JP3836288B2 - Control equipment for aerial work platforms - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is configured such that an elevating device composed of, for example, a boom that can freely turn, undulate, and extend and retract, for example, is disposed on a travelable vehicle such as a truck vehicle, and the work table is moved up and down by this elevating device. Related to an aerial work platform.
[0002]
[Prior art]
As such an aerial work vehicle, for example, the work table attached to the tip of the boom was moved to a desired height by turning, raising and lowering the boom constituting the lifting device, and boarded on the work table. What is comprised so that an operator may work at a high place is generally known. When working at a high place in this way, the overturning direction moment acting on the vehicle body from the work table and boom changes as the work table moves, so a plurality of jacks for supporting the vehicle are attached to the side of the vehicle. These jacks are grounded during high altitude work so that the vehicle body is stably supported. In general, this high-altitude work vehicle has a traveling wheel that is lifted from the ground when the vehicle is lifted and supported by a jack, so that the vehicle is stationary and cannot travel, and a boom (elevating device) is stored on the vehicle body. Only in such a state, the support by the jack is released (the jack is stored) so that the vehicle can be driven.
[0003]
By the way, when inspecting / repairing overhead lines along the road, or when inspecting / repairing ceilings, side walls, etc. in tunnels, the vehicle must be stored without a boom and a jack as described above. However, there is a problem that the work efficiency is low. For this reason, there is an aerial work vehicle in which a rotatable roller is attached to the lower end of the jack, the roller is grounded to support the vehicle by the jack, and the wheel is also grounded to drive the vehicle by driving the wheel. Proposed. If such an aerial work vehicle is used, it is possible to move the jack on the road surface by rotating the roller while the roller is grounded and the vehicle is supported by the jack. It is possible to work by running the vehicle in a state where it is moved to, and the work efficiency is high.
[0004]
[Problems to be solved by the invention]
However, when working at high altitudes with the rollers grounded and supporting the vehicle with jacks to enable the vehicle to run, work at high altitudes with the rollers ungrounded or insufficiently grounded Doing so may cause the support of the vehicle to become unstable. Also, if the boom is operated (operating the lifting device) and the work table is moved while the vehicle is running with the work table moved to a desired height, the support of the vehicle becomes unstable. There is a problem that it is easy.
[0005]
The present invention has been made in view of such a problem, and when the vehicle is allowed to travel while the work table is moved to a desired height, the boom is operated and the support of the vehicle becomes unstable. An object of the present invention is to provide a control device for an aerial work vehicle that can reliably prevent such a situation.
[0006]
[Means for Solving the Problems]
In order to achieve such an object, in the present invention, an elevating device (for example, the swivel base 4 and the boom 5 in the embodiment) is disposed on a vehicle that has a wheel and can travel. It is possible to work up and down by moving up and down, and a plurality of jacks for supporting the vehicle are provided on the side of the vehicle to constitute an aerial work vehicle. It is possible to support a vehicle with a jack by placing rollers at the lower ends of the plurality of jacks so that the rollers can rotate in the traveling direction of the vehicle, and the wheels are grounded with the jacks. when supporting the vehicle in a state, it is possible to perform a complete support for supporting the vehicle in a state where the float wheels, drivable support and that it is possible to run the vehicle by driving the wheels, a. However, the control device is configured to permit the operation of the lifting device only in a state in which the vehicle is supported by the jack. Furthermore, it is configured to allow the operation of the lifting device smaller than that in the fully supported state only when the vehicle cannot be driven in the state in which the vehicle is supported by the jack. Further, as an example of the control device of the present invention, a moment detecting means for detecting a tipping moment acting on the vehicle from the lifting device and the work table, and a tipping moment detected by comparing the tipping moment detected by the moment detecting means with an allowable moment. A first operation restricting means for restricting the operation of the elevating device so as to be larger than the allowable moment, a first allowable moment used when fully supporting the allowable moment, and a second allowable moment used when supporting the traveling And an allowable moment setting means for selectively setting and a second operation restricting means for not permitting the operation of the lifting device unless the second allowable moment is set by the allowable moment setting means in the state of being supported to be able to travel. Further, as another example, a position detecting means for detecting the position of the work table, and whether or not the position of the work table detected by the position detecting means is within the allowable work range, the work table is determined to be within the allowable work range. The first operation restricting means for restricting the operation of the lifting device to be moved to the outside of the vehicle, and the first permissible work range used for the full support as the permissible work range and the second permissible work used for the travelable support Allowable work range setting means for selectively setting the range, and second operation restriction means for not permitting the operation of the lifting device unless the second allowable work range is set by the allowable work range setting means in a state in which the vehicle is supported by the jack. A control device having
