves a workbench to a desired high place and performs work at a high place, and more specifically, an operation control unit that restricts movement of the workbench to a preset movement restriction region. The present invention relates to an aerial work vehicle equipped with a vehicle.

  As an example of the above-mentioned aerial work platform, a boom is configured such that a boom is attached to a vehicle body having a driving cab in the forward direction so that the boom can be swung, raised and lowered, and a work platform for operator boarding is provided at the tip of the boom. An aerial work vehicle of the type is well known. The aerial work vehicle configured as described above can be operated at a desired height by moving the work table to a desired height by operating a boom operating device by an operator on the work table. (For example, refer to Patent Document 1). In addition, in an aerial work vehicle, the work table can be moved to a desired high place. On the other hand, when the boom is greatly lowered (falling down), the work table or the boom is attached to the vehicle body. May interfere with a part of the vehicle (for example, driving cab). For this reason, in general, an aerial work vehicle is preset in advance with a movement restriction region that restricts the work platform and the boom from being moved around the driving cab and the like (see, for example, Patent Document 2).

  In addition, in a work place at a high altitude, a vertical post that is swung in accordance with the boom hoisting movement within the hoisting surface of the boom and is always positioned vertically is provided at the tip of the boom. There is a configuration that is slidable up and down. In this way, by providing the work table so as to be slidable up and down, the position of the work table can be adjusted without raising or lowering the boom, for example, after the boom is swung, expanded or contracted, or moved to a desired height. Fine adjustments can be made in the vertical direction, improving usability.

JP 2000-7273 A JP 2000-191298 A

  By the way, in an aerial work vehicle that is configured so that the workbench is slidable up and down, when the boom is to be lowered so as to approach the movement restriction region, the workbench is conventionally at the lowest position regardless of the vertical slide position of the workbench. Even if the platform is slid and moved in this state, the platform is restricted regardless of the vertical slide position of the platform by setting a boom limit fall angle that prevents the platform from entering the movement restriction area. It was regulating the falling down into the area. For this reason, for example, when the boom is lowered while the workbench is slid to the upper end, the boom fall is regulated with the workbench and the driving cab relatively separated from each other in the vertical direction. There was a problem that it was difficult to meet the demand for lowering the price. Further, in order to further lower the workbench in a state where the fall of the boom is restricted, an operation of lowering the workbench must be performed instead of the operation of lowering the boom, and the operation tends to be complicated.

  The present invention has been made in view of the above problems, and provides an aerial work vehicle capable of lowering a workbench as required while restricting the movement of the workbench into the movement restriction region. Objective.

  In order to achieve the above object, an aerial work vehicle according to the present invention has a vehicle body configured to be able to travel and a base end portion attached to the vehicle body so as to be capable of turning, stretching and undulating motion. And a vertical post member (e.g., an embodiment) that is provided at the tip of the boom and swings up and down so as to be always vertically positioned in accordance with the boom movement of the boom within the boom raising and lowering surface. A vertical post 6), and a work platform mounted on the vertical post member via a vertical movement device and moved up and down with respect to the vertical post member by the vertical movement device. Boom operating means (for example, the upper operating device 11 in the embodiment) for turning, expanding and contracting and raising and lowering the boom, and work table operating means (for example, actual operation) for operating the vertical movement device Upper operation device 11) in the form, vertical position detection means (for example, limit switch 9 in the embodiment) for detecting the vertical movement position of the work table relative to the vertical post member, the boom operation means and the work table operation means The boom and the work table are controlled in response to an operation on the boom, and the boom and the work table are set in a movement restriction area set in advance to prevent interference between the boom and the work table and the vehicle body. And an operation control means (for example, the controller 20 in the embodiment) that restricts the operation of moving the work platform, and the operation control means responds to an operation of overturning the boom with respect to the boom operation means. The boom is tilted down so as to approach the movement restriction area and above the movement restriction area. When the work table is moved, a boom limit tilt angle at which the boom is allowed to fall while restricting the movement of the boom and the work table into the movement restriction region in the swivel position of the boom and in an extended state. The vertical position of the work table detected by the vertical position detecting means is set in correspondence with the vertical position of the work table, and is configured to restrict the boom from falling over the boom limit fall angle. And

  The vertical movement device is configured by a guide member (for example, the arm side slide guide 7a and the work table side slide guide 8a in the embodiment) provided extending vertically, and the work table is formed by the guide member. It is provided so as to be slidable up and down with respect to the vertical post member, and the vertical position detecting means is configured to be able to detect whether or not the workbench is positioned at the upper end slide position near the upper end. When it is detected by the vertical position detection means that the work table is not located at the upper end slide position, the operation control means is in a state where the work table is located at the lower end slide position where the work table is moved down most. It is preferable to set, as the boom limit tilt angle, a limit tilt angle of the boom capable of controlling the movement of the work table into the movement control area.

