JP2013010589A - Vehicle for high lift work - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle for high lift work which can prevent a distance detecting means from erroneously detecting with a worker riding in a basket serving as an object.SOLUTION: A structure sensor 35 includes an ultrasonic sensor 35a capable of detecting a distance to a structure S by emitting ultrasonic waves, and a reflection member 35c for reflecting the ultrasonic waves emitted from a sensor head 35b of the ultrasonic sensor 35a. Thereby, the ultrasonic waves emitted to an outer peripheral side of a handrail 23b of the basket 23 can be reflected by the reflection member 35c and emitted upward of the basket 23 without the need for the direct upward emission of the ultrasonic waves from the ultrasonic sensor 35a.

Description

  The present invention relates to an aerial work vehicle including a basket on which an operator can board and a basket moving mechanism that can move the basket vertically.

  Conventionally, in this type of aerial work vehicle, a basket on which an operator can ride, a basket moving mechanism that moves the basket vertically and horizontally, and a distance that detects the distance from the basket to an object such as a structure. What is provided with the sensor is known (for example, refer to cited document 1).

JP 2004-231335 A

  In this aerial work platform, a distance sensor is attached to the basket, the distance sensor detects the distance from the basket to the object, and adjusts the moving speed of the basket. In this aerial work vehicle, when detecting the distance from the basket to the object located above the basket, the worker riding in the basket may be detected as the object by the distance sensor. It is difficult to accurately detect the distance to the object.

  An object of the present invention is to provide an aerial work vehicle capable of preventing erroneous detection detected by a distance detection means as an object by an operator who is in a basket.

  According to the first aspect of the present invention, a basket on which an operator gets on, a basket moving mechanism for moving the basket, and a distance from the basket to an object such as a structure positioned in the direction in which the basket moves are detected. A distance detecting means for detecting the distance to the object by reflecting the received signal by the object and receiving it, and a distance detecting sensor. And a reflection member capable of reflecting a signal transmitted from a direction different from the direction in which the signal is transmitted.

The invention according to claim 2 of the present invention is characterized in that a direction of a surface of the reflecting member that reflects a signal transmitted from a distance detection sensor can be changed.
According to a third aspect of the present invention, there is provided a protective cover that covers the distance detection sensor from above.
According to a fourth aspect of the present invention, there is provided alarm means for notifying an operator who is in the basket, and alarm control means for controlling the alarm means based on a detection result of the distance detection sensor. And.
The invention according to claim 5 of the present invention is characterized in that the distance detection sensor is an ultrasonic sensor that emits an ultrasonic wave as a signal.

  According to the first aspect of the present invention, it is not necessary to transmit a signal directly upward from the distance detection sensor, and the signal transmitted to the outer peripheral side of the basket is reflected by the reflecting member to be above the basket. Thus, it is possible to prevent erroneous detection in which a worker on the basket is detected as an object by the distance detection means.

According to the second aspect of the present invention, it is possible to detect the distance between an object positioned in a direction other than the upper side of the basket and the basket, and safety against movement other than the upper side of the basket. Can be improved.
According to invention of Claim 3 of this invention, a distance detection sensor can be protected from dust and rain water with a protective cover. Therefore, since the adhesion of dirt on the distance detection sensor is reduced, the maintenance cost can be reduced.
According to the invention described in claim 4 of the present invention, when a basket approaches an object, a warning can be notified to an operator by an alarm device, so that safety can be improved. Become.
According to the invention described in claim 5 of the present invention, it is possible to configure the distance detecting means at a lower cost compared with the laser sensor which is a non-contact type distance detecting sensor, and to reduce the manufacturing cost. It becomes possible.

It is a side view of an aerial work vehicle showing a first embodiment of the present invention. It is a whole perspective view of a basket. It is a block diagram which shows a control system. It is a perspective view of the basket which shows a touch switch. It is a perspective view of a structure sensor. It is a flowchart which shows an operation control process. It is a perspective view of the structure sensor which shows 2nd Embodiment of this invention. It is a block diagram which shows a control system.

  1 to 6 show a first embodiment of the present invention.

  As shown in FIG. 1, the aerial work vehicle 1 of the present invention includes a vehicle 10 for traveling on a road and the like, and an aerial work device 20 for performing a work at a high place.