[0007]
When the control device having such a configuration is used, the vehicle can be driven by driving the wheels while the work table is moved up and down by the lifting device in a state where the vehicle is supported by the jack. It is possible to efficiently perform high altitude work for inspecting and repairing overhead wires and high altitude work for inspecting and repairing ceilings and side walls in tunnels. However, since the lifting device can be operated only in such a travelable support state, the vehicle support can be prevented from becoming unstable. Further, even travelable supporting state, only in a state operation can not be driven wheel of the lifting operation, i.e., the vehicle is possible only in a state that can not be run, workbench actuates the lifting device while Accordingly traveling The operation of moving the is no longer performed, and high stability can be maintained.
[0009]
In the example of the present invention described above, in the travelable support, the lifting device is operated by the first operation restricting means based on the second allowable moment (the second allowable moment is set to a value smaller than the first allowable moment). Regulations are in place to ensure support stability. Here, the control device is configured to permit the operation of the lifting device on the premise that the second allowable moment is selected in the travelable support state, and thereby the lifting device within a range in which the support stability is not impaired. Operation is guaranteed. Further, in the case of another example of the present invention described above, the operation of the lifting device is ensured within a range where the support stability is not impaired.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. 2 and 3 show an aerial work vehicle equipped with a control device according to the present invention. This aerial work vehicle is configured based on a truck vehicle that has a driving cabin 1 and front and rear wheels 3a and 3b for traveling, and can travel by driving the rear wheels 3b.
[0012]
A turntable 4 that is driven by a turning motor (not shown) to be horizontally turnable is disposed on the vehicle body 2 of the vehicle, and a boom 5 that can be raised and lowered by a hoisting cylinder 6 is pivoted on the turntable 4. It is tied. The boom 5 is configured by nesting an intermediate boom 5b and a distal boom 5c in a base end boom 5a that is pivotally connected to the swivel base 5, and can be expanded and contracted by a built-in telescopic cylinder (not shown). Yes. A support member 7 is attached to the tip of the tip boom 5c so as to be swingable in the vertical direction, and a work table 9 is mounted on the support member 7 via a swinging device 8 so as to be able to turn horizontally (swing operation). It has been. In addition, a leveling device (not shown) is disposed between the tip boom 5c and the support member 7, and the work table 9 is always held horizontally by the leveling device regardless of whether the boom 5 is raised or lowered.
[0013]
An operator rides on the work table 9 to perform a work at a high place. At this time, an operation device 10 for operating the operator to move the work table 9 is provided on the work table 9. Is provided. For this reason, the operator who has boarded the work table 9 operates the operation lever 11 of the operation device 10 to perform the swivel operation of the swivel table 4, the hoisting and retracting operation of the boom 5, the swinging operation of the work table 9, and the like. By doing so, the work table 9 can be moved to a desired height to perform work at a height.
[0014]
In this way, it is difficult to stably support the vehicle body 2 only by the front and rear wheels 3a and 3b when working at a high place, so the outrigger jacks 15 are provided at the four front, rear, left and right portions of the vehicle body 2. Each of the outrigger jacks 15 is downwardly moved by an outer post 16 fixed to the beam post 13 of the outrigger beam 12 that can expand and contract in the vehicle width direction, and a jack cylinder (not shown) housed in the outer post 16. The inner post 17 is made extendable and the roller 18 is attached to the lower end of the inner post 17 and is rotatable in the vehicle traveling direction. When working at a high place, the beam post 13 of the outrigger beam 12 is extended and the outrigger jack 15 is projected outward in the vehicle width direction as shown in FIG. 5, and the inner post 17 is extended downward by the jack cylinder. Then, the roller 18 is grounded as shown, and the vehicle body 2 is stably supported by the outrigger jack 15.
