JP4039819B2 - Bend-and-lift boom type aerial work platform - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a boom device capable of freely turning, raising / lowering and bending / extending on a vehicle body, a work table disposed at a tip of the boom device, and an operation of the boom device based on an operation signal from the boom operation device. The present invention relates to a bending / bending boom type aerial work vehicle including an operation control device for controlling the vehicle.
[0002]
[Prior art]
The above-described bent-boom type aerial work platform is already widely used. The bending boom type aerial work vehicle is a swivel that can be swung horizontally with respect to the vehicle body on a vehicle body such as a truck chassis, and a hoisting boom and a hoisting boom that can be moved up and down. A boom device made up of a bending boom that can be bent and extended freely is attached, and a work table that always keeps the floor level regardless of the boom undulation angle or bending angle is attached to the tip of the boom device. Composed. The work table is provided with a boom operation device for operating the boom device, and an operation control device for receiving an operation signal from the operation device and controlling the operation of the boom device is provided on the vehicle body side. For this reason, an operator on the workbench operates the boom operating device to move the workbench to a desired height by turning the swivel, turning the hoisting boom, and bending / extending the bending boom. be able to.
[0003]
The bending boom type aerial work platform includes a hoisting boom and a bending boom, each of which is composed of a single-stage boom. One that is configured to be extendable and retractable in the axial direction of the boom, or an aerial work vehicle in which both the hoisting boom and the bending boom are configured to be extendable and retractable (these are also referred to as straight bending and extending boom type aerial work vehicles) )and so on.
[0004]
These bending boom type aerial work platforms do not have a bending boom, so in a so-called straight-boom type aerial work vehicle, the base end side of the boom interferes with obstacles in front and cannot reach the high position in the blind area. The work table can be moved. For this reason, the bending-boom boom type aerial work vehicle is used for a high altitude work over obstacles such as block fences and houses, or a high altitude work that needs to enter between upper and lower beams.
[0005]
[Problems to be solved by the invention]
By the way, in the aerial work vehicle having the bending boom as described above, the boom boom and the boom boom are bent in the shape of "<", so when the swivel is turned, the tip of the boom boom A pivot part (hereinafter referred to as “elbow part”) between the base part and the bent boom base end part protrudes a certain amount in the vehicle body width direction from the turning center and turns. This protrusion amount is generally larger as the raising / lowering angle of the hoisting boom is smaller, and the elbow part rotates in the opposite direction to the work table across the swivel during the turning operation.
[0006]
For this reason, an operator who works on a work platform and works at a high place is noticed by the immediate object, and moves the work table without noticing the positional relationship between the protruding amount of the elbow part and the obstacle. At times, there was a problem that the elbow part might accidentally collide with an obstacle.
[0007]
The present invention has been made in view of the above problems, and is a case where an operator on the workbench operates the boom without noticing the positional relationship between the protruding amount of the elbow part and the obstacle. However, it is an object of the present invention to provide a bent-boom type aerial work vehicle that does not cause the elbow part to collide with an obstacle.
[0008]
[Means for Solving the Problems]
  In order to solve the above problems and achieve the purpose,FirstThe present invention relates to a vehicle body, a swivel mounted on the vehicle body so as to be capable of swiveling horizontally, a hoisting boom provided on the swivel so as to move up and down, and the hoisting boom.Tip ofCan bend and stretch freelyConnectBased on a boom device having a bending and extending boom provided, a workbench disposed at the tip of the boom device, a boom operation device for operating the boom device, and an operation signal from the boom operation device In an aerial work vehicle including an operation control device that controls the operation of the boom device, the vehicle has a position detection unit that detects a position of a tip portion of the hoisting boom with respect to the vehicle body,The operation control device is configured such that the position of the tip of the hoisting boom detected by the position detector is detected when the boom device is turned based on a turning operation signal that commands turning operation of the turntable. If the tip of the hoisting boom passes through the regulation range and the work table keeps a turning radius in plan view, the turning platform moves in a state where it is determined that the regulation range that is preset outside is exceeded. To control the hoisting operation of the hoisting boom and the bending operation of the hoisting boomA bending boom type aerial work vehicle is constructed.
