JP3658236B2

JP3658236B2 - Work vehicle overturn prevention device

Info

Publication number: JP3658236B2
Application number: JP08969299A
Authority: JP
Inventors: 孝明大葉
Original assignee: Aichi Corp
Current assignee: Aichi Corp
Priority date: 1999-03-30
Filing date: 1999-03-30
Publication date: 2005-06-08
Anticipated expiration: 2019-03-30
Also published as: JP2000281294A

Description

【０００１】
【発明の属する技術分野】
本発明は作業車の転倒防止装置に関し、さらに詳細には、車体上に少なくとも起伏動自在であり先端に作業台を有したブームの移動により車体を転倒させない作業台の限界移動範囲を越えるブームの移動を規制する作動規制手段と、この作動規制手段の規制を解除する規制解除手段とを備える作業車の転倒防止装置に関する。
【０００２】
【従来の技術】
走行自在な車体上に先端に作業台を有する伸縮ブームを備えた高所作業車においては、作業台を移動させると、車体を転倒させる方向のモーメント（以下、「実モーメント」と記す。）が作用する。このため、高所作業車には車両を転倒させない転倒防止装置が設けられている。この転倒防止装置は、一般に実モーメントが車両を転倒させる許容転倒モーメントを越えるときに作業台の旋回作動や伸縮ブームの作動を規制するモーメントリミッタや、車両を転倒させる虞のない作業台の許容作業範囲を予め定めておき、作業台の位置を逐次検出し、作業台の位置が許容作業範囲を越える作業台の旋回作動や伸縮ブームの各作動を規制する作業範囲規制装置がある。
【０００３】
ここで、許容転倒モーメント及び許容作業範囲は車両の安全を考慮して実際に車両が転倒し始める転倒開始モーメント及び限界作業範囲よりも小さな値及び範囲に設定されている。
【０００４】
また、転倒防止装置には、モーメントリミッタや作業範囲規制装置の規制を解除する場合に作業者が操作する規制解除スイッチが設けられている。この規制解除スイッチを操作すると、モーメントリミッタや作業範囲規制装置の規制作動を強制的に解除して、車両が転倒しない範囲内で許容転倒モーメント又は許容作業範囲を越えた位置に作業台を移動させることができる。
【０００５】
【発明が解決しようとする課題】
しかしながら、規制解除スイッチは車体や作業台の外部に露出した状態で設けられているので、高所作業車が雨の降る場所に置かれていると、雨の水滴が規制解除スイッチに侵入してこれを短絡させて規制解除スイッチを常にＯＮ状態にし、モーメントリミッタ又は作業範囲規制装置の規制を解除させる。このため、作業者は転倒防止装置の規制が解除された状態にあることを知らずにブームを移動させてしまう場合があり、許容転倒モーメント又は許容作業範囲を越えて車両の転倒する虞を生じさせる。
【０００６】
また、許容転倒モーメントや許容作業範囲は実際に車両が転倒し始める転倒開始モーメントや限界作業範囲よりも小さく設定されているので、許容転倒モーメントや許容作業範囲を多少越えても車両は転倒しない。このため、作業現場における作業範囲をさらに広くするために、作業者が規制解除スイッチを常にＯＮ状態になるように操作固定して規制を解除する場合がある。その結果、作業範囲は広くなるが車両の転倒する虞が増加する。
【０００７】
そこで、車両の転倒する虞の増加を防止するため、規制が解除されると表示ランプが点灯して作業者の注意を喚起させる転倒防止装置が提案された。
【０００８】
しかしながら、表示ランプが点灯しても規制解除スイッチを操作すれば規制を解除させることができるので、作業台を許容転倒モーメントや許容作業範囲を越えた位置に移動させることが可能になり、車両の転倒する虞の増加を防止することができない、という問題が生じる。
【０００９】
本発明はこのような問題に鑑みてなされたものであり、規制解除スイッチの誤動作や不正操作があっても車両が転倒する虞を未然に防止できる作業車の転倒防止装置を提供することを目的とする。
【００１０】
【課題を解決するための手段】
前記課題を解決するために本発明の作業車（例えば、実施形態における高所作業車１）の転倒防止装置は、車体の上部に少なくとも起伏動自在に設けられ先端に作業台を有するブーム（例えば、実施形態における伸縮ブーム９）と、車体に設けられブームを作動させるアクチュエータ（例えば、実施形態における旋回モータ８、伸縮シリンダ１１、起伏シリンダ１３、首振りモータ２３）と、アクチュエータの作動を操作する作動操作手段（例えば、実施形態における操作装置４１）と、作業台の限界移動範囲を越えるアクチュエータの作動を規制する作動規制手段（例えば、実施形態における作動規制回路６５）と、作動規制手段の規制を解除する規制解除手段（例えば、実施形態における規制解除制御回路６７）と、規制解除手段が作動したときからの経過時間を測定する時間計数手段（例えば、実施形態におけるカウンタ回路６９）と、作動規制手段がアクチュエータの作動を規制している状態で規制解除手段が作動された後、予め設定された設定時間内に作動操作手段が操作されたことを時間計数手段により測定される経過時間に基づいて規制解除手段が判定すると作動規制手段の規制を解除させて作動操作手段の操作に基づいてアクチュエータを作動させ、設定時間を越えた後に作動操作手段が操作されたことを時間計数手段により測定される経過時間に基づいて規制解除手段が判定すると規制解除を中止して作動規制手段による作動規制を行なわせる作動制御手段（例えば、実施形態における作動制御回路６３）とを有することが好ましい。
【００１１】
作動規制手段によりアクチュエータの作動を規制している状態で規制解除手段が作動された後に、予め設定された設定時間内に作動操作手段が操作されると、作動制御手段は規制解除手段により作動規制手段の作動規制を解除させて作動操作手段の操作に基づいてアクチュエータを作動させる。また、設定時間を越えた後に作動操作手段が操作されたときには作動制御手段は規制解除手段の規制解除を中止して作動規制手段による作動規制を行なわせる。
【００１２】
規制解除手段が作動してから設定時間内に作動操作手段を操作しなければ作動規制手段の作動を解除することができないので、作業者が作動規制手段の規制が解除されている状態であることを知らずに作動操作手段を操作して車両転倒の虞が増大するのを未然に防止することができる。また、作業者が規制解除手段を常時規制解除できるように操作固定する不正操作を防止できる。尚、所定時間とは作業者が任意に設定できる時間である。
【００１３】
また、本発明の作業車の転倒防止装置は、車体の上部に少なくとも起伏動自在に設けられ先端に作業台を有するブームと、車体に設けられブームを作動させるアクチュエータと、アクチュエータの作動を操作する作動操作手段と、作業台の限界移動範囲を越えるアクチュエータの作動を規制する作動規制手段と、作動規制手段の規制を解除するときに操作する規制解除手段（例えば、実施形態における規制解除制御回路６７）とを有する作業車の転倒防止装置であって、規制解除手段の作動の有無を判定する規制解除判定手段（例えば、実施形態における規制解除判定回路８１）と、作動規制手段の作動の有無を判定する作動規制判定手段（例えば、実施形態における作動規制判定回路８３）と、規制解除判定手段により規制解除手段が作動していないことを判定し、且つ作動規制判定手段により作動規制手段が作動していることを判定している場合にのみ、規制解除手段の作動を有効にして作動規制手段の作動規制を解除させる作動制御手段（例えば、実施形態における作動制御回路６３）とを有してもよい。
【００１４】
作動操作手段が操作された後に、規制解除判定手段により規制解除手段が作動していないことを判定し、且つ作動規制判定手段により作動規制手段が作動していることを判定している場合には、作動制御手段は規制解除手段の作動を有効にして規制解除手段が作動すると作動規制手段の作動が停止するので、規制解除手段内に雨の水滴が侵入して規制解除手段を常にＯＮ状態にし、又は作業者が規制解除手段を操作固定して常にＯＮ状態にしても、作動規制手段が規制状態にある場合にはＯＮ状態の規制解除手段の作動を無効にして作動規制手段の規制を解除させない。このため、作業者が非規制状態であることを知らずに作動操作手段を操作することを防止して、車両の転倒を未然に防止することができ、また、作業者の不正操作を防止することができる。
