JP3949536B2 - Control equipment for aerial work platforms - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention includes a boom that can be raised and lowered on a vehicle body, an insulating arm that is swingably swingable up and down at the tip of the boom, and a workbench that is swingably mounted at the tip of the insulating arm. More particularly, the present invention relates to a control device that controls a horizontal turning operation of a work table.
[0002]
[Prior art]
The aerial work vehicle includes a boom that is provided on the vehicle body so that it can be raised and lowered, an arm that is swingably movable up and down at the tip of the boom, and a workbench that is attached to the tip of the arm so as to be able to turn horizontally. By operating the upper operation device arranged on the workbench, the boom can be raised and lowered, the arm can be swung up and down, and the workbench can be swung horizontally. Thus, the work table is moved to a desired height such as an overhead wire support on the utility pole, so that the intended work can be performed.
[0003]
In an electric work-type aerial work vehicle that carries out the work of overhead wires and maintenance of various electric facilities, work is often performed by moving the work table to the vicinity of the live line. There is a case where the live line is accidentally touched or the work table is accidentally brought into contact with the live line. For this reason, in an aerial work platform of an electric construction system, the work table and, for example, an arm are attached so that an operator does not get an electric shock or the work vehicle is damaged even if the work table contacts a live line. The insulation arm is manufactured using an electrically insulating material such as FRP, and is configured so that current does not pass through the work table or the boom. Specifically, by securing an insulation distance between the work platform and the boom by the length of the insulation arm with an insulation arm having electrical insulation, sufficient electrical insulation between the work platform and the boom can be obtained. ing.
[0004]
[Problems to be solved by the invention]
By the way, as described above, the work table is attached to the tip of the insulating arm so as to be able to swivel (swing freely) and, for example, the work table swiveling means such as a rotary actuator performs a horizontal swivel operation. Accordingly, the work table can be moved (horizontal turning) without moving the boom and the insulating arm, and workability at a high place is improved. However, even if the workbench and the boom are insulated by the insulating arm as described above, the distance between the workbench and the boom may be short depending on the position where the workbench is horizontally swung. There was a problem that the insulating property was lowered.
[0005]
The present invention has been made in view of such a problem, and controls the horizontal turning range of the workbench at the time of working at a high place, and secures high electrical insulation between the workbench and the boom. An object of the present invention is to provide a vehicle control device.
[0006]
[Means for Solving the Problems]
In order to achieve such an object, in the present invention, a vehicle body that can travel, a boom that can be raised and lowered on the vehicle body, and an electrical insulation that is attached to the tip of the boom so as to be swingable up and down. An insulating arm having electrical properties, a worktable having electrical insulation attached to the tip of the insulating arm so as to be pivotable horizontally , a boom operating means for performing operations for raising and lowering and extending and retracting the boom, and a worktable. Swing operation means for performing an operation for horizontal turning operation, undulation angle detection means for detecting the undulation angle of the boom, depression angle detection means for detecting the depression angle between the boom and the insulating arm, and detecting the boom length of the boom a boom length detector for, hoisting angle detection means, based on a value detected by the included angle detecting means and the boom length detection means, Oyo workbench horizontal turning operation according to the operation of the swing operating means Aerial controller is configured to include a controller for controlling the hoisting and telescopic operation of a boom in accordance with the operation of the boom operation means.
The controller that constitutes the control device is configured to detect the ground level of the work table from the boom length detected by the boom length detection unit, the undulation angle detected by the undulation angle detection unit, and the depression angle detected by the depression angle detection unit. While calculating the height and calculating the vertical swing angle of the insulating arm, when the ground level of the workbench is less than or equal to the predetermined working height, or when the insulating arm is swinging upward from the horizontal, A state in which the horizontal turning operation of the entire worktable is permitted according to the operation of the swing operation means, the ground height of the worktable exceeds the predetermined work height, and the insulating arm swings downward from the horizontal. In this case, a horizontal turning operation within a predetermined turning range set in order to prevent the work platform from approaching the boom in accordance with the operation of the swinging operation means and lowering the electrical insulation with the boom is permitted. But Regulate the platform horizontal turning operation movement of more than a predetermined pivoting range, or less bench ground height is predetermined working height, a and state in which the insulating arm is swung from the horizontal downwardly, and workbench Is in a state of horizontally turning beyond a predetermined turning range, control is performed to restrict boom lifting and retracting operations by operating the boom operating means to move the work table up beyond the predetermined working height .