[0015]
As shown in FIGS. 2 and 3, the support of the vehicle body 2 by the outrigger jack 15 is a support performed with the roller 18 grounded and the front and rear wheels 3a, 3b grounded (referred to as a travelable support). As shown in FIGS. 4 and 5, there is support (referred to as complete support) performed in a state where the front and rear wheels 3 a and 3 b are completely lifted. For this reason, each outrigger jack 15 is provided with a jack position sensor for detecting the extension position of the inner post 17. Based on the detection value of this sensor, the expansion and contraction control of the jack cylinder is performed, and the runnable support is performed. Or do full support.
[0016]
However, the runnable support cannot be performed when the beam post 13 is extended outward in the vehicle width direction by the outrigger beam 12, and is allowed only when the outrigger jack 15 is stored in the vehicle width direction as shown in FIG. It is like that. That is, the travelable support is allowed only when the outrigger jack 15 is within the vehicle body width. Further, when performing complete support, a dedicated jack base 50 is placed under the roller 18 to reduce the surface pressure against the road surface. In the case of full support, as shown in FIG. 5, the beam post 13 is extended outward in the vehicle width direction by the outrigger beam 12, and the outrigger jack 15 can be extended outward in the vehicle width direction. is there.
[0017]
In the aerial work vehicle configured as described above, the operation control in the case of performing the aerial work while supporting the vehicle body 2 by the outrigger jack 15 will be described with reference to FIG. FIG. 1 shows the configuration of a control device that performs such operation control. First, the configuration of this device will be described. This device receives input signals from the boom operating device 10, the axial force detector 21, the boom operating state detector 22, the jack operating device 23, the jack position sensor 24, and the traveling state detector 25, and receives a boom actuator 27, an alarm. A control device 30 for controlling the operation of the device 28 and the jack actuator 29 is provided.
[0018]
The axial force detector 21 is composed of a load cell or the like that detects an axial force or the like acting on the hoisting cylinder 6 and detects an axial force or the like that acts on the hoisting cylinder 6. Sent to the unit 31. The boom operating state detector 22 is for detecting the operating position of the boom 5 and the operating position of the work table 9. The boom operating state detector 22 detects the turning angle sensor for detecting the turning angle of the turntable 4, the undulation angle and the extension amount of the boom 5. The undulation angle sensor and extension sensor to detect, and the swing angle sensor to detect the swing angle of the work table 9 are configured. The detection values of the boom operation state detector 22, that is, the detection values of these sensors are input to the overturning moment calculation unit 31 and the load distribution calculation unit 32 in the control device 30.
[0019]
The overturning moment calculator 31 is based on the axial force acting on the hoisting cylinder 6 detected by the axial force detector 21 and the hoisting angle and extension amount of the boom 5 detected by the boom operating state detector 22. The overturning moment acting on the vehicle body 2 from the boom 5 and the work table 9 is calculated.
[0020]
In the load distribution calculation unit 32, the load acting on each outrigger jack 15 and the front and rear wheels 3a and 3b is determined based on the detected value of the boom operating state detector 22 and the vehicle weight and center of gravity position information stored in advance. Calculate. The load distribution calculation unit 32 receives the current support state information of the jack 15 from the jack support state determination unit 37, that is, information indicating whether the vehicle is in a travelable support state or a complete support state. Since the vehicle is supported by the outrigger jack 15 and the front and rear wheels 3a and 3b when the vehicle is in the travelable support state, each load acting on the outrigger jack 15 and the front and rear wheels 3a and 3b is distributed in the load distribution calculation unit 32. Is calculated.
[0021]
Since the outrigger jack 15 is considered to rigidly support the vehicle body, if the extension amount of the outrigger jack 15 in the travelable state is determined, the load acting on the front and rear wheels 3a and 3b is substantially constant regardless of the boom operating state. Become. For this reason, it can obtain | require that the outrigger jack 15 receives the remaining load which pulled the fixed load which acts on the front-and-rear wheels 3a and 3b from total load according to the state of a boom.