【００１５】
規制解除判定手段により規制解除手段が作動していることを判定し、且つ作動規制判定手段により作動規制手段が作動していないことを判定している場合には、作動制御手段が規制解除手段の作動を中止させて作動規制判定手段を作動させた後に規制解除手段の作動を可能な状態にするようにしてもよい。作動規制手段が作動していない状態で規制解除手段が作動している場合には、作動制御手段は規制解除手段の作動を無効にし、作動規制判定手段を作動させて規制状態にすることで規制解除手段の作動を可能な状態にする。このため、規制解除手段内に雨の水滴が侵入して規制解除手段を常にＯＮ状態にし、又は作業者が規制解除手段を操作固定して常にＯＮ状態にしても作動規制判定手段が作動していなければ規制解除手段の作動は無効になるので、非規制様態のままで、作動操作手段が操作されることを防止して、車両の転倒を未然に防止することができる。また、作業者の不正操作を防止することができる。
【００１６】
また、規制解除手段（例えば、実施形態における規制解除スイッチ４３、規制解除制御回路６７）により作動規制手段の作動規制を解除できる状態にあるときに知れせる伝達手段（例えば、実施形態における表示ランプ５７）を有することが好ましい。規制状態を解除できる状態にあるときに伝達手段が作動することで、作業者は規制状態の解除時期を容易に認識することができる。ここで、伝達手段は作業者が認識できるものであればよく、例えば、ブザーを鳴らしたり、表示灯を点灯させたり、モニターにその旨を表示したりすることを例示することができる。
【００１７】
また、規制解除手段にはこの作動を操作する規制解除操作手段（例えば、実施形態における規制解除スイッチ４３）を有し、規制解除手段及び規制解除操作手段には少なくとも規制解除手段及び規制解除操作手段を作動させる電力供給源（例えば、実施形態におけるバッテリ５３）が接続されており、作動制御手段は、規制解除手段及び規制解除操作手段に電力供給源からの電力が供給された後に規制解除操作手段が操作されてＯＮ状態になると規制解除手段の作動を無効にし、更に規制解除操作手段が操作されてＯＦＦ状態になると規制解除手段の作動を有効にし、更に規制解除操作手段が操作されてＯＮ状態になると規制解除手段が作動して作動規制手段の作動規制を解除させるようにしてもよい。
【００１８】
電力供給源の電力が規制解除手段と規制解除操作手段に供給された後に、規制解除操作手段がＯＮ状態にあると、作動制御手段は規制解除手段の規制解除を無効にする。このため、規制解除操作手段が常にＯＮ状態になるような誤動作や不正操作がされても、規制解除手段の作動を無効にして作動規制手段が作動するので、転倒防止装置の作動開始時におけるを車両の転倒を未然に防止することができる。
【００１９】
また、ＯＮ状態にある規制解除手段が操作されてＯＦＦ状態にすると、作動制御手段は規制解除手段の作動を有効にし、更に規制解除手段が操作されてＯＮ状態にすると、規制解除手段が作動して作動規制手段の作動規制を解除するようにしてもよい。規制解除手段をＯＮ状態からＯＦＦ状態にすることで、無効にされた規制解除手段を回復させることができ、規制解除が必要な作業を行なって作業効率の向上を図ることができる。
【００２０】
【発明の実施の形態】
以下、本発明の好ましい実施の形態を図１から図３に基づいて説明する。本実施の形態は車体上に起伏且つ旋回動自在な伸縮ブームを有し、作業台の位置が許容作業範囲を越える作業台や伸縮ブームの各作動を規制する機能を有した高所作業車の態様を示す。
【００２１】
【第１の実施の形態】
第１の実施の形態を図１及び図２を使用して説明する。最初に本発明の転倒防止装置を説明する前に、この転倒防止装置を搭載した高所作業車を説明する。高所作業車１は、図１に示すように、トラックをベースとして構成されており、車体３の前後の各左右には車体３の側方に張り出すとともに、下端部を接地させて車体３を安定支持するアウトリガジャッキ５が設けられ、車体３の前部には上方へ突出し旋回動自在な旋回台７が設けられている。車体３の内部には旋回モータ８が設けられ、この旋回モータ８の作動により旋回台７を旋回させることができるように構成されている。
【００２２】
旋回台７の上部には伸縮ブーム９が枢結され、この伸縮ブーム９は３つのブーム部材を入れ子式に構成し、その内部に伸縮シリンダ１１を内蔵し、この伸縮シリンダ１１を伸縮作動させることで伸縮ブーム９が伸縮動する。伸縮ブーム９の中間部と旋回台７の底部間には起伏シリンダ１３の両端部が枢結されており、この起伏シリンダ１３の伸縮作動により、伸縮ブーム９が起伏作動するように構成されている。
【００２３】
伸縮ブーム９の先端部には上下方向に揺動自在な垂直ポスト１５が設けられている。垂直ポスト１５の下部には伸縮ブーム９の先端部に内蔵されたレベリンシリンダ１７が枢結されており、このレベリンシリンダ１７の伸縮作動により伸縮ブーム９の起伏角度に係わらず垂直ポスト１５を常時垂直状態に保持している。垂直ポスト１５の先端部には首振り動自在な水平アーム１９が接続され、この水平アーム１９の先端部に作業者が搭乗可能な作業台２１が取り付けられている。水平アーム１９内には首振りモータ２３が内蔵され、この首振りモータ２３が作動して作業台２１を垂直ポスト１７に対して首振り作動させることができる。このため、作業台２１は水平面内で首振り作動するとともに所望の高所位置に移動することができる。
【００２４】
旋回台７の側部と作業台２１には操作装置４１が設けられており、これらの操作装置４１に設けられた第１操作レバーＬ１を手動操作することで、旋回モータ８、起伏シリンダ１３及び伸縮シリンダ１１の作動が操作されて、伸縮ブーム９を起伏、伸縮、旋回作動させて、作業台２１を所望の高所位置に移動させることができる。また、操作装置４１に設けられた第２操作レバーＬ２を手動操作することで、首振りモータ２３の作動が操作されて、作業台２１を首振り作動させることができる。第１操作レバーＬ１と第２操作レバーＬ２の近傍には規制解除スイッチ４３が設けられ、この規制解除スイッチ４３を押すと伸縮ブーム９や作業台２１の各作動規制を解除させることができる。
【００２５】
また、高所作業車１には転倒防止装置が設けられている。作業台２１を移動させると車体３を転倒させる方向のモーメント（以下、「実モーメント」と記す。）が作用するが、転倒防止装置は、この実モーメントから車両を転倒させる虞のない作業台２１の移動範囲（以下、「許容作業範囲」と記す。）を予め定めておき、作業台２１の位置が許容作業範囲を越える作業台２１の旋回作動や伸縮ブーム９の各作動を規制するものである。このため、転倒防止装置を作動させることで、車両の転倒を未然に防止することができる。
【００２６】
転倒防止装置４０は、図２に示すように、操作装置４１と規制解除スイッチ４３とカウント設定スイッチ４７と作業台位置検出センサ４９と電源スイッチ５１とバッテリ５３とコントローラ５５と表示ランプ５７と、起伏シリンダ１３・伸縮シリンダ１１・旋回モータ８・首振りモータ２３（以下、これらをまとめて「アクチュエータ８,１１,１３,２３」と記す。）と、アクチュエータ８,１１,１３,２３の各作動を制御する作動制御バルブ（以下、「バルブ５９」と記す。）とを有している。
【００２７】
操作装置４１は前述したのでその説明は省略する。規制解除スイッチ４３は作業者が手動操作するものであり、図１に示す伸縮ブーム９や作業台２１の各作動の規制を解除する場合に操作し、押すとＯＮ状態になり離すとＯＦＦ状態になるように構成されている。図２に示すカウンタ設定スイッチ４７は操作装置４１の近傍に設けられ高所作業車１のメーカが予め設定し、規制解除スイッチ４３が押されてＯＮ操作されたときからの経過時間を設定するものである。作業台位置検出センサ４９は作業台２１の現在位置を検出するためのものであり、例えば、伸縮ブーム９の長さ、起伏角度、旋回角度、作業台２１の旋回角度から、作業台２１の位置を検出することができる。電源スイッチ５１はコントローラ５５とバッテリ５３間を繋ぐ電源ライン６１上に設けられ、作業者が電源スイッチ５１を接続するとコントローラ５５にバッテリ５３の電力が供給される。
【００２８】
これらの操作装置４１、規制解除スイッチ４３、カウント設定スイッチ４７、作業台位置検出センサ４９はコントローラ５５に電気的に接続されている。コントローラ５５は作動制御回路６３と作動規制回路６５と規制解除制御回路６７とカウンタ回路６９と作業台位置特定回路７１と作業領域判定回路７３とメモリ７５と規制解除スイッチ操作判定回路７７とを有している。