  Further, in a state in which it is detected by the vertical position detection means that the work table is not positioned at the upper end slide position, the operation control means is configured such that when the boom operation means is tilted, The boom is allowed to fall down to the boom limit fall angle according to the fall operation to the boom operation means, and when the boom reaches the boom limit fall angle, the boom fall operation is restricted, It is preferable to perform control to lower the work table while restricting the operation of lowering the boom when the operation of lowering the boom to the boom operating means is continued.

  In addition, the said vertical movement apparatus is comprised from the link mechanism comprised using a some link member (For example, the upper side link member 102 in the embodiment, the lower side link member 103), The said work stand is by the said link mechanism. The vertical post member is provided so as to be able to swing up and down, and the vertical position detecting means is configured to detect whether or not the workbench is positioned at an upper end swinging position in the vicinity of the upper end. When the up / down position detecting means detects that the work table is not located at the upper end swing position, the operation control means is configured to swing the lower end where the work table swings downward most. It is also preferable to set, as the boom limit tilt angle, a limit tilt angle of the boom that is capable of controlling the movement of the work table into the movement control area in a position located at a position.

  Further, in a state in which it is detected by the vertical position detection means that the workbench is not located at the upper end swing position, the operation control means, when the boom operation means is operated to fall down, Allowing the boom to fall down in response to a fall operation to the boom operating means up to the boom limit fall angle, and restricting the boom fall operation when the boom reaches the boom limit fall angle; From then on, when the overturning operation to the boom operation means is continued, it is preferable to perform control to swing the work table downward while restricting the overturning operation of the boom.

  Further, the work table is configured to be swingable about the vertical post member as a rotation center, and the operation control means is provided at a swing position of the boom, a boom telescopic state, and a swing position of the work table. It is preferable to set the boom limit depression angle based on this.

  In the aerial work platform according to the present invention, the boom limit fall angle at which the boom is allowed to fall while restricting the movement of the boom and the work bench into the movement restriction area is set in correspondence with the vertical position of the work bench. It is configured as follows. By setting the boom limit tilt angle in this way, for example, regardless of the vertical position of the work table, the boom can always be brought close to a position that is a predetermined distance away from the movement restriction area by tilting the boom. It becomes possible. Therefore, the work table can be lowered in response to a request (operation) to lower the work table while restricting the movement of the work table into the movement restriction region.

  In addition, it is preferable to set the limit falling angle of the boom that can restrict the movement into the movement restricting region in the state where the work table is located at the lowermost slide position that is moved down most as the boom limit falling angle. When configured in this manner, the movement of the work table into the movement restriction region when the boom is laid down can be reliably restricted regardless of the vertical slide position other than the upper end slide position.

  In addition, when the platform is not in the upper end slide position, the boom's overturning operation is restricted when the boom reaches the boom limit overturning angle, and when the overturning operation to the boom operating means is continued from that time, the boom It is preferable to perform a control for lowering the work table while restricting the overturning operation. When configured in this way, the work table can be moved down in response to a request to further move the work table while restricting the movement of the work table into the movement restriction area. A work vehicle can be provided.

  On the other hand, it is also preferable to set the boom limit fall angle as the boom limit fall angle, which can restrict the movement into the movement restriction area in the state where the workbench is located at the lower end swing position where the work table is swung most downward. In this case, regardless of the swing position other than the upper end swing position, the work table can be reliably restricted from moving into the movement restriction region when the boom is tilted down.

  Also, when the work platform is not in the upper end swing position, when the boom reaches the boom limit tilt angle, the boom tilting operation is restricted, and when the tilting operation to the boom operating means is continued from that time, It is preferable to perform control to swing the work table downward while restricting the boom overturning operation. With this configuration, the work table can be lowered and swung downward in response to a request to swing the work table further downward while restricting the movement of the work table into the movement restriction region. This makes it possible to provide an aerial work vehicle that is easy to use.

  Furthermore, it is preferable to set the boom limit depression angle based on the turning position of the boom, the boom expansion / contraction state, and the swing position of the work table. In the case of such a configuration, the boom limit tilt angle in consideration of the swing position of the work table is set, so that the movement of the work table into the movement control region can be reliably controlled.

It is a side view of an aerial work vehicle as an example to which the present invention is applied. It is the block diagram which showed the control system of the said aerial work vehicle. It is the side view which showed the action | operation in the state in which the work bench was located somewhere in the downward slide position. It is the side view which showed the action | operation in the state in which the work bench was located in the upper end slide position. It is the flowchart which showed the flow at the time of lodging operation. It is the top view which showed the relationship between the swing position of a worktable, and a boom limit fall angle. It is the schematic diagram which showed another embodiment regarding the position detection of a work table. It is the side view which showed another embodiment regarding the action | operation in the state in which the work bench was located somewhere in the downward slide position. It is an aerial work platform according to another embodiment, wherein (a) is a perspective view of the vicinity of the work bench, (b) is a side view of the work platform, and (c) is a swing position of the work bench. The relationship with the boom limit lying angle is shown respectively. It is a top view of an aerial work vehicle according to another embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a side view of an aerial work vehicle 1 as an example to which the present invention is applied. First, a schematic configuration of the aerial work vehicle 1 will be described with reference to FIGS. 1 and 2.