[0022]
Since the vehicle is supported only by the outrigger jack 15 when in the fully supported state, the load distribution calculating unit 32 calculates the load acting on each outrigger jack 15. The load acting on the outrigger jack 15 may be detected directly instead of being calculated.
[0023]
The applied load information of each outrigger jack 15 and the front and rear wheels 3a, 3b calculated in the load distribution calculating unit 32 is sent to the allowable moment setting unit 33, and the allowable moment is set. Information on the jack support state is sent from the jack support state determination unit 37 to the allowable moment setting unit 33, and information on the amount of protrusion of the outrigger jack 15 in the vehicle width direction is sent from the jack position sensor 24. An allowable moment is set according to the support state.
[0024]
Specifically, since the vehicle body 2 is supported only by the outrigger jack 15 in the fully supported state, the position of the outrigger jack 15 is obtained based on the overhang amount from the jack position sensor 24, and the boom operation state detector 22 is obtained. The direction of the boom 5, that is, the direction of action of the overturning moment is obtained from the turning angle of the swivel 4 detected by the above, and an allowable moment that can be supported by the outrigger jack 15 at the current position in this direction (referred to as a first allowable moment). Ask. In the travelable support state, the vehicle body 2 is also supported by the front and rear wheels 3a and 3b, so that the outrigger jack 15 is supported by the applied load of the front and rear wheels 3a and 3b calculated by the load distribution calculation unit 32. It becomes unstable. For this reason, the first allowable moment set in the complete support state is corrected to decrease corresponding to the applied load of the front and rear wheels, and this is set as the allowable moment in the travel support state (this is referred to as the second allowable moment). .
[0025]
The overturning moment information calculated in the overturning moment calculation unit 31 and the allowable moment information set in the allowable moment setting unit 33 are sent to the comparison unit 34 for comparison. When the overturning moment exceeds the allowable moment, the first restriction unit A restriction signal is output to 35.
[0026]
When the operation signal from the boom operating device 10 is input to the first restricting portion 35 and no restriction signal is input to the first restricting portion 35, an operation control signal is sent to the boom actuator 27 based on this operation signal. Is output, and the operation based on the operation of the boom operating device 10 is performed. The boom operation device 10 includes, for example, a turning operation lever for turning the turntable 4, a hoisting operation lever and an extension operation lever for raising and lowering the boom 5, and a neck for causing the work table 9 to swing. The control unit includes a swing operation lever and the like, and an operation signal corresponding to the operation of each operation lever is input to the restriction unit 35. The boom actuator 27 is a turning motor, a hoisting cylinder 6, a telescopic cylinder, a swinging device 8, and the like, and is actuated by an operation control signal sent from the calculation unit 35 to perform an operation corresponding to the operation of each operation lever. Do.
[0027]
On the other hand, when a restriction signal is input to the first restriction unit 35, even if there is an operation signal from the boom operation device 10, a predetermined operation signal output to the boom actuator 27 is restricted, and at the same time, an alarm device 28 is provided. , Activate the alarm lamp and sound the alarm buzzer. The restriction signal is input when the overturning moment exceeds the allowable moment as described above, and the boom actuator is controlled so as to restrict the operation of the boom 5 and the work table 9 in the direction of further increasing the overturning moment. The predetermined operation signal output to 27 is regulated.
[0028]
The jack operation device 23 is provided, for example, at the rear end of the vehicle body 2 and is operated by an operator to perform the vehicle width direction expansion / contraction operation of the outrigger beam 12 and the expansion / contraction operation of the outrigger jack 15. Yes. As described above, the outrigger jack 15 can be selected by selecting the runnable support and the complete support. This setting is adjusted by adjusting the extension amount of the inner post 17, that is, the downward movement position of the roller 18. Done. For this purpose, each outrigger jack 15 is provided with a jack position sensor 24 for detecting the extension amount of the inner post 17.