【００２９】
作動制御回路６３は操作装置４１からの操作信号に基づいて各バルブ５９の作動を制御して各アクチュエータ８,１１,１３,２３の作動を制御するとともに、規制解除スイッチ４３が作動可能な状態であるときに表示ランプ５７を点灯させる。尚、表示ランプ５７の代わりにブザーや表示装置を使用することもできる。メモリ７５には車両の転倒する虞のない許容作業範囲が設定されている。作業台位置特定回路７１は作業台位置検出センサ４９からの位置信号に基づいて作業台２１の位置を算出するものであり、作業領域判定回路７３はメモリ７５内に設定された許容作業範囲と作業位置特定回路７１により算出された作業台２１の位置とを比較して、作業台２１の位置が許容作業範囲を越えているか否かを判定する。
【００３０】
作動規制回路６５は作業領域判定回路７３により作業台２１の位置が許容作業範囲を越えていると判定されたときに許容作業範囲から離反する方向のアクチュエータ８,１１,１３,２３の作動を規制する。カウンタ回路６９は規制解除スイッチ４３がＯＮ操作されたときからの経過時間を計数する。
【００３１】
規制解除制御回路６７は作動規制回路６５がアクチュエータ８,１１,１３,２３の作動を規制している状態で規制解除スイッチ４３がＯＮ操作された後に設定時間内に操作装置４１が操作されたときには、規制解除スイッチ４３のＯＮ操作を有効として作動規制回路６５の規制を解除させる。そして、操作装置４１の操作信号に基づいて作動制御回路６３を介してアクチュエータ８,１１,１３,２３が作動する。また、規制解除制御回路６７は設定時間を越えた後に操作装置４１が操作されたときには、規制解除スイッチ４３のＯＮ操作を中止して作動規制回路６５を作動させて許容作業範囲を越える作業台２１の移動を規制する。
【００３２】
即ち、規制解除制御回路６７は規制解除スイッチ４３がＯＮ操作されてから設定時間内に操作装置４１を操作しなければ作動規制回路６５の作動を解除することができないので、規制解除スイッチ４３が常にＯＮ状態になっていても設定時間経過後は規制解除スイッチ４３の作動は無効にされるので作動規制回路６５が作動して規制状態になる。このため、作業者が作動規制回路６５の規制が解除されている状態であることを知らずに操作装置４１を操作しても設定時間経過後は規制状態になっているので、車両が転倒する虞を未然に防止することができる。また、作業者が規制解除スイッチ４３を常時規制解除できるように操作固定する不正操作を防止できる。
【００３３】
規制解除スイッチ操作判定回路７７はコントローラ５５に繋がれたバッテリ５３の電力が供給された後に規制解除スイッチ４３が操作されてＯＮ状態になると規制解除スイッチ４３の作動を無効にし、更に規制解除スイッチ４３を操作してＯＦＦ状態にすると規制解除スイッチ４３の作動が有効になり、更に規制解除スイッチ４３が操作されてＯＮ状態になると作動規制回路６５の作動規制を解除する。即ち、規制解除スイッチ４３を一旦ＯＦＦ状態にすることで、無効にされた規制解除スイッチ４３の機能を回復させて、規制解除が必要な作業を行なって作業効率を向上させることができる。
【００３４】
次に、第１の実施の形態における転倒防止装置４０の作用を説明する。最初に、図１に示す車体３に伸縮ブーム９を格納した状態で車両を走行させて作業現場の近くまで移動させた後に、アウトリガジャッキ５を張り出してその下端部を接地させ車体３を安定支持する。
【００３５】
そして、図示しない作業者が作業台２１内に搭乗し、図２に示す電源スイッチ５１を接続してコントローラ５５に電力を供給する。尚、カウント設定スイッチ４７は予めメーカにより操作されて設定時間が設定されている。コントローラ５５に電力が供給されると規制解除スイッチ操作判定回路７７が作動する。このとき規制解除スイッチ４３がＯＮ状態（押されている状態）であれば規制解除スイッチ操作判定回路７７が規制解除スイッチ４３のＯＮ状態の作動を無効にする。そして、作業者が規制解除スイッチ４３をＯＦＦ状態（押されていない状態）にすることで規制解除スイッチ４３の作動を有効にすることができる。このとき、作動制御回路６３が表示ランプ５７を点灯させる。このため、作業者は表示ランプ５７の点灯により規制解除スイッチ４３が作動可能な状態にあることを認識できる。
【００３６】
次に、作業者は図１に示す作業台２１の第１操作レバーＬ１と第２操作レバーＬ２を手動操作して伸縮ブーム９を旋回、起伏、伸縮動させるとともに、作業台２１を首振り作動させて作業台２１を作業現場の近くに移動させる。更に詳細には、図２に示すコントローラ５５にバッテリ５３の電力が供給され、規制解除スイッチ４３がＯＦＦ状態にあり、作動規制回路６５が作動する。そして、作業者が図１に示す作業台２１の第１操作レバーＬ１と第２操作レバーＬ２を操作する。操作レバーＬ１,Ｌ２の操作信号は作動制御回路６３に送られ、この操作信号に基づいて作動制御回路６３がバルブ５９の作動を制御して起伏シリンダ１３等のアクチュエータ８,１１,１３,２３を作動させ、図１に示す作業台２１が作業現場に向かって移動する。
【００３７】
作業台２１の移動とともに図２に示す作業台位置検出センサ４９が作業台２１の位置を逐次検出し、この位置信号が作業台位置特定回路７１に送られて作業台２１の位置が逐次計算される。また、作業領域判定回路７３はメモリ７５から許容作業範囲を読み出し、算出された作業台２１の位置が許容作業範囲を越えているか否かを判定する。作業台２１が作業現場に向かって移動している途中において作業台２１の位置が許容作業範囲を越えていなければ作業台２１は作業現場に到達する。一方、作業台２１の位置が許容作業範囲を越えていれば作動規制回路６５が作動して許容作業範囲から遠ざかる方向へのアクチュエータ８,１１,１３,２３の作動制御信号を遮断する。このため、車両の転倒を未然に防止することができる。
【００３８】
次に、作業台２１が作業現場に移動したならば、作業台２１に搭乗した作業者が高所作業を行なう。このとき、作業現場において作業の容易性を向上させるために作業台２１の位置をさらに車両を転倒させる虞のある方向（許容作業範囲から遠ざかる方向）へ移動させて作業範囲を拡大したい場合には、作業者が規制解除スイッチ４３を押してＯＮ状態にする。規制解除スイッチ４３の作動が可能な状態であるかは表示ランプ５７の点灯により確認することができる。
【００３９】
作動規制回路６５が作動している状態で規制解除スイッチ４３が押されると、その解除信号はカウンタ回路６９に受信され、カウンタ回路６９がその解除信号を受信したときからの経過時間を計数し、その経過時間は規制解除制御回路６７に送られる。そして、作業者はカウント設定スイッチ４７で設定された設定時間内に操作装置４１を操作する。その操作信号を規制解除制御回路６７が受け取ると、規制解除制御回路６７が作動規制回路６５によるアクチュエータ８,１１,１３,２３の作動規制を解除する。そして、作業者が操作装置４１の図１に示す第１操作レバーＬ１及び第２操作レバーＬ２を操作し、この操作信号に基づいて作動制御回路６３がバルブ５９の作動を制御してアクチュエータ８,１１,１３,２３を操作する。このため、作業台２１は許容作業範囲を越えて移動でき、高所作業を容易に行なうことができる。一方、設定時間を越えた後に操作装置４１が操作されたときには規制解除制御回路６７が規制解除スイッチ４３の解除信号を無効として規制解除を中止し、作動規制回路６５による作動規制を行なわせる。このため、規制解除スイッチ４３が常にＯＮ状態になっていても設定時間経過後は規制解除スイッチ４３の作動は無効にされるので作動規制回路６５が作動して規制状態になる。このため、作業者が規制が解除されている状態であることを知らずに操作装置４１を操作しても設定時間経過後は規制状態になっているので、車両が転倒する虞を未然に防止することができ、作業者が規制解除スイッチ４３を常時規制解除できるように操作固定する不正操作を防止できる。
【００４０】
【第２の実施の形態】
次に、第２の実施の形態を図１及び図３を使用して説明する。第２の実施の形態では前述した第１の実施の形態との相違点のみを説明し、第１の実施の形態と同一態様部分については同一符号を付してその説明を省略する。第２の実施の形態の転倒防止装置４０のコントローラ５５には、図３に示すように、規制解除スイッチ４３の作動の有無を判定する規制解除判定回路８１と、作動規制回路６５の作動の有無を判定する作動規制判定回路８３とを有し、第１の実施の形態における転倒防止装置４０のカウンタ設定スイッチ４７とカウンタ回路６９とを有していない。