  The vehicle 10 has a pair of left and right wheels 11 at each of a front part and a rear part, and travels using an engine (not shown) as a power source. Above the wheel 11 located on the front side of the vehicle, a cabin 12 for performing operations related to traveling of the vehicle 10 is provided. Outriggers 13 for stably supporting the vehicle 10 with respect to the ground are provided on both the left and right sides of the front side and the rear side of the vehicle 10. The outrigger 13 is used by extending downward by a jack cylinder (not shown) and grounding the lower end.

  The aerial work device 20 is provided at a rear portion of the vehicle 10 so as to be able to turn, a boom 22 provided so as to be able to move up and down with respect to the turntable 21, and a telescopic boom 22, and a tip of the boom 22. And a basket 23 provided in the container.

  The swivel base 21 is configured to be turnable with respect to the vehicle 10 by a ball bearing type or roller bearing type turning circle (not shown), and is configured to turn by driving of a turning hydraulic motor (not shown). Has been.

  The boom 22 is composed of a plurality of boom members, and is configured in a multistage manner in which a boom member adjacent to the distal end side can be accommodated inside the boom member. A hydraulic cylinder (not shown) is provided in the most proximal boom member (base boom) 22a, and the boom 22 can be expanded and contracted by expansion and contraction of the hydraulic cylinder. Further, the base end portion of the most proximal end boom member 22a is coupled to the bracket 21a of the swivel base 21 so as to be pivotable in the vertical direction. A hydraulic cylinder 22b for raising and lowering is connected between the center part in the extending direction of the boom member 22a and the swivel base 21, and the boom 22 can be raised and lowered by expansion and contraction of the hydraulic cylinder 22b.

  As shown in FIG. 2, the basket 23 includes a substantially rectangular work floor 23 a and a handrail 23 b provided so as to surround the outer periphery with a predetermined distance upward from the floor surface of the work floor 23 a. ing. The basket 23 is supported so as to be pivotable about the vertical direction as a central axis with respect to the boom member (top boom) on the most advanced side. A hydraulic motor (not shown) is provided at a connecting portion between the basket 23 and the most advanced boom member, and the basket 23 rotates in the horizontal direction by driving the hydraulic motor. The position of the basket 23 in the vertical direction and the horizontal direction is adjusted by the expansion and contraction and undulation of the boom 22 and the turning of the swivel base 21 and the basket 23.

  The aerial work vehicle 1 includes a controller 30 for controlling the rotation operation of the swivel base 21, the telescopic operation of the boom 22, and the rotation operation of the basket 23.

  The controller 30 has a CPU, ROM, and RAM. When the controller 30 receives an input signal from a device connected to the input side, the CPU reads a program stored in the ROM based on the input signal, and stores a state detected by the input signal in the RAM. The output signal is transmitted to a device connected to the output side.

  As shown in FIG. 3, a control valve 31 and an alarm device 32 as alarm means are connected to the output side of the controller 30.

  The control valve 31 is a hydraulic pressure supply device to which a plurality of actuators such as a hydraulic motor for the swivel base 21, a hydraulic cylinder for expanding and contracting the boom 22, a hydraulic cylinder 22b for raising and lowering the boom 22 and a hydraulic motor for the basket 23 are connected (see FIG. (Not shown) for controlling the amount and flow direction of hydraulic oil supplied to each actuator.

  The warning device 32 notifies the warning by sounding a predetermined alarm sound to the worker M boarding the basket 23.

  On the input side of the controller 30, as shown in FIG. 3, an operator M who has boarded the basket 23 performs operations of turning the swivel base 21, extending and retracting the boom 22, and turning the basket 23 with respect to the boom 22. A touch sensor 34 for detecting the posture of the operator M immediately before being sandwiched between the handrail 23b and the structure S as an object, and the structure S positioned above the basket 23. A structure sensor 35 as a distance detecting means for detection is connected.

  As shown in FIG. 2, the operation unit 33 is provided on the outer peripheral side of the handrail 23 b of the basket 23. The operation unit 33 has a pair of operation levers 33a provided so as to extend upward and capable of being tilted from a neutral position. Each operation lever 33 a inputs an operation signal in which the tilt operation amount and the tilt operation direction are associated with the controller 30. The operation speed of the actuator is associated with the tilting operation amount of the operation lever 33a, and a faster operation speed is associated with an increase in the tilting operation amount. The controller 30 receives an operation speed signal associated with the tilt operation amount.