[0029]
The operation signal from the jack operation device 23 and the extension amount detection signal from the jack position sensor 24 are sent to the jack operation control unit 36 in the control device 30 to control the operation of the jack actuator 29. The jack actuator 29 includes a beam cylinder that performs an extension operation in the vehicle width direction of the beam post 13 to which the outrigger jack 15 is fixed in the outrigger beam 12, and a jack cylinder that performs a downward expansion and contraction operation of the inner post 17. . For this reason, by operating the jack operating device 23, the outrigger jack 15 can be moved in the vehicle width direction, and the roller 18 can be moved to the travelable support position or the complete support position. it can. At this time, it is detected by the jack position sensor 24 whether or not it has moved to the travelable support position and the complete support position. Further, the control information of the jack control unit 36 is sent to the jack support state determination unit 37, where it is determined whether the travel support state or the complete support state.
[0030]
The travel state detector 25 determines whether or not the vehicle is in a travelable state, and includes, for example, a PTO switch operation detector, a parking brake operation detector, and the like. The PTO switch is a switch for switching between transmitting the engine output of the vehicle to the rear wheels 3b and causing the vehicle engine to drive the hydraulic pump via the PTO device. Then, when the PTO switch is ON, the hydraulic pump is driven by the engine output and the hydraulic pressure is supplied to the boom actuator 27. When the PTO switch is OFF, the drive of the hydraulic pump is stopped and the engine output is sent to the rear wheel 3b. The vehicle is allowed to travel.
[0031]
Based on the detection result of the running state detector 25, a restriction signal is output to the second restriction unit 37. Specifically, the restriction signal is output to the second restriction portion 37 when the PTO switch is turned off and the vehicle can travel or when it is detected that the parking brake is released. The A signal from the allowable moment setting unit 33 is also input to the second restricting unit 37, and a signal indicating that the outrigger jack 15 is in a travelable support state and the second allowable moment is set is input. In the state, when a restriction signal is input from the traveling state detector 25, the second restriction unit 37 restricts the operation of the boom actuator 27 and causes the alarm device 28 to perform an alarm operation.
[0032]
There is also an aerial work vehicle configured to transmit the engine output to the rear wheels 3b in a state where the hydraulic motor is driven with the PTP switch turned on. In such a case, it may be determined whether or not the vehicle is capable of traveling when it is determined whether or not the transmission that changes the engine output and transmits it to the rear wheel 3b is in a neutral state. In this case, a restriction signal is output to the second restriction portion 37 when it is detected that the transmission is in a state other than neutral.
[0033]
The operation in the case of performing an aerial work with the aerial work vehicle having the above configuration will be described. When working at a high place, the vehicle body 2 is first supported by the outrigger jack 15 with the boom 5 and the like stored in the vehicle body 2. When complete support is performed, the outrigger beam 12 is extended to the desired position in the vehicle width direction by the outrigger beam 12, and then the inner post 17 is extended downward and the roller 18 is grounded. At this time, the dedicated jack base 50 is placed under the roller 18 to reduce the surface pressure against the road surface. The inner post 17 is extended and operated until the front and rear wheels 3a and 3b are completely separated from the road surface, and as a result, the inner post 17 is fully supported as shown in FIGS. 4 and 5, and all the vehicle body weight is distributed and supported by the outrigger jack 15. The Thereafter, the boom operating device 10 is operated to move the work platform 9 to a desired height, and the height work is performed. At this time, the operation of the boom 5 in which the overturning moment exceeds the first allowable moment is restricted. And an alarm is activated.
[0034]
When performing the runnable support, the roller 18 is directly grounded to the road surface without using the dedicated jack base. Further, the operation of the outrigger beam 12 is restricted so that the outrigger jack 15 cannot be extended in the vehicle width direction, and the vehicle can be supported only in the position stored in the vehicle body width. At this time, the extension of the inner post 17 is stopped while the front and rear wheels 3a and 3b are grounded. In other words, the vehicle is in a travelable support state as shown in FIGS. In this state, the front and rear wheels 3a and 3b are also grounded (that is, the vehicle body side weight is distributed not only to the outrigger jack 15 but also to the front and rear wheels 3a and 3b). It is possible to make it.