【００４１】
操作装置４１が操作された後に、規制解除判定回路８１により規制解除スイッチ４３が作動していない（ＯＦＦ状態である）ことを判定し、且つ作動規制判定回路８３により作動規制回路６５が作動している（規制状態にある）ことを判定している場合には、規制解除制御回路６７は規制解除スイッチ４３の作動を有効にする。
【００４２】
このようにすることで、作動規制回路６５が作動している状態において規制解除スイッチ４３内に雨の水滴が侵入して規制解除スイッチ４３を常にＯＮ状態にしている場合や、作業者が規制解除スイッチ４３を操作固定して常にＯＮ状態にしても、規制解除制御回路６７が規制解除スイッチ４３の作動を無効にするので、作動規制回路６５が作動した状態となり、作業者が作動規制回路６５の規制が解除されている状態であることを知らずに操作装置４１を操作して作業台が許容作業範囲を越えて車両が転倒する虞を未然に防止することができる。また、作業者が規制解除スイッチ４３を常時規制解除できるように操作固定する不正操作を防止できる。
【００４３】
また、規制解除判定回路８１により規制解除制御回路６７が作動していることを判定し、且つ作動規制判定回路８３により作動規制回路６５が作動していないことを判定している場合には、規制解除制御回路６７が規制解除の作動を中止して作動規制回路６５を作動させる。そして、この状態において規制解除スイッチ４３が操作されたならば、規制解除制御回路６７はこの操作を有効とする。即ち、規制をかける前に規制解除スイッチ４３がＯＮ状態である場合には規制解除スイッチ４３の作動を無効にし、規制状態になったときに規制解除スイッチ４３の作動を有効にする。このため、規制をかけるときに規制解除スイッチ４３がＯＮ状態であっても規制を解除することができないので、規制解除スイッチ４３内に雨の水滴が侵入して規制解除スイッチ４３を常にＯＮ状態にしている場合や、作業者が規制解除スイッチ４３を操作固定して常にＯＮ状態にしても、作動規制回路６５が作動状態であるので、作業者が作動規制回路６５の規制が解除されている状態であることを知らずに操作装置４１を操作して作業台が許容作業範囲を越えて車両が転倒する虞を未然に防止することができる。また、作業者が規制解除スイッチ４３を常時規制解除できるように操作固定する不正操作を防止できる。
【００４４】
【発明の効果】
以上説明したように、本発明の作業車の転倒防止装置によれば、作動規制手段がアクチュエータの作動を規制している状態で規制解除手段が作動された後、予め設定された設定時間内に作動操作手段が操作されると、作動制御手段は、規制解除手段により作動規制手段の規制を解除させて作動操作手段の操作に基づいてアクチュエータを作動させ、設定時間を越えた後に作動操作手段が操作されたときには規制解除手段の規制解除を中止して作動規制手段により作動規制を行なわせることで、規制解除手段の作動を制限することができるので、作業者が作動規制手段の規制が解除されている状態であることを知らずに作動操作手段を操作して車両を転倒させる虞を未然に防止することができ、また、作業者が規制解除手段を常時作動状態になるように操作固定する不正操作を防止できる。
【００４５】
また、規制解除手段の作動の有無を判定する規制解除判定手段と、作動規制手段の作動の有無を判定する作動規制判定手段とを有し、作動操作手段が操作された後に、規制解除判定手段が規制解除手段の非作動を判定し、且つ作動規制判定手段が作動規制手段の作動を判定している場合には、作動制御手段は規制解除手段の作動を有効にし、規制解除手段が作動すると作動規制手段の作動規制が解除されるので、規制解除手段内に雨の水滴が侵入して規制解除手段を常にＯＮ状態にし、又は作業者が規制解除手段を操作固定して常にＯＮ状態にしても、作動規制手段が規制状態にある場合にはＯＮ状態の規制解除手段の作動を無効にして作動規制手段の規制解除を中止するので、作業者が非規制状態であることを知らずに作動操作手段を操作することを防止して、車両の転倒を未然に防止することができる。また、作業者の不正操作を防止することができる。
【００４６】
更に、規制解除判定手段により規制解除手段が作動していることを判定し、且つ作動規制判定手段により作動規制手段が作動していないことを判定している場合には、作動規制手段が規制解除手段の作動を中止させて作動規制判定手段を作動させた後に規制解除手段の作動を可能な状態にする場合には、規制解除手段の誤動作や作業者による規制解除手段の不正操作が無効になるので、非規制様態のままで作動操作手段が操作されることを防止して、車両の転倒を未然に防止することができる。また、作業者の不正操作を防止することができる。
【００４７】
また、規制解除手段により作動規制手段の作動規制を解除できる状態にあるときに知らせる伝達手段を有する場合には、規制状態を解除できる状態にあるときに伝達手段が作動することで、作業者は規制状態の解除時期を容易に認識することができ、規制を解除することで作業範囲を拡げて作業効率を向上させることができる。
【００４８】
更に、規制解除手段にはこの作動を操作する規制解除操作手段を有し、これらを少なくとも作動させる電力供給源が接続され、作動制御手段は、規制解除手段及び規制解除操作手段に電力供給源からの電力が供給された後に規制解除操作手段が操作されてＯＮ状態になると規制解除手段の作動を無効にし、更に規制解除操作手段が操作されてＯＦＦ状態になると規制解除手段の作動を有効にし、更に規制解除操作手段が操作されてＯＮ状態になると規制解除手段が作動して作動規制手段の作動規制を解除させる場合には、規制解除操作手段が常にＯＮ状態になるような誤動作や不正操作がされても、規制解除手段の作動を無効にして作動規制手段が作動して規制状態にするので、転倒防止装置の作動開始時におけるを車両の転倒を未然に防止することができ、また、規制解除手段をＯＮ状態からＯＦＦ状態にすることで、無効にされた規制解除手段の機能を回復させて、規制解除が必要な作業を行なって作業効率の向上を図ることができる。
【図面の簡単な説明】
【図１】本発明の第１の実施の形態における転倒防止装置を搭載した高所作業車の斜視図である。
【図２】本発明の第１の実施の形態における転倒防止装置のブロック図である。
【図３】本発明の第２の実施の形態における転倒防止装置のブロック図である。
【符号の説明】
１高所作業車（作業車）
３車体
８旋回モータ（アクチュエータ）
９伸縮ブーム（ブーム）
１１伸縮シリンダ（アクチュエータ）
１３起伏シリンダ（アクチュエータ）
２１作業台
２３首振りモータ（アクチュエータ）
４０転倒防止装置
４１操作装置（作動操作手段）
４３規制解除スイッチ（規制解除操作手段）
５３バッテリ（電源供給源）
５７表示ランプ（伝達手段）
６３作動制御回路（作動制御手段）
６５作動規制回路（作動規制手段）
６７規制解除制御回路（規制解除手段）
６９カウンタ回路（時間計数手段）
８１規制解除判定回路（規制解除判定手段）
８３作動規制判定回路（作動規制判定手段）
Ｌ１第１操作レバー（作動操作手段）
Ｌ２第２操作レバー（作動操作手段）[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a work vehicle overturn prevention device, and more particularly, a boom that exceeds a limit movement range of a work table that can move up and down at least on the vehicle body and does not cause the vehicle body to fall by moving a boom having a work table at the tip. The present invention relates to an overturn prevention device for a work vehicle that includes an operation restriction unit that restricts movement and a restriction release unit that releases the restriction of the operation restriction unit.