  As shown in FIG. 1, the aerial work vehicle 1 is capable of traveling with front and rear wheels 3a and 3b on the front, rear, left and right sides of the vehicle body 2, and is based on a truck vehicle having a driving cab 2a at the front portion of the vehicle body 2. Configured. On the vehicle body 2 of this truck vehicle, there is disposed a turntable 4 which is driven by a turn motor 21 (see FIG. 2) and configured to be able to turn horizontally. The base 5 is pivotally connected to the swivel 4 and a boom 5 is attached. The boom 5 is moved up and down by a hoisting cylinder 22. The boom 5 is configured such that the proximal boom 5a, the intermediate boom 5b, and the distal boom 5c are combined in a nested manner, and the entire boom 5 can be expanded and contracted in the longitudinal axis direction by a built-in expansion cylinder 23 (see FIG. 2). At the base end portion of the boom 5, there is provided a lower leveling cylinder 28 that is pivoted between the base end portion of the boom 5 and the swivel base 4 and operates in conjunction with the undulation movement of the boom 5. .

  The tip boom 5c has a boom head 5d at the tip, and the vertical post 6 is pivotally attached to the boom head 5d so as to swing up and down in the same plane as the hoisting operation surface of the boom 5. An upper leveling cylinder 29 is provided between the boom head 5 d and the vertical post member 6. The rod side oil chamber of the upper leveling cylinder 29 and the rod side oil chamber of the lower leveling cylinder 28 are connected by an oil passage, and the bottom side oil chamber of the upper leveling cylinder 29 and the bottom side oil chamber of the lower leveling cylinder 28 are connected. Are connected by an oil passage. Therefore, the upper leveling cylinder 29 is operated in conjunction with the operation of the lower leveling cylinder 28, so that the vertical post 6 can be always kept in a vertical state regardless of the up-and-down movement of the boom 5.

  A work table 8 is attached to the vertical post 6 that is always kept in a vertical state in this manner so as to be pivotable (swingable) by an oscillation motor 24 (see FIG. 2) via an arm 7. The work table 8 can be turned in a horizontal direction with the bottom surface always kept horizontal regardless of the undulation angle of the boom 5. The arm 7 is formed with an arm-side slide guide 7a extending up and down, and the arm-side slide guide 7a is fitted with a work-table-side slide guide 8a formed by extending up and down on the side of the work table 8 to slide. The work table 8 is configured to be slidable up and down by the expansion and contraction of the cylinder 25 (see FIG. 2).

  Further, the arm 7 or the work table 8 is provided with a limit switch 9 for detecting the vertical slide position of the work table 8. The limit switch 9 is turned on when, for example, the work table 8 is located at the upper end slide position in the vicinity of the upper end portion of the region in which the work table 8 is slidable (see FIG. 1). It is provided so as to be turned off when it is located other than (see FIG. 3A). That is, from this detection result, it can be detected that the workbench 8 is located at the upper end slide position, but when it is in any other position, even if it is known that it is in any other position, up to which position it is. Cannot be detected. In the following, a position other than the upper end slide position is referred to as a “downward slide position”.

  Further, the work table 8 is operated for operating the boom 5 (raising and lowering and expanding and contracting) to rotate the swivel table 4 and for operating the work table 8 (turning and sliding up and down). An upper operation device 11 having an operation lever is provided. An operator boarding the work table 8 operates the operation lever of the upper operation device 11 to freely move the boom 5 up and down and expand and contract to rotate the swivel table 4 (boom 5). The work table 8 can be moved to a desired or arbitrary high position by rotating the table 8 and sliding it up and down. As a general rule, the aerial work vehicle 1 is configured to be controlled so as to perform an operation in accordance with an operation on the upper operation device 11. For example, the operation of raising and lowering the boom 5 is performed. The boom 5 is moved up and down in response to the operation, and the operation of sliding the work table 8 up and down with respect to the upper operation device 11 is performed, whereby the work table 8 is moved up and down in response to this operation. Is done.

  As shown in FIG. 2, the aerial work vehicle 1 includes a controller 20 including an operation control unit 21 and a boom limit tilt angle setting unit 22. Further, a turning angle detector 13 for detecting a turning angle of the turntable 4 with respect to the vehicle body 2 is provided between the vehicle body 2 and the turntable 4, and a undulation angle of the boom 5 with respect to the vehicle body 2 is provided between the turntable 4 and the boom 5. The boom angle detector 14 and the boom 5 are provided with an extension / contraction length detector 15 for detecting the extension / contraction length of the boom 5. The detection results detected by these detectors are always output to the boom limit depression angle setting unit 22 while the aerial work vehicle 1 is in operation. Also, the detection result (on or off) of the vertical slide position of the work table 8 detected by the limit switch 9 is always output to the boom limit tilt angle setting unit 22.