  Further, as shown in FIG. 4, the touch sensor 34 is provided on the operation unit 33 side in the basket 23 and is formed of a rope-like member that extends in the width direction along the handrail 23 b of the basket 23. When the distance between the handrail 23b of the basket 23 and the structure S becomes small, the touch sensor 34 is operated by the body of the worker M contacting before being sandwiched between the handrail 23b and the structure S. The The touch sensor 34 inputs an operation signal to the controller 30 when the body of the worker M is touched and operated.

  As shown in FIG. 2, the structure sensor 35 is provided in the vicinity of the operation unit 33 on the outer peripheral side of the handrail 23 b of the basket 23. As shown in FIG. 5, the structure sensor 35 includes an ultrasonic sensor 35a as a distance detection sensor capable of detecting a distance to the structure S by transmitting an ultrasonic wave, and a sensor head 35b of the ultrasonic sensor 35a. A reflection member 35c for reflecting the transmitted ultrasonic wave and a protective cover 35d that covers the sensor head 35b of the ultrasonic sensor 35a from above are provided.

  At the tip of the ultrasonic sensor 35a, a sensor head 35b capable of transmitting ultrasonic waves and receiving ultrasonic waves is provided. The ultrasonic sensor 35a detects the distance to the structure S by transmitting the ultrasonic wave from the sensor head 35b, receiving the ultrasonic wave reflected by the structure S, and measuring the time from transmission of the ultrasonic wave to reception. To do. In the ultrasonic sensor 35a, the sensor head 35b is fixed in a substantially horizontal direction toward the outer peripheral side of the handrail 23b, and the ultrasonic wave is transmitted in a substantially horizontal direction toward the outer peripheral side of the handrail 23b.

  The reflection member 35c is made of a metal plate-like member, and has a smooth surface capable of reflecting the ultrasonic wave transmitted from the ultrasonic sensor 35a. The reflection member 35c reflects the ultrasonic wave transmitted in the substantially horizontal direction from the ultrasonic sensor 35a toward the outer peripheral side of the handrail 23b toward the upper side of the basket 23, is reflected by the structure S, and proceeds downward. The ultrasonic waves are reflected toward the sensor head 35b of the ultrasonic sensor 35a.

  The protective cover 35d is made of, for example, a synthetic resin plate-like member, and is configured to cover the upper surface of the sensor head 35b, the base end side of the sensor head 35b, and one of the sensor head 35b in the width direction.

  The structure sensor 35 is configured to be able to set a vertical range in which the structure S is detected. Specifically, as shown in FIG. 2, the second predetermined distance D2 (for example, 1 m or more from the upper end of the handrail of the basket 23) is equal to or greater than the first predetermined distance D1 (for example, 1 m from the upper end of the handrail of the basket 23). The structure S is set to be detected within a range of 2 m from the upper end of the handrail of the basket 23 and D1 <D2) or less.

  In the aerial work vehicle configured as described above, the controller 30 performs the movement speed restriction process of the basket 23 as shown in FIG.

(Step S1)
In step S1, the CPU determines whether or not a structure proximity flag indicating a state in which the structure S is close is 01H. If it is determined that the structure proximity flag is 00H, the process proceeds to step S2, and if it is determined that the structure proximity flag is 01H, the process proceeds to step S5.

(Step S2)
When it is determined in step S1 that the structure proximity flag is 00H, in step S2, the CPU determines whether the operation of the operation unit 33 is an operation for moving the basket 23 upward. If it is determined that the operation is to move the basket 23 upward, the process proceeds to step S3. If it is determined that the operation is not to move the basket 23 upward, the operation speed restriction process is terminated.

(Step S3)
When it is determined in step S2 that the operation of the operation unit 33 is an operation for moving the basket 23 upward, in step S3, the CPU determines whether or not the structure S exists within a predetermined range above the basket 23 by the structure sensor 35. Determine. If the structure S is within the predetermined range above the basket 23, the process proceeds to step S4, and if there is no structure S, the operation speed restriction process is terminated.