[0035]
In addition, the roller 18 is in contact with the road surface and is rotatable, and the vehicle can be stably driven while the vehicle body 2 is supported by the outrigger jack 15. In such a travelable support state, the operation of the boom 5 in which the overturning moment exceeds the second permissible moment (<first permissible moment) is restricted and an alarm operation is performed.
[0036]
In the above, the first allowable moment set in the fully supported state is corrected to decrease corresponding to the applied load of the front and rear wheels to set the second allowable moment in the travelable supported state. The applied load of the front and rear wheels in the state can be regarded as a reaction force that pushes up the vehicle body from the road surface (that is, as a force that increases the falling moment). For this reason, the overturning moment in the driveable support state is determined by increasing the applied load of the front and rear wheels, and the second allowable moment may be the same allowable moment as in the complete support state. The vehicle body can be stably supported even in the supported state.
[0037]
Thus, the operation of the boom 5 is allowed even in the travelable support state. However, when the travel state detector 25 detects that the vehicle is in the travelable state, for example, the engine is turned off when the PTO switch is OFF. In a state where the output is transmitted to the rear wheel 3b, a restriction signal is output from the second restriction portion 37, the boom 5 cannot be operated, and an alarm operation is performed by the alarm device 28. However, the alarm operation may not be performed. For this reason, in the runnable support state, the boom 5 cannot be operated when the vehicle is running. In addition to the above conditions, when a signal indicating that the second allowable moment is not set is input from the allowable moment setting unit 33, a condition that a restriction signal is output from the second restriction unit 37 may be added. good.
[0038]
A second embodiment of the control device according to the present invention will be described with reference to FIG. In FIG. 6, the same parts as those of the control device of FIG. 1 are denoted by the same reference numerals, and detailed description thereof is omitted. The control device receives input signals from the boom operation device 10, the boom operation state detector 22, the jack operation device 23, the jack position sensor 24, and the travel state detector 25, and receives a boom actuator 27, an alarm device 28, and a jack actuator. The control device 40 is configured to perform the operation control of 29.
[0039]
The detection value of the boom operation state detector 22 is input to the work bench position calculation unit 41 and the load distribution calculation unit 42 in the control device 40. In the work table position calculation unit 41, the position of the work table 9 is calculated based on the turning angle of the turning table 4, the undulation angle of the boom 5 and the extension amount detected by the boom operation state detector 22.
[0040]
In the load distribution calculation unit 42, the load acting on each outrigger jack 15 and the front and rear wheels 3 a and 3 b is calculated based on the detection value of the boom operation state detector 22 and the vehicle weight and the gravity center position information stored in advance. Calculate. The load distribution calculating unit 42 receives the support state information of the jack 15 from the jack support state determining unit 47, and each load acting on the outrigger jacks 15 and the front and rear wheels 3a and 3b when acting in the travelable support state. And the load acting on each outrigger jack 15 is calculated in the fully supported state.
[0041]
The applied load information calculated in the load distribution calculation unit 42 is sent to the allowable work range setting unit 43, and an allowable work range, that is, a range in which the work table 9 is allowed to move is set. Information on the jack support state is sent from the jack support state determination unit 47 to the allowable work range setting unit 43, and information on the amount of protrusion of the outrigger jack 15 in the vehicle width direction is sent from the jack position sensor 24. An allowable work range corresponding to the support state is set.
[0042]
Specifically, in the fully supported state, the position of the outrigger jack 15 is obtained based on the amount of protrusion from the jack position sensor 24, and the boom 5 is determined from the turning angle of the turntable 4 detected by the boom operating state detector 22. Direction, that is, the direction of action of the overturning moment. Then, in this direction, a movable range of the work table 9 that can be permitted while being stably supported by the outrigger jack 15 at the current position, that is, a first allowable work range is obtained. In the case of the travelable support state, the first allowable work range set in the complete support state is subjected to reduction correction corresponding to the applied load of the front and rear wheels, and this is set as the second allowable work range.