  The vehicle body 2 is provided with jacks 10 that are widened outwardly in the left-right direction and retractable below the vehicle body 2 at four positions on the front, rear, left, and right sides of the vehicle body 2. The vehicle body 2 can be stably supported by projecting left and right and extending downward. The jack 10 can be operated as described above by operating an operation lever of a lower operation device 12 disposed so as to protrude upward at a rear end portion of the vehicle body 2. Further, by operating the operation lever of the lower operation device 12, the boom 5 and the work table 8 can be operated in the same manner as the upper operation device 11.

  So far, the general configuration of the aerial work vehicle 1 has been described. Hereinafter, a control configuration when the worker who has boarded the work table 8 moves the work table 8 to a high place based on an operation on the upper operation device 11 will be described with reference to FIG.

  When an operation is performed on the upper operation device 11 (for example, an operation for turning the swivel base 4), an operation signal corresponding to the operation is output from the upper operation device 11 to the operation control unit 21. An operation signal corresponding to the operation signal is output to a control valve (not shown). Then, the supply of hydraulic oil to the turning motor 21 is controlled by the control valve, so that the turning motor 21 is driven to rotate, and the turntable 4 is turned relative to the vehicle body 2. In this manner, the work table 8 can be moved to a desired height by causing the turning motor 21 or the like to perform an operation corresponding to the operation on the upper operation device 11.

  When moving the workbench 8 as described above, for example, if the boom 5 is greatly lowered with the boom 5 facing forward, the workbench 8 or the boom 5 and the driving cab 2a may interfere with each other. In this way, in order to prevent the work table 8 or the boom 5 and a part of the vehicle body 2 from interfering with each other, the work platform 8 or the boom 5 is prevented from being moved into the aerial work vehicle 1. The movement restriction area to be set is set in advance. When an operation such as raising / lowering for causing the work table 8 to enter the movement restriction area is performed on the upper operation device 11, the operation control unit 21 outputs an operation signal corresponding to this operation to the control valve. As a result, the operation of the work table 8 entering the movement restriction area is restricted. In the present embodiment, the case where the work table 8 and the driving cab 2a interfere with each other by causing the boom 5 to fall is described as an example.

  The control configuration when moving the work table 8 to a high place based on the operation on the upper operation device 11 has been described above. In the aerial work platform 1 to which the present invention is applied, when a raising / lowering operation for entering the work table 8 into the movement restriction area is performed, what kind of control is performed to move the work table 8 into the movement restriction area. In the state where the work table 8 is positioned somewhere in the downward slide position (see FIG. 3), the work table 8 is positioned at the upper end slide position. The case will be described separately with reference to FIG.

  First, as shown in FIG. 3, a case where the lying down operation is performed in a state where the work table 8 is located somewhere in the downward slide position will be described along the flowchart shown in FIG. 5.

  In step S111 shown in FIG. 5, as shown in FIG. 3A, the operation of lowering the boom 5 is performed on the upper operating device 11 in a state where the work table 8 is located somewhere in the downward slide position. As a result, a lodging operation signal is input to the controller 20 (operation control unit 21).

  Here, in the boom limit tilt angle setting unit 22, the work table 8 at this position is tilted based on the position of the work table 8 calculated based on the telescopic length of the boom 5 and the turning angle of the boom 5. The lower boom limit fall angle θ1 and the upper boom limit fall angle θ2 as limit angles that can restrict the movement of the workbench 8 into the movement restriction area when the boom 5 is extended and retracted and the boom 5 is turned. Correspondingly, it is stored in the form of a map in advance.

  The lower boom limit tilt angle θ1 is a limit angle at which the work table 8 is not moved into the movement restriction region due to the boom 5 falling even when the workbench 8 is located at the lower end portion of the downward slide position. By restricting the tilting of the boom 5 using the boom limit tilting angle θ1, the work table 8 enters the movement restriction region due to the boom 5 falling, regardless of where the work table 8 is located in the downward slide position. Can be reliably prevented. The upper boom limit tilt angle θ2 is a limit angle at which the boom 8 is not moved into the movement restriction area due to the fall of the boom 5 when the work table 8 is located at the upper end slide position. By restricting the fall of the boom 5 using the upper boom limit fall angle θ2, it is possible to bring the work table 8 closer to the driving cab 2a simply by lowering the boom 5.

  When the overturning operation signal is input in step S111, the boom limit overturning angle setting unit 22 in step S112 determines the turning angle and the extension length of the boom 5 input from the turning angle detector 13 and the extension length detector 15. Based on this, the lower boom limit tilt angle θ1 and the upper boom limit tilt angle θ2 corresponding to this are read. In addition, the boom limit tilt angle setting unit 22 receives the undulation angle (tilt angle) θ of the boom 5 at this time (step S113).