[0007]
According to the aerial work vehicle configured as described above, when the ground height of the work table exceeds the predetermined work height and the insulating arm is swung downward from the horizontal, the controller performs the swing operation. The horizontal turning operation within a predetermined turning range set to prevent the work platform from approaching the boom in accordance with the operation of the means and lowering the electrical insulation with the boom is allowed, but exceeds the predetermined turning range. The horizontal turning operation of the work table is regulated, the ground height of the work table is equal to or lower than the predetermined work height, the insulating arm is swung downward from the horizontal, and the work table is in the predetermined turning range. When it is in a state of turning horizontally beyond the upper limit, the boom is lifted and retracted so as to move the work platform above the predetermined work height. Distance between platform and boom Since the electrical insulation between the workbench and the boom is closer is avoided to decrease, it is possible to ensure sufficient electrical insulation between the workbench and the boom during the aerial.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. An aerial work vehicle 1 equipped with a control device according to the present invention is shown in FIG. This aerial work vehicle 1 is capable of traveling with front and rear wheels 3a and 3b, and is constructed based on a truck vehicle having a driving cabin 2a at the front. On the vehicle body 2 of this truck vehicle, there is disposed a turntable 4 that is driven by a turn motor (not shown) and configured to be able to turn horizontally. A base 5 is pivotally connected to the swivel 4 and a boom 5 is attached. The boom 5 is moved up and down by a hoisting cylinder 6. The boom 5 is configured such that a proximal boom 5a and a distal boom 5b are slidably combined in a telescopic manner and can be expanded and contracted by a built-in telescopic cylinder (not shown).
[0009]
The distal end boom 5b has a boom head 5c at the distal end, and is pivotally connected to the boom head 5c so that the insulating arm 7 can be pivoted up and down. The insulating arm 7 includes an arm head 7a, an upper link 7b pivoted on the upper side of the arm head 7a and the boom head 5c, and a lower link 7c pivoted on the lower side of the arm head 7a and the boom head 5c. And is rocked up and down by a link rocking cylinder 8 disposed between the upper link 7b and the boom head 5c. The mounting direction of the arm head 7a is constant with respect to the boom 5 regardless of the swinging of the insulating arm 7 by the link mechanism constituted by the upper link 7b and the lower link 7c.
[0010]
In addition, the arm head 7a, the upper link 7b, and the lower link 7c that are configured in the insulating arm 7 are manufactured using an electric insulating material such as FRP to prevent an electric shock of the worker, and the insulating arm 7 is electrically connected. It is configured to have a good insulating property. The insulation arm 7 having electrical insulation ensures the insulation distance between the work table 11 and the boom 5, which will be described in detail later, by the length of the insulation arm 7. Have good electrical insulation.
[0011]
A vertical post 9 is attached to the arm head 7a so as to be swingable up and down. The vertical post 9 is positioned so that the vertical post 9 always extends vertically regardless of the ups and downs of the boom 5 and the swing of the insulating arm 7 by the leveling cylinder 10 disposed between the arm head 7a and the vertical post 9. Oscillation is controlled to In this way, the work table 11 is attached to the vertical post 9 that is always held vertically so as to be able to swivel (swing freely), and the work table 11 is always in spite of the undulation of the boom 5 and the swinging of the insulating arm 7. Holds horizontally. The work table 11 is manufactured using an electrically insulating material such as FRP to prevent an electric shock of an operator, and is disposed between the vertical post 9 and the work table 11, for example, a rotary actuator 12 such as a hydraulic motor. To perform a horizontal turning (swing) operation (see FIG. 3).
[0012]
The work table 11 is provided with an upper operation device 20 that is operated by an operator boarding here. As shown in FIG. 3, the upper operating device 20 includes a boom operating lever 21 that causes the boom 5 to move up and down, extend and retract, and an arm operating lever 22 that performs the swinging operation of the insulating arm 7 in the vertical direction. And a swing operation switch 23 for performing a horizontal turning (swing) operation of the work table 11.