[0002]
[Prior art]
In an aerial work platform equipped with a telescopic boom having a workbench at the tip on a travelable vehicle body, when the workbench is moved, a moment (hereinafter referred to as “actual moment”) in the direction of overturning the vehicle body is generated. Works. For this reason, the aerial work vehicle is provided with a fall prevention device that does not cause the vehicle to fall. This overturn prevention device is generally used for a moment limiter that regulates the turning operation of the workbench and the operation of the telescopic boom when the actual moment exceeds the allowable overturning moment for overturning the vehicle, and the allowable work of the workbench that does not cause the vehicle to overturn. There is a work range regulating device that predetermines a range, sequentially detects the position of the workbench, and regulates the turning operation of the workbench and the operations of the telescopic booms where the workbench position exceeds the allowable work range.
[0003]
Here, the allowable fall moment and the allowable work range are set to values and ranges smaller than the fall start moment and the limit work range at which the vehicle actually starts to fall in consideration of the safety of the vehicle.
[0004]
Further, the overturn prevention device is provided with a restriction release switch that is operated by an operator when the restriction of the moment limiter or the work range restriction device is released. When this restriction release switch is operated, the restriction operation of the moment limiter or work range restriction device is forcibly released, and the work table is moved to a position that exceeds the allowable overturning moment or the allowable working range within the range where the vehicle does not fall over. be able to.
[0005]
[Problems to be solved by the invention]
However, because the restriction release switch is exposed outside the vehicle body or workbench, raindrops can enter the restriction release switch when the aerial work vehicle is placed in a place where it rains. By short-circuiting this, the restriction release switch is always turned on, and the restriction of the moment limiter or the work range restriction device is released. For this reason, the worker may move the boom without knowing that the regulation of the overturn prevention device is released, which may cause the vehicle to fall over the allowable overturning moment or the allowable work range. .
[0006]
Further, since the allowable overturning moment and the allowable work range are set to be smaller than the overturn start moment and the limit work range at which the vehicle actually starts to fall over, the vehicle will not fall even if it slightly exceeds the allowable overturning moment or the allowable work range. For this reason, in order to further widen the work range at the work site, the operator may release the restriction by operating and fixing the restriction release switch so that it is always in the ON state. As a result, the work range is widened, but the risk of the vehicle falling is increased.
[0007]
Therefore, in order to prevent an increase in the risk of the vehicle falling, a tipping prevention device has been proposed that turns on the display lamp to alert the operator when the restriction is released.
[0008]
However, even if the indicator lamp is lit, the restriction can be released by operating the restriction release switch, so that the workbench can be moved to a position beyond the allowable overturning moment or the allowable work range. There arises a problem that an increase in the possibility of falling cannot be prevented.
[0009]
The present invention has been made in view of such problems, and an object of the present invention is to provide a work vehicle overturn prevention device that can prevent the vehicle from falling over even if there is a malfunction or unauthorized operation of the regulation release switch. And
[0010]
[Means for Solving the Problems]
In order to solve the above-described problem, a fall prevention device for a work vehicle (for example, an aerial work vehicle 1 in the embodiment) according to the present invention is provided at least at the upper part of a vehicle body so as to be movable up and down, and has a boom (for example, a work table at the tip) The telescopic boom 9) in the embodiment, the actuator provided on the vehicle body to operate the boom (for example, the turning motor 8, the telescopic cylinder 11, the hoisting cylinder 13, and the swing motor 23 in the embodiment) and the operation of the actuator are operated. Operation operation means (for example, the operation device 41 in the embodiment), operation restriction means (for example, the operation restriction circuit 65 in the embodiment) that restricts the operation of the actuator that exceeds the limit movement range of the work table, and restriction of the operation restriction means The restriction release means (for example, the restriction release control circuit 67 in the embodiment) and the restriction release means are operated. The time counting means (for example, the counter circuit 69 in the embodiment) for measuring the elapsed time from when the operation is canceled and the restriction releasing means are operated in a state where the operation restricting means restricts the operation of the actuator, and are set in advance. The operating means was operated within the set time When the deregulation means determines this based on the elapsed time measured by the time counting means The actuator is operated based on the operation of the operation operation means by releasing the restriction of the operation restriction means, and the operation operation means is operated after the set time is exceeded. When the deregulation means determines this based on the elapsed time measured by the time counting means It is preferable to have an operation control means (for example, the operation control circuit 63 in the embodiment) that cancels the restriction release and performs the operation restriction by the operation restriction means.
[0011]
After the restriction release means is operated in a state where the operation of the actuator is restricted by the operation restriction means, if the operation operation means is operated within a preset time, the operation control means is restricted by the restriction release means. The actuator is operated based on the operation of the operation operation means by releasing the operation restriction of the means. Further, when the operation operation means is operated after the set time is exceeded, the operation control means cancels the restriction release of the restriction release means and causes the operation restriction means to perform the operation restriction.
[0012]
Since the operation of the operation restricting means cannot be released unless the operation operating means is operated within the set time after the restriction releasing means is activated, the operator is in a state where the restriction of the operation restricting means is released. It is possible to prevent the possibility of the vehicle from falling by operating the operation operating means without knowing the above. Further, it is possible to prevent an unauthorized operation of fixing the operation so that the operator can always release the restriction release means. The predetermined time is a time that can be arbitrarily set by the operator.
[0013]
The work vehicle overturn prevention device of the present invention operates a boom having at least an up and down movement provided at the upper part of a vehicle body and having a work table at a tip, an actuator provided on the vehicle body for operating the boom, and an operation of the actuator. An operation operation means, an operation restriction means for restricting the operation of the actuator that exceeds the limit movement range of the work table, and a restriction release means that is operated when releasing the restriction of the operation restriction means (for example, the restriction release control circuit 67 in the embodiment). ), A restriction release determination means for determining the presence or absence of the operation of the restriction release means (for example, the restriction release determination circuit 81 in the embodiment), and the presence or absence of the operation of the operation restriction means. The restriction release means is operated by the action restriction determination means for determining (for example, the action restriction determination circuit 83 in the embodiment) and the restriction release determination means. Determining that no, and when the operation limiting means by the operation restriction judging means has judged that it is operating Only enable the operation of the restriction release means and release the operation restriction of the operation restriction means Operation control means (for example, the operation control circuit 63 in the embodiment) may be included.
[0014]
When it is determined that the restriction release means is not operated by the restriction release determination means after the operation operation means is operated, and it is determined that the operation restriction means is operated by the operation restriction determination means The operation control means enables the operation of the restriction release means and the operation of the restriction release means is stopped, so that the operation of the operation restriction means stops, so that rain water drops enter the restriction release means and the restriction release means is always turned on. Or, even if the operator releases the restriction release means and keeps it in the ON state, if the operation restriction means is in the restricted state, the operation of the restriction release means in the ON state is invalidated and the restriction of the action restriction means is released. I won't let you. For this reason, it is possible to prevent the operator from operating the operating means without knowing that the worker is in a non-regulated state, to prevent the vehicle from falling down, and to prevent the operator from performing unauthorized operations. Can do.
[0015]
When it is determined that the restriction release means is operating by the restriction release determination means, and when the operation restriction determination means determines that the operation restriction means is not operating, the operation control means is connected to the restriction release means. After the operation is stopped and the operation restriction determination means is operated, the restriction release means may be enabled. When the restriction release means is operating when the operation restriction means is not activated, the operation control means disables the operation of the restriction release means and activates the operation restriction determination means to set the restriction state. The operation of the release means is made possible. For this reason, the operation restriction determination means is operated even if rain water drops enter the restriction release means and the restriction release means is always in the ON state, or even if the operator fixes the restriction release means and is always in the ON state. Otherwise, the operation of the restriction release means becomes invalid, and the operation operation means can be prevented from being operated in the non-restricted state, and the vehicle can be prevented from tipping over. In addition, unauthorized operation by the operator can be prevented.