[0009]
  Of this configurationAccording to the first inventionAccording to the bending boom type aerial work platform,When the operation control device determines that the tip of the hoisting boom exceeds the restriction range due to the turning operation of the swivel base, the operation control device does not restrict the entire boom device at the restriction position but stops the tip of the hoisting boom. The hoisting operation of the hoisting boom and the hoisting / extending operation of the hoisting and booming boom are controlled so as not to exceed the regulation range, and the work table is swung while keeping the turning radius in plan view. “Regulation range” refers to a regulation area that is defined based on the positional relationship with obstacles around the aerial work vehicle. Inside the regulation range (vehicle body side) normally there is an obstacle. This means a non-operation area, that is, a safety area. Further, controlling the operation of the hoisting boom and the bending boom (boom device) means that when the entire boom device is turned based on the operation signal, the turning operation is performed when the tip of the hoisting boom moves beyond the regulation range. This refers to avoidance control in which an operation shaft (for example, a hoisting operation shaft) other than the shaft is actuated to avoid the tip portion of the hoisting boom from exceeding a regulation range and the entire boom device is turned. Therefore, according to the above-described configuration, when the operator who is on the work table is distracted by the target object and performs the operation operation in which the tip part (elbow part) of the hoisting boom interferes with the obstacle. Even in such a case, there is no possibility that the tip of the hoisting boom, the tip of the workbench, etc. will accidentally collide with an obstacle, and the workbench can be safely swiveled to efficiently perform work at a high place.
[0010]
  Further, the second aspect of the present invention is a vehicle body, a swivel mounted on the vehicle body so as to be able to swivel horizontally, a hoisting boom provided on the swivel base so as to be able to move up and down, and bendable / extendable at the tip of the hoisting boom. A boom device having a bending and extending boom provided in a connected manner, a workbench disposed at the tip of the boom device, a boom operation device for operating the boom device, and an operation signal from the boom operation device In an aerial work vehicle comprising an operation control device that controls the operation of the boom device based on the above, the vehicle has a position detection means for detecting the position of the tip of the hoisting boom with respect to the vehicle body, The position of the tip of the hoisting boom detected by the position detector when the boom device is turned based on a turning operation signal commanding the turning operation of the turntable is the vehicle body When it is determined that the regulation range that is preset outward is exceeded, the tip of the hoisting boom passes through the regulation range, and the work table pivots while maintaining the height position with respect to the vehicle body. Thus, the bending boom type aerial work vehicle is configured to control the raising and lowering operation of the raising and lowering boom and the bending and extending operation of the bending and extending boom.
[0011]
  According to the bending boom type aerial work platform according to the second aspect of the present invention, when the operation control device determines that the tip of the hoisting boom exceeds the regulation range due to the turning operation of the turntable. In addition, the entire boom device is not regulated and stopped at the regulated position, but the hoisting boom hoisting operation and the bending boom hoisting operation are controlled so that the tip of the hoisting boom does not exceed the regulation range. Turn while keeping the height position relative to the vehicle body. Therefore, even when the operator who is on the work table is distracted by the immediate object and performs an operation operation in which the tip of the hoisting boom (elbow part) interferes with the obstacle, the hoisting boom There is no risk of accidentally colliding the front end portion or the bottom surface of the work table with an obstacle, and the work table can be safely swiveled to efficiently perform work at a high place.

[0012]
  According to a third aspect of the present invention, there is provided a vehicle body, a swivel mounted on the vehicle body so as to be pivotable horizontally, a hoisting boom provided on the swivel base so as to be able to move up and down, and bendable and extendable at a tip of the hoisting boom. A boom device having a bending and extending boom provided in a connected manner, a workbench disposed at the tip of the boom device, a boom operation device for operating the boom device, and an operation signal from the boom operation device And an operation control device for controlling the operation of the boom device on the basis of the vehicle, the vehicle has a position detection means for detecting the position of the tip end portion of the hoisting boom with respect to the vehicle body, At least one of the booms is configured to be extendable and retractable, and the operation control device turns the boom device based on a turning operation signal that commands a turning operation of the turntable. When it is determined that the position of the tip of the hoisting boom detected by the position detector exceeds a regulation range set in advance outside the vehicle body when the hoisting boom is moved, the tip of the hoisting boom is The hoisting action of the hoisting boom, the hoisting action of the hoisting boom, the hoisting action of the hoisting boom, and the hoisting action so that the workbench turns while maintaining the turning radius and the height position with respect to the vehicle body in plan view. A bend-expanding boom type aerial work vehicle is configured to control at least one of an expansion / contraction operation of the boom and an expansion / contraction operation of the bending boom.