[0043]
The current work table position information calculated by the work table position calculation unit 41 and the allowable work range information set by the allowable work range setting unit 43 are sent to the comparison unit 44 for comparison, and the work table 9 is allowed. When moving outside the work range, a restriction signal is output to the first restriction portion 45. As a result, when no restriction signal is input to the first restriction unit 45, an operation control signal is output to the boom actuator 27 based on the operation signal from the boom operation device 10, and the operation based on the operation of the boom operation device 10. To do.
[0044]
On the other hand, when a restriction signal is input to the first restriction unit 45, even if there is an operation signal from the boom operation device 10, a predetermined operation signal output to the boom actuator 27 is restricted, and at the same time, the alarm device 28. , Activate the alarm lamp and sound the alarm buzzer. The restriction signal is input when the work table 9 moves outside the allowable work range as described above, and the operation of the boom 5 that moves the work table 9 outside the allowable work range as described above. The predetermined operation signal output to the boom actuator 27 is regulated so as to regulate the above.
[0045]
An operation signal from the jack operation device 23 and an extension amount detection signal from the jack position sensor 24 are sent to a jack operation control unit 46 in the control device 40 to control the operation of the jack actuator 29. Further, the control information of the jack control unit 46 is sent to the jack support state determination unit 47, where it is determined whether the travel support state or the complete support state.
[0046]
Based on the detection result of the running state detector 25, a restriction signal is output to the second restriction unit 47. A signal from the allowable moment setting unit 43 is also input to the second restricting unit 47, and a signal indicating that the outrigger jack 15 is in a travelable support state and the second allowable moment is set is input. In a state, when a restriction signal is input from the traveling state detector 25, the second restriction unit 47 restricts the operation of the boom actuator 27 and causes the alarm device 28 to perform an alarm operation.
[0047]
The operation in the case of performing an aerial work with the aerial work vehicle having the above configuration will be described. When working at a high place, the vehicle body 2 is first supported by the outrigger jack 15 with the boom 5 and the like stored in the vehicle body 2. As shown in FIGS. 4 and 5, when the work is performed at a high place with the outrigger jack 15 as shown in FIGS. 4 and 5, the operation of the boom 5 in which the position of the work table 9 moves outside the first allowable work range is restricted. And an alarm is activated.
[0048]
As shown in FIG. 4 and FIG. 5, even when working at a high place with support for traveling, the operation of the boom 5 such that the work table 9 moves outside the second allowable work range is restricted, and an alarm is given. Operation is performed.
[0049]
As described above, the operation of the boom 5 is allowed even in the travelable support state. However, when the travel state detector 25 detects that the vehicle is travelable, the second restriction unit 47 A restriction signal is output, the boom 5 cannot be operated, and an alarm operation by the alarm device 28 is performed. For this reason, in the runnable support state, the boom 5 cannot be operated when the vehicle is running. In addition to the above conditions, when a signal indicating that the second allowable work range is not set is input from the allowable work range setting unit 43, a condition that a restriction signal is output from the second restriction unit 47 is added. May be.
[0050]
In the above, an aerial work vehicle in which a relatively large work table is attached to the tip of the boom is taken as an example, but the type of the aerial work vehicle is not limited to this, and various types are available. Is applicable. Further, in the above example, the runnable support cannot be performed in the state where the outer post is projected outward in the vehicle width direction by the outrigger beam, and is allowed only when the outer post is stored in the vehicle width direction. However, it is also possible to support the vehicle so that it can run with the outer post projecting outward in the vehicle width direction.
[0051]
【The invention's effect】
As described above, according to the present invention, in an aerial work vehicle that can be fully supported by a jack and capable of traveling, when the vehicle is driven and supported by a jack, the vehicle wheels cannot be driven. Since the control device is configured to permit the operation of the lifting device smaller than the state of being completely supported only in the state where the vehicle can be run by the jack, the work table is moved up and down by the lifting device. The vehicle can be driven by driving the wheel, and the high place work that inspects and repairs the overhead line along the road and the high place work that inspects and repairs the ceiling, side walls, etc. in the tunnel is efficiently performed. It is possible. However, even in such a travelable support state, the lifting operation can be performed only when the wheels cannot be driven, that is, only when the vehicle cannot travel. The operation of moving the workbench is not performed, and high stability can be maintained.