(Step S4)
If it is determined in step S3 that the structure S is within the predetermined range above the basket 23, the CPU sets the structure proximity flag to 01H in step S4, and returns the process to step S5.

(Step S5)
When it is determined in step S1 that the structure proximity flag is 01H, or after the structure proximity flag is set to 01H in step S4, in step S5, the CPU switches the moving speed of the basket 23 to a low speed, The process is moved to S6.
Specifically, when the structure proximity flag is set to 01H, the movement speed of the basket 23 is related to the tilt operation amount of the operation lever 33a when the structure proximity flag 00H is set. The speed is 50% of the speed.

(Step S6)
In step S6, the CPU starts outputting the alarm sound by the alarm device 32 after switching the moving speed of the basket 23 to a low speed in step S5.

(Step S7)
In step S7, after starting the output of the alarm sound in step S6, the CPU determines whether or not the basket 23 has moved downward by a predetermined distance. If it is determined that the basket 23 has moved downward by a predetermined distance, the process proceeds to step S8. If it is not determined that the basket 23 has moved downward by a predetermined distance, the process proceeds to step S10.

(Step S8)
If it is determined in step S7 that the basket 23 has moved downward by a predetermined distance, the CPU stops outputting the alarm sound in step S8.

(Step S9)
In step S9, the CPU sets the structure proximity flag to 00H, and ends the operation speed restriction process.

(Step S10)
If it is not determined in step S7 that the basket 23 has moved downward by a predetermined distance, in step S10, the CPU determines whether or not the touch sensor 34 has been operated. If it is determined that the touch sensor 34 has been operated, the process proceeds to step S11. If it is not determined that the touch sensor 34 has been operated, the operation speed restriction process is terminated.

(Step S11)
When it is determined in step S10 that the touch sensor 34 has been operated, in step S11, the CPU stops the operation of the basket 23 and ends the operation speed restriction process.

  Thus, according to the aerial work vehicle of the present embodiment, the structure sensor 35 can detect the distance to the structure S by transmitting an ultrasonic wave, and the ultrasonic sensor 35a. And a reflection member 35c for reflecting ultrasonic waves transmitted from the sensor head 35b. Thereby, it is not necessary to transmit the ultrasonic wave directly upward from the ultrasonic sensor 35a, and the ultrasonic wave transmitted to the outer peripheral side of the handrail 23b of the basket 23 is reflected by the reflecting member 35c and directed upward of the basket 23. It is possible to make a call. Therefore, it is possible to prevent erroneous detection in which the worker M riding on the basket 23 is detected as the structure S by the structure sensor 35.

  The structure sensor 35 has a protective cover 35d that covers the sensor head 35b of the ultrasonic sensor 35a from above. Thereby, the sensor head 35b can be protected from dust and rainwater by the protective cover 35d. Accordingly, the adhesion of dirt to the sensor head 35b is reduced, and the maintenance cost can be reduced.

  In addition, an alarm device 32 for notifying a warning by sounding a predetermined alarm sound to the worker M boarding the basket 23 is provided, and the alarm device 32 generates an alarm sound based on the detection result of the structure sensor 35. I am trying to output. Thereby, when the basket 23 approaches the structure S, the warning device 32 can notify the worker M of a warning, so that safety can be improved.

  The structure sensor 35 is constituted by an ultrasonic sensor 35a. As a result, the structure sensor 35 can be configured at a lower cost than a laser sensor that is a non-contact type distance detection sensor, and the manufacturing cost can be reduced.

  7 and 8 show a second embodiment of the present invention. In addition, the same code | symbol is attached | subjected and shown to the component similar to the said embodiment.

  As shown in FIG. 7, the aerial work vehicle 1 includes a reflecting member 35c coupled to a rotating shaft 35f of an electric motor 35e. The electric motor 35e is connected to the output side of the controller 30, as shown in FIG. The reflection member 35c is rotatably provided by driving the electric motor 35e, and can change the angle of the surface that reflects the ultrasonic wave transmitted by the ultrasonic sensor 35a.