  Subsequently, the process proceeds to step S120, where the boom limit tilt angle setting unit 22 detects the boom 5 tilt angle (fall angle) θ detected by the tilt angle detector 14 and the lower boom limit tilt angle θ1 read in step S112. Are compared. As a result of the comparison, if it is determined that the tilt angle θ has reached the lower boom limit tilt angle θ1, the process proceeds to step S150. Conversely, the tilt angle θ has not reached the lower boom limit tilt angle θ1. If it is determined, the process proceeds to step S130.

  In step S130, the boom limit tilt angle setting unit 22 compares the tilt angle θ of the boom 5 detected by the hoisting angle detector 14 with the upper boom limit tilt angle θ2 read in step S112. As a result of the comparison, if it is determined that the tilt angle θ has reached the upper boom limit tilt angle θ2, the process proceeds to step S170, and conversely, it is determined that the tilt angle θ has not reached the upper boom limit tilt angle θ2. If so, the process proceeds to step S140.

  In this way, when the process proceeds to step S140 through step S120 and step S130, the tilt angle θ is larger than both the lower boom limit tilt angle θ1 and the upper boom limit tilt angle θ2, and the boom 5 This is a state in which a fall is allowed. In step S140, the hoisting cylinder 22 is contracted and the boom 5 is tilted by outputting a tilting operation signal corresponding to the tilting operation signal input in step S111.

  After the boom 5 is tilted in step S140, the process returns to step S113, and the current tilt angle θ of the boom 5 is input again. Then, step S113, step S120, step S130, and step S140 are repeatedly executed as described above until the tilt angle θ reaches the lower boom limit tilt angle θ1. When it is determined in step S120 that the tilt angle θ has reached the lower boom limit tilt angle θ1 at a certain time (see FIG. 3B), the process proceeds to step S150. As shown in FIG. 3B, when the tilt angle θ reaches the lower boom limit tilt angle θ1, the work table 8 and the driving cab 2a are positioned apart by h1 in the vertical direction.

  In step S150, it is determined whether the work table 8 is located at the upper end slide position. If the work table 8 is located in the upper end slide position, the process proceeds to step S130, while the work table 8 is moved to the lower slide position. If it is located somewhere, the process proceeds to step S160. Here, in the state shown in FIG. 3B, based on the detection result by the limit switch 9 that the work table 8 is not located at the upper end slide position (positioned somewhere in the lower slide position), step S160. Proceed to

  In step S160, as shown in FIG. 3 (b), after the lowering movement of the boom 5 is restricted by the lower boom limit lowering angle θ1, the operation is performed based on the operation of lowering the boom 5 with respect to the upper operating device 11. Slide the table 8 downward. Here, by regulating the lowering of the boom 5 using the lower boom limit lowering angle θ1, even if the position of the work table 8 is not specifically detected, it is simply set at the upper slide position. Based on the detection result that it is not located (it is located somewhere in the downward slide position), it is possible to reliably prevent the work table 8 from entering the movement restriction region due to the fall of the boom 5. Further, as described above, in the state where the boom 5 is regulated to fall at the lower boom limit tilt angle θ1, even if the work table 8 is slid to the lower end slide position, the work table 8 remains within the movement regulation region. I won't get in. Therefore, when the operation for further overturning the boom 5 is continuously performed, it is determined that the operator has the intention to further lower the work table 8, and the boom 5 is moved according to this operation. By performing control to slide the work table 8 downward instead of lying down, it is possible to satisfy the operator's request to further lower the work table 8 while preventing the work table from being moved into the movement restriction region. be able to.

  In this way, when the work table 8 is controlled to slide downward based on the operation of lowering the boom 5 and the work table 8 reaches the lower end slide position, the work table within the movement restriction area is controlled. In order to restrict the movement of 8, the slide movement of the work table 8 is restricted, and this flow is finished. By this control, the work table 8 can be brought closer to the distance of h2 (<h1) in the vertical direction with respect to the driving cab 2a.

  As described above, even when the operation table 8 is tilted in a state where it is located somewhere in the downward slide position, the movement restriction region A is based on the single operation for causing the boom 5 to fall. The work table 8 can be brought close to the position where the vertical distance h2 is reached with respect to the driving cab 2a while restricting the movement of the work table 8 inside. Therefore, in the conventional configuration, unless the operation of sliding the work table downward is performed separately from the operation of falling the boom, the work table can be brought close to the position where the vertical distance h2 is set with respect to the driving cab 2a. However, in the aerial work platform 1 to which the present invention is applied, the work platform is moved to the position where the vertical distance h2 is set with respect to the driving cab 2a based on only a single operation for overturning the boom 5. You can get closer. In addition, after the boom 5 is tilted to the lower boom limit tilt angle θ1 based on the operation for tilting the boom 5, the work table 8 is slid downward without interruption, which is convenient. Will be better.

  Next, a case where the lying down operation is performed in a state where the work table 8 shown in FIG. 4 is located at the upper end slide position will be described with reference to the flowchart shown in FIG. In the following, a description will be given focusing on a part different from the case where the above-described workbench 8 is located somewhere in the downward slide position when the lying down operation is performed.