[0052]
Also, moment detecting means for detecting the overturning moment acting on the vehicle from the lifting device and the work table, and the elevating and lowering so that the overturning moment is larger than the allowable moment by comparing the overturning moment detected by this moment detecting means with the allowable moment. First operation restricting means for restricting the operation of the apparatus, and allowable moment setting means for selectively setting a first allowable moment used for the full support and a second allowable moment used for the travelable support as the allowable moment; In addition, a control device may be provided that includes second operation restriction means that does not permit the operation of the lifting device unless the second allowable moment is set by the allowable moment setting means in the state of being supported to be able to travel .
[0053]
In the travelable support, the first operation restricting means regulates the operation of the lifting device based on the second allowable moment (the second allowable moment is set to a value smaller than the first allowable moment) to ensure support stability. ing. Here, the control device is configured to permit the operation of the lifting device on the premise that the second allowable moment is selected in the travelable support state, and thereby the lifting device within a range in which the support stability is not impaired. Operation is guaranteed.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration example of a control apparatus for an aerial work vehicle according to the present invention.
FIG. 2 is a front view of an aerial work vehicle in an operation-supported state in which operation control is performed by the control device.
FIG. 3 is a side view of an aerial work vehicle in an operation-supported state in which operation control is performed by the control device.
FIG. 4 is a front view of an aerial work vehicle in which the operation control is performed by the control device and is in a fully supported state.
FIG. 5 is a side view of an aerial work vehicle that is fully supported by operation control by the control device.
FIG. 6 is a block diagram showing a second configuration example of the control device for an aerial work vehicle according to the present invention.
[Explanation of symbols]
3a, 3b Front and rear wheels 4 Swivel table 5 Boom 9 Work table 15 Outrigger jack 18 Roller

Claims (3)

A vehicle having wheels and capable of traveling, an elevating device disposed on the vehicle, a work table attached to the elevating device and moved up and down by the elevating device, and disposed on a side portion of the vehicle A plurality of jacks that support the vehicle, and a roller is disposed at a lower end of each of the plurality of jacks so as to be rotatable in a traveling direction of the vehicle. A control device for an aerial work vehicle configured to support a vehicle,
When the vehicle is supported by the jack, the vehicle is supported in a state where the wheel is lifted up, and the vehicle is supported while the wheel is grounded and the wheel is driven to drive the vehicle. a travelable support which can drive the, are possible,
In the state where the vehicle is supported to be able to run by the jack, it is configured to allow the operation of the lifting device smaller than that in the fully supported state only when the wheel cannot be driven. Control equipment for aerial work platforms.   A moment detecting means for detecting a tipping moment acting on the vehicle from the lifting device and the work table, and a tipping moment detected by the moment detecting means are compared with an allowable moment, and the tipping moment becomes larger than the allowable moment. First operation restricting means for restricting the operation of the elevating device, and as the allowable moment, a first allowable moment used at the time of the complete support and a second allowable moment used at the time of the travelable support. Allowable moment setting means for selecting and setting, and second operation restricting means for not permitting the operation of the lifting device unless the second allowable moment is set by the allowable moment setting means in a state where the vehicle is supported by the jack. The method according to claim 1, wherein Aerial of the control apparatus of the.   Position detecting means for detecting the position of the work table; detecting whether or not the position of the work table detected by the position detecting means is within an allowable work range; and positioning the work table outside the allowable work range. A first operation restricting means for restricting the operation of the elevating device to be moved to the first position, and a first allowable work range used at the time of the complete support and a first used as the allowable support range as the allowable work range. Two allowable work range setting means for selecting and setting the allowable work range; and when the second allowable work range is not set by the allowable work range setting means in a state in which the vehicle is supported to run by the jack. The control device for an aerial work vehicle according to claim 1, further comprising a second operation restriction unit that does not permit the operation.

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