  In the aerial work vehicle configured as described above, the same operation as in the first embodiment is possible. Further, for example, when the reflecting member 35c is rotated 90 ° so that the surface of the ultrasonic wave reflected by the electric motor 35e faces downward, the ultrasonic wave transmitted from the ultrasonic sensor 35a in a substantially horizontal direction is directed downward. It can be reflected. Thereby, when the basket 23 moves downward, the distance between the structure S located below and the basket 23 can be detected.

  Thus, according to the aerial work vehicle of the present embodiment, the direction of the surface on which the reflection member 35c reflects the ultrasonic wave transmitted from the ultrasonic sensor 35a can be changed. As a result, it is possible to detect the distance between the structure S located in a direction other than the upper side of the basket 23 and the basket 23, and it is possible to improve safety against movement other than the upper side of the basket 23. Become.

  In the above embodiment, the ultrasonic sensor 35a is used as the structure sensor 35. However, the structure sensor 35 is not limited to this. For example, a laser sensor or the like may be used as long as it is a non-contact sensor capable of measuring the distance between the basket 23 and the structure S.

  In the above embodiment, the reflective member 35c is formed of a metal member. However, the present invention is not limited to this. As long as it is possible to reflect the ultrasonic wave transmitted from the ultrasonic sensor 35a, for example, the surface that reflects the ultrasonic wave may be formed from a hard member made of synthetic resin or the like.

  In the above embodiment, the reflecting member 35c is formed from a plate-like member. However, the present invention is not limited to this. If it is possible to reflect the ultrasonic wave transmitted from the ultrasonic sensor 35a in a predetermined direction, for example, the surface that reflects the ultrasonic wave is formed into a curved surface shape whose cross section forms a rectangular curve. May be.

  In the above embodiment, the ultrasonic wave transmitted from the ultrasonic sensor 35a is reflected by the single reflecting member 35c. However, the present invention is not limited to this. If the ultrasonic wave transmitted from the ultrasonic sensor 35a can reach the structure S, the ultrasonic wave transmitted from the ultrasonic sensor 35a may be reflected by the plurality of reflecting members 35c.

  In the above embodiment, the alarm device 32 outputs an alarm sound. However, the present invention is not limited to this. As long as it is possible to notify a warning to the worker M boarding the basket 23, for example, a warning lamp or the like may be visually notified to the worker M.

  In the second embodiment, the distance from the basket 23 moving downward to the structure S located below the basket 23 is detected by reflecting the ultrasonic wave transmitted from the ultrasonic sensor 35a downward. Although what was shown was shown, it is not restricted to this. For example, the ultrasonic wave transmitted from the ultrasonic sensor 35a may be reflected in the horizontal direction, and the distance from the basket 23 moving in the horizontal direction to the structure S positioned in the moving direction of the basket 23 may be detected. .

  In the second embodiment, the reflecting member 35c is rotated by the electric motor 35e. However, the present invention is not limited to this. The reflection member 35c may be rotatably held on the support member, and the angle of the surface of the reflection member 35c that reflects the ultrasonic waves may be manually changed.

22 Boom 23 Basket 30 Controller 31 Control valve 32 Alarm device 33 Operation unit 35 Structure sensor 35a Ultrasonic sensor 35c Reflective member 35d Protective cover 35e Electric motor 35f Rotating shaft

Claims (5)

Work at height, comprising a basket on which an operator is boarded, a basket moving mechanism for moving the basket, and a distance detecting means for detecting a distance from the basket to an object such as a structure positioned in a direction in which the basket moves In the car,
The distance detection means reflects the transmitted signal by the object and receives it, and detects the distance to the object, and reflects the signal transmitted from the distance detection sensor in a direction different from the direction in which the signal is transmitted. And a reflective member capable of being moved. The aerial work vehicle according to claim 1, wherein the reflecting member is capable of changing a direction of a surface that reflects a signal transmitted from a distance detection sensor. The aerial work vehicle according to claim 1, further comprising a protective cover that covers the distance detection sensor from above. Alarm means for informing a warning to an operator boarding the basket;
The aerial work vehicle according to any one of claims 1 to 3, further comprising: an alarm control unit that controls an alarm unit based on a detection result of the distance detection sensor. The aerial work vehicle according to any one of claims 1 to 4, wherein the distance detection sensor is an ultrasonic sensor that emits an ultrasonic wave as a signal.

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