[0016]
Further, the transmission means (for example, the display lamp 57 in the embodiment) that is made known when the operation restriction of the operation restriction means can be released by the restriction release means (for example, the restriction release switch 43 and the restriction release control circuit 67 in the embodiment). ). By operating the transmission means when the restricted state can be released, the operator can easily recognize the release time of the restricted state. Here, the transmission means may be any means that can be recognized by the operator. For example, it is possible to exemplify sounding a buzzer, turning on an indicator lamp, or displaying that fact on a monitor.
[0017]
Further, the restriction releasing means has a restriction releasing operation means (for example, the restriction releasing switch 43 in the embodiment) for operating this operation, and the restriction releasing means and the restriction releasing operation means include at least the restriction releasing means and the restriction releasing operation means. A power supply source (for example, the battery 53 in the embodiment) is operated, and the operation control means is a restriction release operation means after the power from the power supply source is supplied to the restriction release means and the restriction release operation means. When the switch is turned ON, the operation of the restriction release means is invalidated, and when the restriction release operation means is further operated to enter the OFF state, the operation of the restriction release means is enabled, and the restriction release operation means is further operated to be in the ON state. Then, the restriction release means may be operated to release the operation restriction of the operation restriction means.
[0018]
After the power of the power supply source is supplied to the restriction release means and the restriction release operation means, if the restriction release operation means is in the ON state, the operation control means invalidates the restriction release of the restriction release means. For this reason, even if a malfunction or illegal operation is performed so that the restriction release operation means is always in the ON state, the operation restriction means operates by invalidating the operation of the restriction release means. It is possible to prevent the vehicle from falling over.
[0019]
Further, when the restriction release means in the ON state is operated and turned OFF, the operation control means enables the operation of the restriction release means, and when the restriction release means is further operated and turned ON, the restriction release means operates. Thus, the operation restriction of the operation restriction means may be released. By changing the restriction release means from the ON state to the OFF state, the disabled restriction release means can be recovered, and work that needs to be released can be performed to improve work efficiency.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a preferred embodiment of the present invention will be described with reference to FIGS. This embodiment has a telescopic boom that can be raised and lowered on a vehicle body, and has a function of regulating each operation of the work platform and the telescopic boom whose work position exceeds the allowable work range. An aspect is shown.
[0021]
[First Embodiment]
A first embodiment will be described with reference to FIGS. Before describing the fall prevention device of the present invention first, an aerial work vehicle equipped with the fall prevention device will be described. As shown in FIG. 1, the aerial work vehicle 1 is configured with a truck as a base, and projects to the left and right of the front and rear of the vehicle body 3 to the side of the vehicle body 3 while grounding the lower end portion of the vehicle body 3. An outrigger jack 5 that stably supports the vehicle is provided, and a swivel base 7 that protrudes upward and is freely turnable is provided at the front portion of the vehicle body 3. A turning motor 8 is provided inside the vehicle body 3, and the turning table 7 can be turned by the operation of the turning motor 8.
[0022]
A telescopic boom 9 is pivotally connected to the upper part of the swivel base 7, and the telescopic boom 9 is constructed by nesting three boom members, and a telescopic cylinder 11 is built therein, and the telescopic cylinder 11 is telescopically operated. Thus, the telescopic boom 9 expands and contracts. Both ends of the hoisting cylinder 13 are pivotally connected between the middle part of the telescopic boom 9 and the bottom part of the swivel base 7, and the telescopic boom 9 is configured to be hoisted by the telescopic action of the hoisting cylinder 13. .
[0023]
A vertical post 15 that is swingable in the vertical direction is provided at the tip of the telescopic boom 9. A leveling cylinder 17 built in the tip of the telescopic boom 9 is pivotally connected to the lower portion of the vertical post 15, and the vertical post 15 is always kept vertical regardless of the undulation angle of the telescopic boom 9 due to the telescopic operation of the leveling cylinder 17. Held in a state. A horizontal arm 19 that can swing freely is connected to the tip of the vertical post 15, and a work table 21 on which an operator can ride is attached to the tip of the horizontal arm 19. A swing motor 23 is built in the horizontal arm 19, and the swing motor 23 can be operated to swing the work table 21 with respect to the vertical post 17. For this reason, the work table 21 can move to a desired high position while swinging in a horizontal plane.
[0024]
An operation device 41 is provided on the side of the swivel base 7 and the work table 21. By manually operating the first operation lever L1 provided on these operation devices 41, the swivel motor 8, the hoisting cylinder 13, and When the operation of the telescopic cylinder 11 is operated, the telescopic boom 9 can be moved up and down, expanded and contracted, and swiveled to move the work table 21 to a desired high position. Further, by manually operating the second operation lever L2 provided in the operation device 41, the operation of the swing motor 23 is operated, and the work table 21 can be swung. A restriction release switch 43 is provided in the vicinity of the first operation lever L1 and the second operation lever L2. When the restriction release switch 43 is pressed, the operation restrictions of the telescopic boom 9 and the workbench 21 can be released.
[0025]
Further, the aerial work vehicle 1 is provided with a fall prevention device. When the work table 21 is moved, a moment (hereinafter referred to as “actual moment”) in the direction of overturning the vehicle body 3 acts. However, the overturn prevention device does not cause the vehicle to fall from the actual moment. Movement range (hereinafter referred to as “allowable work range”) is determined in advance to regulate the turning operation of the work table 21 and the operation of the telescopic boom 9 where the position of the work table 21 exceeds the allowable work range. is there. For this reason, it is possible to prevent the vehicle from tipping over by operating the tipping prevention device.
[0026]
As shown in FIG. 2, the fall prevention device 40 includes an operating device 41, a restriction release switch 43, a count setting switch 47, a worktable position detection sensor 49, a power switch 51, a battery 53, a controller 55, a display lamp 57, a undulation. The cylinder 13, the telescopic cylinder 11, the swing motor 8, the swing motor 23 (hereinafter collectively referred to as “actuators 8, 11, 13, 23”) and the actuators 8, 11, 13, 23 are operated. And an operation control valve (hereinafter referred to as “valve 59”) to be controlled.
[0027]
Since the operating device 41 has been described above, the description thereof will be omitted. The restriction release switch 43 is manually operated by an operator, and is operated when releasing the restriction of each operation of the telescopic boom 9 and the workbench 21 shown in FIG. 1, and is turned on when pressed and turned off when released. It is comprised so that it may become. The counter setting switch 47 shown in FIG. 2 is provided in the vicinity of the operation device 41 and is set in advance by the manufacturer of the aerial work vehicle 1 and sets an elapsed time from when the restriction release switch 43 is pressed and turned ON. It is. The work table position detection sensor 49 is for detecting the current position of the work table 21. For example, the position of the work table 21 is determined from the length of the telescopic boom 9, the undulation angle, the turning angle, and the turning angle of the work table 21. Can be detected. The power switch 51 is provided on a power supply line 61 that connects the controller 55 and the battery 53. When an operator connects the power switch 51, the power of the battery 53 is supplied to the controller 55.
[0028]
The operation device 41, the restriction release switch 43, the count setting switch 47, and the work table position detection sensor 49 are electrically connected to the controller 55. The controller 55 includes an operation control circuit 63, an operation restriction circuit 65, a restriction release control circuit 67, a counter circuit 69, a worktable position specifying circuit 71, a work area determination circuit 73, a memory 75, and a restriction release switch operation determination circuit 77. ing.
[0029]
The operation control circuit 63 controls the operation of each of the valves 59 based on the operation signal from the operation device 41 to control the operation of each of the actuators 8, 11, 13, and 23, while the restriction release switch 43 is operable. At some time, the display lamp 57 is turned on. A buzzer or a display device can be used instead of the display lamp 57. In the memory 75, an allowable work range in which there is no possibility of the vehicle falling is set. The work table position specifying circuit 71 calculates the position of the work table 21 based on the position signal from the work table position detection sensor 49, and the work area determination circuit 73 is configured with an allowable work range and work set in the memory 75. The position of the work table 21 calculated by the position specifying circuit 71 is compared to determine whether or not the position of the work table 21 exceeds the allowable work range.
[0030]
The operation restriction circuit 65 restricts the operation of the actuators 8, 11, 13, and 23 in directions away from the allowable work range when the work area determination circuit 73 determines that the position of the work table 21 exceeds the allowable work range. To do. The counter circuit 69 counts the elapsed time from when the restriction release switch 43 is turned on.