[0013]
In addition, outriggers 13 that are extendable downward are provided at four locations on the front, rear, left, and right sides of the vehicle body 2 so that when working at a high place, the vehicle body 2 can be lifted and supported as shown in the figure. It has become.
[0014]
Below, the control apparatus of the aerial work vehicle 1 is demonstrated with reference to FIG. This control device is configured to operate the control valve 30 in accordance with a control signal from the controller 25. The controller 25 includes operation signals from the boom operation lever 21, arm operation lever 22, and swing operation switch 23, a undulation angle detector 26, a depression angle detector 27, a boom length detector 28, and a worktable turning angle. A detection signal from the detector 29 is input.
[0015]
The boom operation lever 21 can be tilted and rotated from an upright state. When the boom operation lever 21 is tilted, a boom operation signal corresponding to the tilt direction and proportional to the tilt angle is output to the controller 25 and rotated. When operated, a boom operation signal corresponding to the rotation direction and proportional to the rotation angle is output to the controller 25. The controller 25 controls the opening degree of the control valve 30 so that hydraulic oil having a flow rate corresponding to these operation signals is supplied to the boom actuator 31 such as the hoisting cylinder 6, the telescopic cylinder, and the swing motor.
[0016]
The arm operation lever 22 is configured to be tiltable from an upright state. When the arm operation lever 22 is tilted, an arm operation signal corresponding to the tilt direction and proportional to the tilt angle is output to the controller 25. The controller 25 controls the opening degree of the control valve 30 so that hydraulic oil having a flow rate corresponding to the arm operation signal is supplied to the link swing cylinder 8.
[0017]
The swing operation switch 23 is configured to be rotatable from a predetermined neutral position. When the swing operation switch 23 is rotated, a swing operation signal corresponding to the rotation direction and proportional to the rotation angle is output to the controller 25. The controller 25 controls the opening degree of the control valve 30 so that hydraulic oil having a flow rate corresponding to the swing operation signal is supplied to the rotary actuator 12. The hydraulic oil supplied to the boom actuator 31, the link swing cylinder 8, and the rotary actuator 12 is supplied from a hydraulic pump 35 driven by the engine.
[0018]
The undulation angle detector 26 detects the undulation angle α of the boom 5 (see FIG. 2), and outputs the undulation angle α to the controller 25. The depression angle detector 27 detects the depression angle β between the boom 5 and the insulating arm 7 (see FIG. 2) and outputs the depression angle β to the controller 25. The boom length detector 28 detects the boom length L of the boom 5 and outputs the boom length L to the controller 25. The work table turning angle detector 29 detects the work table turning angle γ of the work table 11 and outputs the work table turning angle γ to the controller 25. As shown in FIG. 3, the worktable turning angle γ is a horizontal turning angle with the worktable 11 facing the longitudinal direction of the arm head 7a, that is, the insulating arm 7 (and the boom 5) as the origin. (Clockwise is positive.)
[0019]
Next, the control contents of this control device will be described with reference to FIG. First, detection signals from the undulation angle detector 26, the depression angle detector 27, the boom length detector 28, and the worktable turning angle detector 29 are input to the controller 25, and the controller 25 is detected from each detector. The ground height h of the work table 11 is calculated from the undulation angle α, the depression angle β, and the boom length L. As shown in FIG. 2, the ground height h is the height from the ground to the inner bottom surface of the workbench 11, and each dimension of the aerial work vehicle 1 and the overhang amount of the outrigger 13 are set to the prescribed values. The ground height h can be calculated from the undulation angle α, the depression angle β, and the boom length L.
[0020]
When the ground height h of the work table 11 is equal to or lower than the predetermined work height H, the controller 25 controls the control valve 30 according to the operation of the boom operation lever 21, arm operation lever 22, and swing operation switch 23. The control valve 30 is controlled to open in accordance with the operation of each operating means.