[0013]
  According to the bending boom type aerial work vehicle according to the third aspect of the present invention configured as described above, when the operation control device determines that the tip of the hoisting boom exceeds the regulation range due to the turning operation of the turntable. In addition, instead of stopping the entire boom device at the restricted position, the operation of the boom device is controlled so that the tip end portion of the hoisting boom does not exceed the restricted range, and the work platform is turned against the turning radius and the vehicle body in plan view. While the height position is maintained (that is, according to the original turning trajectory), the turning movement is performed. Therefore, even when the operator who is on the work table is distracted by the immediate object and performs an operation operation in which the tip of the hoisting boom (elbow part) interferes with the obstacle, the hoisting boom Therefore, it is possible to perform the work at a high place efficiently by turning the work table safely in accordance with the operator's operation intention.
[0014]
  According to a fourth aspect of the present invention, there is provided a vehicle body, a swivel mounted on the vehicle body so as to be pivotable horizontally, a hoisting boom provided on the swivel base so as to be able to move up and down, and bendable and extendable at a tip of the hoisting boom. A boom device having a bending and extending boom provided in a connected manner, a workbench disposed at the tip of the boom device, a boom operation device for operating the boom device, and an operation signal from the boom operation device And an operation control device for controlling the operation of the boom device on the basis of the vehicle, the vehicle has a position detection means for detecting the position of the tip end portion of the hoisting boom with respect to the vehicle body, At least one of the booms is configured to be extendable and retractable, and the operation control device is based on a movement operation signal that commands a movement direction of the work table including a turning operation of the turning table. When it is determined that the position of the tip of the hoisting boom detected by the position detector exceeds the regulation range set in advance outward of the vehicle body when the boom device is turned. The swivel turning operation, the hoisting boom hoisting operation, and the bending boom bending operation are performed so that the tip of the hoisting boom passes through the regulation range and the work table moves in the moving direction according to the movement operation signal. A bending and extending boom type aerial work vehicle is configured to control at least one of the operation, the extending and retracting operation of the hoisting boom and the extending and retracting operation of the bending and extending boom.
[0015]
  According to the bending and extending boom type aerial work vehicle according to the fourth aspect of the present invention, when the operation control device turns the boom device based on the movement operation signal including the turning operation of the swivel base, When it is determined that the tip of the hoisting boom exceeds the control range, the hoisting boom is controlled so that the tip of the hoisting boom does not exceed the control range instead of stopping the entire boom device at the control position. While controlling the operation, the operation of the other operation shaft such as a bending boom is controlled to move the work table in the movement direction according to the movement operation signal. Note that the “movement operation signal including the turning operation of the turntable” is inevitable when the worktable is moved in the direction of the operation signal, for example, a movement operation signal of a command for linearly moving the worktable within a horizontal plane. The operation signal includes the turning operation of the swivel. Therefore, according to the above-described configuration, when the operator who is on the work table is distracted by the target object and performs the operation operation in which the tip part (elbow part) of the hoisting boom interferes with the obstacle. Even if there is, there is no risk of accidentally colliding the tip of the hoisting boom or the work table with an obstacle, and the work table can be safely moved in the direction of movement according to the operator's operation command to efficiently work at high places. It can be carried out.
[0016]
  A plurality of jack devices disposed on the front, rear, left, and right sides of the vehicle body, configured to project laterally of the vehicle body and extend and retract in a vertical direction, and lift and support the vehicle body with a lower end grounded; An extension amount detecting means for detecting an extension amount of the jack device to the side of the vehicle body, and the restriction range is the extension amount of the jack device detected by the extension amount detection means. It is preferable to configure the bending boom type aerial work vehicle so as to be set based on the above. According to such a configuration, when there is a standing obstacle such as a wall or a wall on the side of the vehicle body, the extension width of the jack is limited and the inner side of the obstacle ( Body side ) It can only be extended and extended. That is, an obstacle may exist outside the overhanging width of the jack. On the other hand, on the vehicle body side with respect to the tip position of the jack, since the jack is already overhanging within the range, it can be estimated as a safety region where there is no standing object such as a bag or a wall surface. Based on such determination, the above configuration automatically detects and automatically sets the area (regulation range) where there is no obstacle indirectly from the overhang amount of the jack device. It is possible to prevent problems when the range setting is forgotten or an error is input.
[0017]
  In addition, the vehicle has obstacle detection means for detecting an existing position of an obstacle located outside the vehicle body, and the restriction range is the obstacle detected by the obstacle detection means. It is preferable to configure the bending boom type aerial work vehicle so that it is set on the basis of the presence position. According to such a configuration, since the obstacle detection unit directly detects the position of the obstacle and automatically sets the restriction range, the work load can be reduced and the restriction range can be forgotten. Problems caused by erroneous input can be prevented in advance.