[0031]
The restriction release control circuit 67 is operated when the operation device 41 is operated within a set time after the restriction release switch 43 is turned on in a state where the operation restriction circuit 65 restricts the operation of the actuators 8, 11, 13, and 23. Then, the ON operation of the restriction release switch 43 is validated to release the restriction of the operation restriction circuit 65. Then, the actuators 8, 11, 13, and 23 are operated via the operation control circuit 63 based on the operation signal from the operation device 41. When the operating device 41 is operated after the set time has elapsed, the restriction release control circuit 67 stops the ON operation of the restriction release switch 43 and activates the operation restriction circuit 65 to exceed the allowable work range 21. Regulate the movement of
[0032]
In other words, the restriction release control circuit 67 cannot release the operation of the operation restriction circuit 65 unless the operation device 41 is operated within a set time after the restriction release switch 43 is turned ON. Even in the ON state, after the set time elapses, the operation of the restriction release switch 43 is invalidated, so that the operation restriction circuit 65 is activated to enter the restricted state. For this reason, even if the operator operates the operating device 41 without knowing that the regulation of the operation regulation circuit 65 is released, the regulation state is reached after the set time elapses, so that the vehicle may fall down. Can be prevented in advance. In addition, it is possible to prevent an unauthorized operation of fixing the operation so that the operator can always release the restriction release switch 43.
[0033]
The restriction release switch operation determination circuit 77 disables the operation of the restriction release switch 43 when the restriction release switch 43 is operated and turned on after the power of the battery 53 connected to the controller 55 is supplied. The operation of the restriction release switch 43 becomes effective when the switch is operated to turn it OFF, and when the restriction release switch 43 is further operated to turn it ON, the operation restriction of the operation restriction circuit 65 is released. That is, once the restriction release switch 43 is turned off, the function of the restriction release switch 43 that has been disabled can be recovered, and work that needs to be released can be performed to improve work efficiency.
[0034]
Next, the operation of the overturn prevention device 40 in the first embodiment will be described. First, after the vehicle is traveled with the telescopic boom 9 stored in the vehicle body 3 shown in FIG. 1 and moved to the vicinity of the work site, the outrigger jack 5 is extended and its lower end is grounded to stably support the vehicle body 3. To do.
[0035]
Then, an operator (not shown) gets on the work table 21 and supplies power to the controller 55 by connecting the power switch 51 shown in FIG. The count setting switch 47 is set in advance by operating by the manufacturer. When power is supplied to the controller 55, the restriction release switch operation determination circuit 77 operates. At this time, if the restriction release switch 43 is in the ON state (pressed state), the restriction release switch operation determination circuit 77 invalidates the operation of the restriction release switch 43 in the ON state. Then, the operator can make the operation of the restriction release switch 43 effective by turning the restriction release switch 43 to an OFF state (a state where it is not pushed). At this time, the operation control circuit 63 turns on the display lamp 57. For this reason, the operator can recognize that the regulation release switch 43 is operable by the lighting of the display lamp 57.
[0036]
Next, the operator manually operates the first operation lever L1 and the second operation lever L2 of the work table 21 shown in FIG. 1 to rotate, undulate and extend the telescopic boom 9 and swing the work table 21. Then, the work table 21 is moved closer to the work site. More specifically, the power of the battery 53 is supplied to the controller 55 shown in FIG. 2, the restriction release switch 43 is in the OFF state, and the operation restriction circuit 65 is activated. Then, the operator operates the first operation lever L1 and the second operation lever L2 of the work table 21 shown in FIG. The operation signals of the operation levers L1 and L2 are sent to the operation control circuit 63. Based on this operation signal, the operation control circuit 63 controls the operation of the valve 59 to activate the actuators 8, 11, 13, and 23 such as the hoisting cylinder 13. The work table 21 shown in FIG. 1 is moved toward the work site.
[0037]
As the work table 21 moves, the work table position detection sensor 49 shown in FIG. 2 sequentially detects the position of the work table 21, and this position signal is sent to the work table position specifying circuit 71 to sequentially calculate the position of the work table 21. The The work area determination circuit 73 reads the allowable work range from the memory 75 and determines whether or not the calculated position of the work table 21 exceeds the allowable work range. If the position of the work table 21 does not exceed the allowable work range while the work table 21 is moving toward the work site, the work table 21 reaches the work site. On the other hand, if the position of the work table 21 exceeds the allowable work range, the operation restriction circuit 65 is activated to cut off the operation control signals of the actuators 8, 11, 13, and 23 in the direction away from the allowable work range. For this reason, it is possible to prevent the vehicle from toppling over.
[0038]
Next, when the work table 21 moves to the work site, an operator who has boarded the work table 21 performs work at a high place. At this time, in order to expand the work range by moving the position of the work table 21 in a direction (a direction away from the allowable work range) that may cause the vehicle to fall down in order to improve the ease of work at the work site. The operator pushes the restriction release switch 43 to turn it on. Whether or not the regulation release switch 43 can be operated can be confirmed by turning on the display lamp 57.
[0039]
When the restriction release switch 43 is pressed while the operation restriction circuit 65 is in operation, the release signal is received by the counter circuit 69, and the elapsed time since the counter circuit 69 received the release signal is counted. The elapsed time is sent to the regulation release control circuit 67. Then, the operator operates the operation device 41 within the set time set by the count setting switch 47. When the restriction release control circuit 67 receives the operation signal, the restriction release control circuit 67 releases the operation restriction of the actuators 8, 11, 13, and 23 by the operation restriction circuit 65. Then, the operator operates the first operation lever L1 and the second operation lever L2 shown in FIG. 1 of the operation device 41, and the operation control circuit 63 controls the operation of the valve 59 based on this operation signal to control the actuators 8, 11, 13, 23 are operated. For this reason, the work table 21 can move beyond the allowable work range, and work at a high place can be easily performed. On the other hand, when the operating device 41 is operated after the set time is exceeded, the restriction release control circuit 67 disables the release signal of the restriction release switch 43 and stops the restriction release, and the operation restriction circuit 65 performs the operation restriction. For this reason, even if the restriction release switch 43 is always in the ON state, the operation of the restriction release switch 43 is invalidated after the set time has elapsed, so that the operation restriction circuit 65 is activated to enter the restriction state. For this reason, even if the operator operates the operating device 41 without knowing that the regulation is released, the regulation state is maintained after the set time has elapsed, so that the possibility of the vehicle falling over is prevented in advance. It is possible to prevent an unauthorized operation to fix the operation so that the operator can always release the restriction release switch 43.
[0040]
[Second Embodiment]
Next, a second embodiment will be described with reference to FIGS. In the second embodiment, only differences from the first embodiment described above will be described, and the same reference numerals will be given to the same aspects as those in the first embodiment, and description thereof will be omitted. As shown in FIG. 3, the controller 55 of the overturn prevention device 40 according to the second embodiment includes a restriction release determination circuit 81 that determines whether or not the restriction release switch 43 is operated, and whether or not the operation restriction circuit 65 is operated. And the counter setting switch 47 and the counter circuit 69 of the overturn prevention device 40 in the first embodiment are not provided.
[0041]
After the operation device 41 is operated, the restriction release determination circuit 81 determines that the restriction release switch 43 is not operated (is in an OFF state), and the operation restriction determination circuit 83 operates the operation restriction circuit 65. When it is determined that the restriction is released (in a restricted state), the restriction release control circuit 67 enables the operation of the restriction release switch 43.
[0042]
In this way, when the operation restriction circuit 65 is in operation, rain water drops enter the restriction release switch 43 and the restriction release switch 43 is always in the ON state, or the operator releases the restriction. Even if the switch 43 is fixedly operated and always turned ON, the restriction release control circuit 67 invalidates the operation of the restriction release switch 43, so that the operation restriction circuit 65 is activated, and the operator operates the operation restriction circuit 65. Without knowing that the restriction is released, the operation device 41 can be operated to prevent the work table from exceeding the allowable work range and the vehicle from falling down. In addition, it is possible to prevent an unauthorized operation of fixing the operation so that the operator can always release the restriction release switch 43.