  As shown in FIG. 4A, when the work table 8 is positioned at the upper end slide position, an operation for lowering the boom 5 with respect to the upper operating device 11 is performed. Is input (step S111). Then, based on the turning angle and the extension / contraction length of the boom 5 input from the turning angle detector 13 and the extension / contraction length detector 15 in the boom limit inclination angle setting unit 22, the lower boom limit inclination angle corresponding to this is set. θ1 and upper boom limit tilt angle θ2 are read (step S112). Further, the boom tilt angle θ of the boom 5 at this time is input to the boom limit tilt angle setting unit 22 (step S113).

  Then, by repeatedly executing Step S113, Step S120, Step S130, and Step S140, the boom 5 is tilted until the tilt angle θ of the boom 5 reaches the lower boom limit tilt angle θ1. At some point, when the tilt angle θ of the boom 5 is lowered until it reaches the lower boom limit tilt angle θ1 (step S120), the process proceeds to step S150 to determine whether or not the workbench 8 is positioned at the upper end slide position. Is done.

  Here, in the state shown in FIG. 4, the process proceeds from step S150 to step S130 based on the detection result by the limit switch 9 that the workbench 8 is located at the upper end slide position. When the process proceeds to step S130, the magnitude relationship between the tilt angle θ and the upper boom limit tilt angle θ2 is compared, but step S140, step S113, step S120, step are performed until the tilt angle θ reaches the upper boom limit tilt angle θ2. S150 and step S130 are repeatedly executed.

  Then, when the vehicle is tilted down until the tilt angle θ reaches the upper boom limit tilt angle θ2, the process proceeds from step S130 to step S170. In step S170, the fall of the boom 5 and the sliding movement of the workbench 8 are restricted, and this flow ends (see FIG. 4B). In the state in which the flow is completed in this way, the upper cab falls at an upper boom limit fall angle θ2 smaller than the lower boom limit fall angle θ1, and the work cab 2a remains in the upper end slide position. Is moved closer to the position where the vertical interval h2 is reached.

  As described above, when the operation is performed while the workbench 8 is located at the upper end slide position, the boom 5 is lowered to the upper boom limit fall angle θ2 while maintaining the position located at the upper end slide position. With this, the work table 8 can be moved at a stroke with respect to the driving cab 2a so as to approach the position where the vertical distance h2 is reached. For example, in the conventional configuration, even when the operation is performed while the workbench is positioned at the upper end slide position, the lower boom limit tilt angle θ1 (the work table and the driving cab are relatively separated from each other up and down) ), Once the control of the boom 5 is controlled, it is necessary to further lower the work table 8 in order to further lower the work table 8 from this state. In the applied aerial work vehicle 1, it is possible to cause the work table 8 to fall down at a stretch to the position where the vertical distance h <b> 2 is reached with respect to the driving cab 2 a based on the operation of lowering the boom 5, which improves usability. .

  In the above-described embodiment, the configuration in which the lower boom limit tilt angle θ1 and the upper boom limit tilt angle θ2 corresponding to the boom 5 are read based on the turning angle and the extension / contraction length of the boom 5 has been described as an example. The present invention is not limited to this configuration. For example, a swing angle detector that detects the swing angle (swing position) of the work table 8 with respect to the vertical post member 6 is mounted, and this swing angle detection is performed in addition to the turning angle and expansion / contraction length of the boom 5. The lower boom limit tilt angle θ1 and the upper boom limit tilt angle θ2 may be set according to the result detected by the device. For example, in FIG. 6, based on the turning angle of the boom 5, the telescopic length, and the swing position of the work table 8, the work table is placed in the restriction target region B (hatched portion) surrounded by the turn lines θL and θR and the front line F. When it is determined that 8 is located, the boom limit depression angle corresponding to the vertical slide position of the work table 8 is set as described above.

  In the above-described embodiment, the limit switch 9 has been described by exemplifying a configuration that can detect whether the workbench 8 is located at the upper end slide position or somewhere in the lower slide position. The present invention is not limited to the configuration. For example, as shown in FIG. 7, by providing two limit switches 9, the slide position of the work table 8 is changed to an upper slide area U on the upper side and a middle slide area M located on the lower side of the upper slide area U. The lower slide area D is located below the middle slide area M, and both the limit switches 9 are in the on state, the work table 8 is located in the upper slide area U, and one of the limit switches 9 is in the on state. Thus, it is possible to detect that the other limit switch 9 is off and the work table 8 is located in the middle slide region M, and that both the limit switches 9 are off and the work table 8 is located in the lower slide region D. May be.