[0018]
  Further, the bending range boom type aerial work vehicle is configured such that the restriction range is selected or set by an operator based on a positional relationship between the vehicle body and an obstacle located outside the vehicle body. This is true. According to such a configuration, an operator who wants to work at a high place selects or inputs a numerical value according to the positional relationship between the vehicle body and surrounding obstacles, and sets the restriction range. It is possible to set a restriction range according to the work environment, for example, by operating the boom device and moving the tip of the hoisting boom until just before it interferes with an obstacle and setting the restriction position at that position.
[0019]
  As a configuration form of the regulation range, a configuration form that is defined as a planar regulation range that stands vertically to the front, rear, and sides of the vehicle body is common. Accordingly, it may be defined in a staircase shape, a sloped shape with a certain angle, or a predetermined curved surface shape. Needless to say, the restriction range set as described above can be corrected in accordance with the work environment or the like.
[0020]
  Further, the bending and extending boom is provided so that the proximal end portion can be bent and extended at the distal end portion of the hoisting boom so that the distal end portion is located on the opposite side of the upper end portion of the hoisting boom with the swivel base in plan view. Therefore, it is preferable to constitute a bent-boom type aerial work vehicle. According to such a configuration, the bending boom is located on the opposite side of the swivel base between the center of gravity of the hoisting boom and the center of gravity of the bending boom including the work bench disposed at the tip. When the hoisting boom and the bending boom are operated to perform the desired work at the height, the center of gravity of the entire boom device is kept near the pivot axis, so the work platform can be safely moved to the desired position to work at the height. It can be performed.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a preferred embodiment of a bending boom type aerial work vehicle according to the present invention will be described with reference to the drawings. FIG. 13 shows an aerial work vehicle in which a hoisting boom and a bending boom can be extended and contracted as an example. The aerial work vehicle 1 is configured based on a truck vehicle having a driving cabin 2a in front of a vehicle body 2 and capable of traveling on front and rear wheels 3a and 3b. A swivel 4 that is driven by a swivel motor 51 and configured to be horizontally swivelable is attached to the rear part of the vehicle body 2, and a base end is pivotally connected to the upper part of the swivel 4, so that the hoisting cylinder 52 can be expanded and contracted. Thus, the hoisting boom 5 is attached in a vertical plane so as to be hoistable.
[0022]
The hoisting boom 5 includes a lower first boom 5a and a lower second boom 5b. The lower second boom 5b is inserted into the lower first boom 5a in a nested manner, and a lower telescopic cylinder 53 ( It is configured to be able to expand and contract by being driven by (see FIG. 3).
[0023]
A bending boom 6 is pivotally connected to the distal end of the lower second boom 5b so as to be able to move up and down (referred to as bending and stretching) with respect to the lifting boom 5, and the expansion and contraction operation of the bending and extending cylinders 54 disposed on the left and right sides of the bending boom 6 is performed. Thus, the hoisting boom 5 can be bent and extended on the same surface as the hoisting operation surface of the hoisting boom 5. The bending boom 6 includes an upper first boom 6a and an upper second boom 6b. The upper second boom 6b is telescopically inserted into the upper first boom 6a, and the upper telescopic cylinder 55 (FIG. 3) is built in the boom. It can be expanded and contracted by the operation of (see).
[0024]
A vertical post 7 is pivotally connected to the tip of the upper second boom 6b so as to be able to swing in the same plane (in the vertical plane) as the hoisting / bending / extending operation surface of the hoisting boom 5 and the hoisting / bending boom 6 (not shown). The leveling system controls the leveling so that the vertical post 7 always extends vertically regardless of the angle of the hoisting boom 5 and the angle of the hoisting boom 6. The work table 8 is attached to the vertical post, which is always held vertically in this manner, so that the work table 8 can be swung horizontally (is freely swingable). The floor surface of the work table 8 is used for the hoisting operation of the hoisting boom 5 and the bending boom 6. Regardless of the bending and stretching operation, it is always kept horizontal.
[0025]
Outrigger jacks 17 (17) which can be expanded in the width direction of the vehicle body 2 and extendable in the vertical direction at four locations on the vehicle body 2, front, rear, left and right._L, 17_R) Is provided. When working at a high place, the operator can set the left and right outrigger jacks 17 according to the relative positional relationship with surrounding obstacles._L, 17_RAre expanded and extended in the vehicle body width direction, and are extended downward to support the vehicle body 2 by lifting.