[0021]
When the ground height h of the work table 11 reaches the work height H, the sum of the undulation angle α and the depression angle β is less than 180 degrees, that is, when the insulating arm 7 is located at a position where it swings downward from the horizontal. When the absolute value of the work table turning angle γ is equal to or larger than the predetermined work table turning restriction angle Γ, the controller 25 controls the boom operation lever 21 and the arm operation lever so that the ground height h exceeds the work height H. The output of the control signal by the operation of 22 is restricted so that the hydraulic oil is not supplied to the boom actuator 31 (the hoisting cylinder 6) and the link swing cylinder 8. That is, when the insulating arm 7 is located at a position where it swings downward from the horizontal, and the absolute value of the work table turning angle γ is equal to or larger than the predetermined work table turning restriction angle Γ, the ground height of the work table 11 is increased. The operation of the boom 5 and the insulating arm 7 such that the height h exceeds the work height H is restricted, and the work height H is prevented from exceeding when the distance between the work table 11 and the boom 5 is short.
[0022]
Here, the work table turning restriction angle Γ is such that the sum of the undulation angle α and the depression angle β is less than 180 degrees, that is, when the work table 11 is positioned horizontally at a position where the insulating arm 7 swings downward from the horizontal. This is the work table turning angle set in order to prevent the electrical insulation between the work table 11 and the boom 5 from being lowered due to the turning and the distance between the work table 11 and the boom 5 being reduced. When the sum of the undulation angle α and the depression angle β is less than 180 degrees, that is, when the insulating arm 7 is located at a position where it swings downward from the horizontal, the workbench 11 is located on the side or lower side of the boom 5. Because. At this time, the alarm means or the like confirms that the sum of the undulation angle α and the depression angle β is less than 180 degrees and that the absolute value of the work table turning angle γ is greater than or equal to a predetermined work table turning regulation angle Γ. You may make it perform the alarm action to alert | report.
[0023]
When the ground height h of the work table 11 exceeds the work height H, as shown by a two-dot chain line in FIG. 2, the sum of the undulation angle α and the depression angle β is 180 degrees or more, that is, the insulating arm 7 is horizontal. The controller 25 permits the output of a control signal to the control valve 30 in accordance with the operation of the boom operation lever 21, the arm operation lever 22, and the swing operation switch 23. The opening degree of the control valve 30 is controlled according to the operation of each operation means. When the sum of the undulation angle α and the depression angle β is 180 degrees or more, that is, when the insulating arm 7 is located at a position where it swings upward from the horizontal, the workbench 11 is located above the boom 5 side. Even if the table 11 turns horizontally, the electrical insulation between the work table 11 and the boom 5 is not greatly affected.
[0024]
On the other hand, as shown by the solid line in FIG. 2, when the sum of the undulation angle α and the depression angle β is less than 180 degrees, that is, the insulating arm 7 is located at a position where it swings downward from the horizontal, The output of the control signal by the operation of the swing operation switch 23 so that the value becomes equal to or larger than the platform turning restriction angle Γ is restricted so that the hydraulic oil is not supplied to the rotary actuator 12. That is, when the insulating arm 7 is located at a position where it swings downward from the horizontal, the platform 11 is swung horizontally (swinging) so that the absolute value of the platform rotation angle γ is equal to or greater than the platform rotation angle Γ. When the operation is restricted and the ground height h of the workbench 11 exceeds the work height H, the distance between the workbench 11 and the boom 5 is reduced, and the electrical insulation between the workbench 11 and the boom 5 is improved. Decrease is prevented.
[0025]
At this time, when the sum of the undulation angle α and the depression angle β is less than 180 degrees and the absolute value of the platform rotation angle γ reaches a predetermined platform rotation restriction angle Γ, a warning means or the like You may make it perform the alarm action which alert | reports.
[0026]
As described above, when the ground height h of the work table 11 exceeds the predetermined work height H and the insulating arm 7 is positioned at a position where the arm 7 swings downward from the horizontal, the controller 25 sets the predetermined height of the work table 11. In order to perform the control for restricting the horizontal turning operation to the range, the work table 11 and the boom 5 become closer to each other at a place where the predetermined work height H is exceeded, and the work table 11 and the boom 5 are electrically insulated. Therefore, it is possible to ensure sufficient electrical insulation between the workbench 11 and the boom 5 when working at a high place.