  In the case shown in FIG. 7, when the work table 8 is located in the upper slide region U, it is assumed that the work table 8 is located at the lower end portion of the upper slide region U, and the boom 5 is tilted down in this state. However, the control for restricting the falling motion of the boom 5 is performed using the upper boom limit tilt angle θ3 at which the work table 8 is not moved into the movement restricting region. When the workbench 8 is located in the middle slide area M, it is assumed that the workbench 8 is located at the lower end portion of the middle slide area M, and even if the boom 5 is fallen down in this state, the work is moved into the movement restriction area. Control for restricting the falling motion of the boom 5 is performed using the middle boom limit tilt angle θ4 where the platform 8 is not moved. When the workbench 8 is located in the lower slide area D, it is assumed that the workbench 8 is located at the lower end portion of the lower slide area D, and the work is performed in the movement restriction area even if the boom 5 is tilted down in this state. Control is performed to restrict the falling motion of the boom 5 using the lower boom limit tilt angle θ5 at which the platform 8 is not moved. In this way, the boom limit tilt angle can be set more finely in correspondence with the slide position of the work table 8.

  Further, in the above-described embodiment, when the operation of lowering the boom 5 is performed in a state where the work table 8 is located somewhere in the downward slide position, as shown in FIG. The control configuration in which the work table 8 is slid downward after being tilted down to the tilt angle θ1 has been described as an example. However, in addition to this control configuration, for example, the control configuration shown in FIG. 8 is also possible. That is, as shown in FIG. 8 (a), when an operation for falling the boom 5 is performed in a state where the work table 8 is located somewhere in the downward slide position, the boom 5 is lowered based on this operation. The operation and the operation of sliding the work table 8 upward are performed simultaneously. By doing so, after the intermediate state shown in FIG. 8 (b), finally, as shown in FIG. 8 (c), the work table 8 is slid upward until it is in a state of being positioned at the upper end slide position, In addition, the boom 5 is restricted from being tilted at the upper boom limit tilt angle θ2, and the work table 8 can be moved closer to the position h2 with respect to the vertical distance from the driving cab 2a. In this manner, when the operation of causing the boom 5 to fall down and the operation of sliding the work table 8 upward are performed simultaneously, the work table 8 can be moved downward relative to the vehicle body 2. The lodging speed and the moving speed of the work table 8 are adjusted. By adjusting in this way, the operator 8 who moves on the operator table 8 moves in the direction as operated, so that the operator does not feel uncomfortable.

  In the above-described embodiment, the arm-side slide guide 7a and the work table-side slide guide 8a are fitted to each other, and the structure in which the work table 8 is slid up and down by the slide cylinder 25 has been described as an example. The present invention is not limited to the configuration. For example, as shown in FIG. 9A, the work table 8 is swung up and down by a parallel link mechanism composed of a pair of upper link member 102 and lower link member 103 provided facing each other up and down. The present invention can also be applied to the aerial work vehicle 100. In the aerial work platform 100, the upper link member 102 and the lower link member 103 are swung up and down by a bending and stretching cylinder (not shown), and the work table 8 is swung downward with respect to the boom head 5d. It can be moved (state 8a). Further, the parallel link mechanism is configured to be pivotable about the vertical post member 101. For example, the work table at the position 8a can be swung to be positioned at 8b. Further, for example, the limit switch can detect that the work table 8 is located at the upper end swing position, but if it is located at any other position, it can be detected that it is located at any other position. It is configured not to be detected.

  In the aerial work platform 100 shown in FIG. 9A, when the work table 8 is tilted toward the driving cab 2a, the lower boom limit tilt angle θ1 and the upper boom are set in the same manner as described above. The limit tilt angle θ2 is set. For example, when the workbench 8 is tilted in a state where it is not swung upwards, as shown in FIG. 9 (b), the fall is restricted at the lower end boom limit tilt angle θ1 at one end, and thereafter the boom 5 The work table 8 is swung downward based on the above-mentioned lying down operation. Further, in FIG. 9C, the work table is placed in the restriction target region C surrounded by the turning lines θL and θR and the front line F based on the turning angle of the boom 5, the telescopic length and the swing position of the work table 8. When it is determined that 8 is positioned, the boom limit lying angle corresponding to the vertical swing position of the work table 8 is set as described above.

  In the above-described embodiment, the configuration has been described in which the limit switch 9 is used to detect whether the work table 8 is located at the upper end slide position or somewhere in the lower slide position. Is not limited to this configuration. For example, instead of the limit switch 9, a slide position detector capable of linearly and finely detecting the vertical slide position of the work table 8 is provided, and the boom limit depression angle is determined according to the vertical slide position detected by the slide position detector. May be set finely, and the boom 5 may be regulated using the boom limit tilt angle. If comprised in this way, regardless of the up-and-down slide position of the workbench 8, the boom 5 is simply laid down (without the workbench 8 being slid up and down), and the vertical distance from the driving cab 2a is at the position h2. It is possible to bring the work table 8 close to the front.