[0043]
Further, when it is determined that the restriction release control circuit 67 is in operation by the restriction release determination circuit 81 and it is determined that the operation restriction circuit 65 is not in operation by the operation restriction determination circuit 83, a restriction is applied. The release control circuit 67 stops the operation of releasing the restriction and operates the operation restriction circuit 65. If the restriction release switch 43 is operated in this state, the restriction release control circuit 67 validates this operation. That is, when the restriction release switch 43 is in the ON state before the restriction is applied, the operation of the restriction release switch 43 is invalidated, and when the restriction release switch 43 is in the restriction state, the operation of the restriction release switch 43 is validated. Therefore, even when the restriction release switch 43 is in the ON state when applying the restriction, the restriction cannot be released, so that rain water drops enter the restriction release switch 43 and the restriction release switch 43 is always in the ON state. Even if the operator operates and fixes the restriction release switch 43 and is always in the ON state, the operation restriction circuit 65 is in the operation state, so that the worker has released the restriction of the operation restriction circuit 65. Without knowing that, it is possible to prevent the vehicle from falling over when the operating device 41 is operated and the work table exceeds the allowable work range. In addition, it is possible to prevent an unauthorized operation of fixing the operation so that the operator can always release the restriction release switch 43.
[0044]
【The invention's effect】
As described above, according to the overturn prevention device for a work vehicle of the present invention, after the restriction releasing means is operated in a state where the operation restricting means restricts the operation of the actuator, within a preset set time. When the operation operation means is operated, the operation control means releases the restriction of the operation restriction means by the restriction release means and activates the actuator based on the operation of the operation operation means. When the operation is performed, the release of the restriction release means is stopped, and the operation restriction means performs the operation restriction, so that the operation of the restriction release means can be restricted, so that the operator can release the restriction of the operation restriction means. Therefore, it is possible to prevent the vehicle from falling over by operating the operating means without knowing that the vehicle is in a state of being in a state where the operator can keep the restriction releasing means in an always operating state. Possible to prevent unauthorized operation of operating fixed so.
[0045]
And a deregulation determining unit that determines whether or not the deregulating unit is activated, and an operation determinating unit that determines whether or not the deactivating unit is activated. Determines that the restriction release means is inactive, and the operation restriction determination means determines the operation of the operation restriction means, the operation control means validates the operation of the restriction release means, and the restriction release means operates. Since the operation restriction of the operation restriction means is released, rain water drops enter the restriction release means and the restriction release means is always turned on, or the operator operates and fixes the restriction release means so that it is always turned on. However, when the operation restricting means is in the restricted state, the operation of the restriction releasing means in the ON state is invalidated and the release of the restriction of the operation restricting means is stopped. Operate means To prevent Rukoto, it is possible to prevent the overturning of the vehicle in advance. In addition, unauthorized operation by the operator can be prevented.
[0046]
Further, when it is determined by the deregulation determination means that the deregulation means is operating, and when the operation restriction determination means determines that the operation restriction means is not operating, the operation restriction means is deregulated. When the operation of the restriction release means is made possible after the operation of the means is stopped and the operation restriction determination means is operated, malfunction of the restriction release means or unauthorized operation of the restriction release means by the operator becomes invalid. Therefore, it is possible to prevent the operation operation means from being operated in the non-regulated state and prevent the vehicle from falling down. In addition, unauthorized operation by the operator can be prevented.
[0047]
In addition, when there is a transmission means that informs when the operation restriction of the operation restriction means can be released by the restriction release means, the transmission means operates when the restriction state can be released. The release time of the restricted state can be easily recognized, and the work range can be expanded and work efficiency can be improved by releasing the restriction.
[0048]
Further, the restriction release means has a restriction release operation means for operating this operation, and is connected to a power supply source for operating at least these, and the operation control means is connected to the restriction release means and the restriction release operation means from the power supply source. When the deregulation operation means is operated and turned on after the power is supplied, the operation of the deregulation means is invalidated, and when the deregulation operation means is further operated and turned off, the operation of the deregulation means is enabled, Further, when the restriction release operation means is operated to be in the ON state, when the restriction release means is activated to release the operation restriction of the operation restriction means, there is a malfunction or illegal operation that always causes the restriction release operation means to be in the ON state. Even if the operation is canceled, the operation of the restriction release means is invalidated and the operation restriction means is activated to enter the restricted state. In addition, by switching the restriction release means from the ON state to the OFF state, the function of the disabled restriction release means is restored, and work that needs to be released is performed to improve work efficiency. be able to.
[Brief description of the drawings]
FIG. 1 is a perspective view of an aerial work vehicle equipped with an overturn prevention device according to a first embodiment of the present invention.
FIG. 2 is a block diagram of the overturn prevention device according to the first embodiment of the present invention.
FIG. 3 is a block diagram of a fall prevention device according to a second embodiment of the present invention.
[Explanation of symbols]
1 High-altitude work vehicle (work vehicle)
3 body
8 Swing motor (actuator)
9 Telescopic boom (boom)
11 Telescopic cylinder (actuator)
13 Undulating cylinder (actuator)
21 workbench
23 Swing motor (actuator)
40 Fall prevention device
41 Operating device (actuating operation means)
43 Regulation release switch (regulation release operation means)
53 Battery (Power supply source)
57 Indicator lamp (transmission means)
63 Operation control circuit (operation control means)
65 Operation restriction circuit (operation restriction means)
67 Regulation release control circuit (regulation release means)
69 Counter circuit (time counting means)
81 Restriction release determination circuit (restriction release determination means)
83 Operation restriction determination circuit (operation restriction determination means)
L1 first operation lever (operation operation means)
L2 Second operation lever (actuation operation means)

Claims

A boom that is provided at the top of the vehicle body so as to be able to move up and down at least, and has a work table at the tip thereof, an actuator that is provided on the vehicle body and that operates the boom, an operation operation means that operates the actuator, and a limit of the work table A work vehicle overturn prevention device having an operation restricting means for restricting the operation of the actuator exceeding a moving range, and a restriction releasing means for releasing the restriction of the operation restricting means, from when the restriction releasing means is activated. A time counting means for measuring the elapsed time, and the operation operating means within a preset time after the restriction release means is operated in a state where the operation restricting means restricts the operation of the actuator. that engineered based on the elapsed time measured by the time counting means of the actuating regulating means and said regulation release means is determined Based on the operation of the actuating operation unit by releasing the braking actuates the actuator, said the working operation means is operated based on the elapsed time measured by the time counting means after exceeding the set time An apparatus for preventing overturning of a work vehicle, comprising: an operation control means for stopping the release of the restriction and performing the operation restriction by the operation restriction means when the restriction release means judges .

A boom that is provided at the top of the vehicle body so as to be able to move up and down at least, and has a work table at the tip thereof, an actuator that is provided on the vehicle body and that operates the boom, an operation operation means that operates the actuator, and a limit of the work table A work vehicle overturn prevention device having an operation restricting means for restricting the operation of the actuator exceeding a moving range, and a restriction releasing means for releasing the restriction of the operation restricting means, wherein whether or not the restriction releasing means is activated. The restriction release determining means for determining, the operation restriction determining means for determining whether or not the operation restricting means is operated, and the restriction releasing means is not operated by the restriction release determining means after the operation operating means is operated. determining that, and the only if the working inhibition means by working inhibition determining means is determined that it is operating, the regulating Work vehicle overturn prevention device characterized by enabled and has an actuation control means for releasing the working inhibition of the actuating regulating means the operation of removing means.

When it is determined by the restriction release determining means that the restriction release means is operating, and when the operation restriction determining means determines that the operation restriction means is not operating, the operation control means 3. The work vehicle overturn prevention device according to claim 2, wherein after the operation of the restriction release means is stopped and the operation restriction determination means is operated, the restriction release means can be operated.

The work vehicle overturn prevention device according to any one of claims 1 to 3, further comprising a transmission means for informing when the operation restriction of the operation restriction means can be released by the restriction release means.

The restriction releasing means has a restriction releasing operation means for operating this operation, and at least a power supply source for operating the restriction releasing means and the restriction releasing operation means is connected to the restriction releasing means and the restriction releasing operation means. When the regulation release operation unit is operated and turned on after power from the power supply source is supplied to the regulation release unit and the regulation release operation unit, the regulation release unit When the restriction release operation means is operated to be turned off and the restriction release means is turned on, the restriction release means is enabled, and when the restriction release operation means is further turned on and the restriction release means is turned on The work vehicle overturn prevention device according to claim 1, wherein the operation restriction of the operation restriction means is released.