[0027]
In this example, the workbench 11 is configured to perform a horizontal turning (swing) operation by the hydraulically driven rotary actuator 12. However, the present invention is not limited to this. For example, the workbench 11 may be a workbench such as an electric motor. It is only necessary that a work table turning means for horizontally turning 11 is provided.
[0028]
In this example, the controller 25 determines the position of the insulating arm 7 by calculating the sum of the undulation angle α and the depression angle β detected from the undulation angle detector 26 and the depression angle detector 27. However, the present invention is not limited to this, and the position of the insulating arm 7 may be determined by detecting the absolute angle of the insulating arm 7.
[0029]
【The invention's effect】
As described above, according to the present invention, beyond the platform above ground height is predetermined working height of, and when the insulating arm is in a state of being swung from the horizontal downward, the controller of the oscillating operating means A horizontal swivel operation within a predetermined swivel range set to prevent the workbench from approaching the boom in accordance with the operation and lowering the electrical insulation with the boom is permitted, but the work table exceeds the predetermined swivel range. The horizontal turning operation of the work table is restricted, the ground height of the work table is equal to or lower than the predetermined work height, the insulating arm is swung downward from the horizontal, and the work table exceeds the predetermined swivel range. In order to control the boom hoisting and telescoping operations that cause the work platform to move up beyond the predetermined work height, the Close to the boom Consisted of electrical insulation between the work platform and the boom is avoided to decrease, it is possible to ensure sufficient electrical insulation between the workbench and the boom during the aerial.
[Brief description of the drawings]
FIG. 1 is a block diagram showing the configuration of a control apparatus for an aerial work vehicle according to the present invention.
FIG. 2 is a side view of an aerial work platform equipped with a control device according to the present invention.
FIG. 3 is an enlarged plan view of a workbench configured in an aerial work vehicle according to the present invention.
[Explanation of symbols]
2 Car body 5 Boom 7 Insulating arm 11 Work table 12 Rotary actuator (work table turning means)
25 Controller 26 Relief angle detector 27 Depression angle detector 28 Boom length detector h Ground height H Work height L Boom length α Relief angle β Depression angle

Claims (1)

A vehicle body that can travel,
A boom provided on the vehicle body in a undulating and telescopic manner;
An insulating arm having electrical insulation attached to the tip of the boom so as to be swingable up and down;
An electrically insulative worktable attached to the tip of the insulating arm so as to be horizontally rotatable;
Boom operating means for performing operations for raising and lowering and extending and retracting the boom;
Swing operation means for performing an operation for horizontally turning the work table;
Undulation angle detection means for detecting the undulation angle of the boom;
A depression angle detecting means for detecting a depression angle between the boom and the insulating arm;
Boom length detecting means for detecting the boom length of the boom;
Based on the detected values by the undulation angle detection means, the depression angle detection means and the boom length detection means, according to the horizontal turning operation of the work table according to the operation of the swing operation means and the operation of the boom operation means. A controller for controlling the hoisting and telescopic operation of the boom ,
The controller is
Calculating a boom length detected by the boom length detection means, and causing dip detected by the hoisting angle detection means, said worktable ground height from the 夾angle detected by the included angle detection means And calculating the vertical swing angle of the insulating arm ,
When the ground height of the workbench is equal to or lower than a predetermined work height, or when the insulating arm is swung upward from the horizontal, the workbench of the workbench is operated according to the operation of the swing operation means. Allow horizontal swivel operation in the whole range,
Wherein exceeded worktable terrestrial height predetermined working height of, and the a state in which the insulating arm is swung from the horizontal downwardly Sometimes, the worktable is the boom in accordance with the operation of the swing operating means approaching electrical insulation between the boom permits the horizontal swiveling operation in a predetermined pivoting range set in order to prevent the decrease, but the horizontal turning operation movement of the worktable exceeding the predetermined pivoting range Regulate,
The ground level of the work table is equal to or lower than a predetermined work height, the insulating arm is swung downward from the horizontal, and the work table is horizontally swung beyond the predetermined swivel range. In some cases, the aerial work vehicle is characterized in that control for restricting the hoisting and extending and retracting operations of the boom by the operation of the boom operating means that moves the work table up beyond the predetermined working height is performed. Control device.

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