  In the above-described embodiment, the movement restriction area A set around the driving cab 2a has been described as an example. However, such a movement restriction area is a part of the vehicle body 2 and includes the work table 8 and the boom 5. It can also be set for a part that may interfere, for example, a tool box for storing a tool or the like installed on the vehicle body 2. The position where the movement restriction area is set needs to have a known position with respect to the vehicle body 2. For example, as shown in FIG. 10, when the aerial work vehicle 1 (100) is configured by mounting the tool box 99 on the vehicle body 2, the fall of the boom 5 is regulated at a tilt angle that does not interfere with the tool box 99, After that, when the operation of continuously lowering the boom 5 is continued, the work table 8 is controlled to slide downward (swing downward) based on this operation.

  In the above-described embodiment, in step S160 in the state illustrated in FIG. 3B, the configuration in which the work table 8 is slid downward is illustrated based on the operation of lowering the boom 5 with respect to the upper operation device 11. Other than this, for example, as in principle, a control configuration in which the work table 8 is slid downward based on an operation of sliding the work table 8 downward with respect to the upper operation device 11 may be employed.

DESCRIPTION OF SYMBOLS 1 Aerial work vehicle 2 Car body 5 Boom 6 Vertical post (vertical post member)
7a Guide member (arm side slide guide)
8a Guide member (workbench side slide guide)
8 Worktable 9 Limit switch (up / down position detection means)
11 Upper operation device (boom operation means, worktable operation means)
12 Lower operation means (boom operation means, worktable operation means)
20 controller (operation control means)
102 Link member (upper link member)
103 Link member (lower link member)

Claims (6)

A vehicle body configured to run, and
A boom having a base end attached to the vehicle body and configured to be capable of turning, stretching and undulating; and
A vertical post member that is provided at the tip of the boom and swings up and down so as to be always vertically positioned in accordance with the hoisting movement of the boom within the hoisting surface of the boom;
An aerial work vehicle having a work table attached to the vertical post member via a vertical movement device and moved up and down relative to the vertical post member by the vertical movement device,
Boom operating means for turning, expanding and contracting and raising and lowering the boom;
A work table operating means for operating the vertical movement device;
Vertical position detecting means for detecting the vertical movement position of the work table relative to the vertical post member;
Control is performed to operate the boom and the workbench in response to operations on the boom operation unit and the workbench operation unit, and is set in advance to prevent interference between the boom and the workbench and the vehicle body. An operation control means for restricting the movement of the boom and the workbench in the movement restriction area;
When the boom is lowered so that the operation control means approaches the movement restriction area in response to an operation of the boom operation means to fall the boom, and the work table is moved above the movement restriction area. The upper and lower position detecting means detects a boom limit fall angle at which the boom is allowed to fall while restricting the movement of the boom and the work table into the movement restriction area in the boom turning position and in the retracted state. An aerial work vehicle characterized in that it is set in correspondence with the vertical position of the work table and is configured to restrict the boom from falling over the boom limit tilt angle. The vertical movement device is composed of a guide member provided extending vertically.
The work table is provided to be slidable up and down with respect to the vertical post member by the guide member,
The vertical position detection means is configured to be able to detect whether or not the workbench is positioned at the upper end slide position near the upper end.
When it is detected by the vertical position detection means that the work table is not positioned at the upper end slide position,
The operation control means is configured to set a boom limit tilt angle as a limit tilt angle of the boom that is capable of restricting the movement of the work table into the movement restriction region in a state where the work table is positioned at a lowermost slide position where the work table is most moved down. The aerial work vehicle according to claim 1, wherein: In the state in which it is detected by the vertical position detection means that the work table is not located at the upper end slide position,
The operation control means allows the boom to be operated to fall down according to a fall operation to the boom operation means to the boom limit fall angle when the boom operation means is fallen. Control is performed to lower the work platform while restricting the operation of lowering the boom while restricting the operation of lowering the boom when the operation of lowering the boom is continued from that time. The aerial work vehicle according to claim 2, which is performed. The vertical movement device is composed of a link mechanism configured using a plurality of link members,
The work table is provided to be swingable up and down with respect to the vertical post member by the link mechanism,
The vertical position detecting means is configured to be able to detect whether or not the workbench is positioned at an upper end swing position near the upper end.
When it is detected by the vertical position detection means that the work table is not located at the upper end swing position,
The operation control means sets a limit tilt angle of the boom capable of restricting movement of the work table into the movement restriction region in a state where the work table is located at a lower end swinging position where the work table is swung most downward. The aerial work vehicle according to claim 1, wherein the work vehicle is set as a limit depression angle. In a state in which it is detected by the vertical position detection means that the work table is not located at the upper end swing position,
The operation control means allows the boom to be operated to fall down according to a fall operation to the boom operation means to the boom limit fall angle when the boom operation means is fallen. When the boom limit tilt angle is reached, the boom tilting operation is restricted, and when the tilting operation to the boom operating means is continued from that time, the work table is swung downward while the boom tilting operation is restricted. The aerial work vehicle according to claim 4, wherein control is performed. The work table is configured to swing freely around the vertical post member as a rotation center,
The said operation control means sets the said boom limit fall angle based on the turning position of the said boom, the expansion-contraction state of the said boom, and the swing position of the said work bench | platform. The listed aerial work vehicle.

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