[0026]
The work table 8 is provided with a boom operating device 10 (see FIG. 3). The boom operating device 10 is provided with operation levers for operating the swivel base 4, the hoisting boom 5, the bending boom 6, and the like. The undulation and expansion / contraction operation, the undulation and expansion / contraction operation of the bending / extension boom 6, the swinging operation of the work table 8, etc. can be performed independently for each operating shaft. Further, by instructing the boom operating device 10 to move the work table 8 in a horizontal direction, the operation of each operation shaft is controlled in a complex manner, and the horizontal movement operation for moving the work table 8 linearly in a horizontal plane, and the vertical surface It is possible to perform a vertical movement operation for moving in a straight line. Such an operation operation of the boom device is collectively referred to as a boom operation. The aerial work vehicle 1 is provided with an automatic storage function for automatically storing the work platform 8 located at a high place on the vehicle body 2, and the boom operation device 10 is provided with an automatic storage switch for performing the command operation. ing.
[0027]
When the boom operation is performed in the boom operation device 10, the boom operation device 10 outputs an operation signal corresponding to the operation content to the control unit 30 provided on the vehicle body side. FIG. 3 shows the configuration of the operation control apparatus including the control unit 30, which will be described below with reference to this figure. When receiving an operation signal from the boom operation device 10, the control unit 30 outputs a command signal based on the operation signal to the hydraulic unit 40. In FIG. 3, the electrical or optical signal circuit is indicated by a solid line, and the hydraulic circuit is indicated by a dotted line.
[0028]
The hydraulic unit 40 includes a tank 41 that stores hydraulic oil, a hydraulic pump 42 that is driven by an engine or an electric motor to discharge hydraulic oil at a predetermined hydraulic pressure and flow rate, and supplies hydraulic oil discharged from the hydraulic pump 42 based on a command signal. Proportional solenoid valve SV that controls supply to hydraulic actuator 50 such as swing motor 51 and hoisting cylinder 52 by the direction and supply amount.₁~ SV₇And an oil cooler (not shown) for cooling the operating oil whose temperature has risen. The hydraulic unit 40 is a unit that controls the operation of each hydraulic actuator 50 by controlling the flow of hydraulic oil supplied to each hydraulic actuator 50 in accordance with a command signal from the control unit 30.
[0029]
  The control unit 30 also receives detection signals from a boom position detection device 20 that detects the position of the tip of the hoisting boom 5 relative to the vehicle body 2 and the position of the work table 8. The boom position detection device 20 includes a turning angle detector 21 that detects the turning angle of the turntable 4 with respect to the vehicle body 2, a hoisting angle detector 22 that detects the hoisting angle of the hoisting boom 5, and the extension of the lower second boom in the hoisting boom 5. Lower extension amount detector 23 for detecting the amount, bending / extension angle detector 24 for detecting the bending / extension angle of the bending boom 6 with respect to the hoisting boom 5, and upper extension amount detector 25 for detecting the extension amount of the upper second boom in the bending boom 6. The detected values are input to the control unit 30. Outrigger jack 17_L, 17_RIs a jack extension detector that detects the extension of the jack in the vehicle width direction.27The detected value is input to the control unit 30.
[0030]
The control unit 30 includes an arithmetic processing circuit 31 and a restriction range memory 32 for storing a restriction range inside the unit. The control unit 30 calculates the position of the tip of the hoisting boom 5 with respect to the vehicle body 2, that is, the position of the elbow part E and the position of the work table 8 by the arithmetic processing circuit 31 based on the position detection signal input from the boom position detection device 20. Based on these positions and the operation signal input from the boom operation device 10, the operation of the boom device is controlled as shown below.
[0031]
In addition, since the control content of the control unit 30 changes with the operation signals from the boom operation device 10, the following description will be made on a case-by-case basis for each operation signal from the operation device.
[0032]
First, FIG. 1 and FIG. 2 show a plan view of the aerial work vehicle 1 as viewed from above and a side view as viewed from the rear of the vehicle body. In the first embodiment, the boom operation is performed in a boom posture as shown in both figures. The control contents of the control unit 30 when a turning operation signal for commanding the turning operation of the turntable 4 is input from the device 10 will be described.
[0033]
  In this embodiment, the control unit 30 detects the boom position.apparatus20 is the position of the work table 8 with respect to the vehicle body 2 input from the jack 20 and the jack extension amount detector.27Jack extension W input from_JBased on the above, the jack overhang W in the side region opposite to the work table 8 across the swivel table 4 in plan view_JA case will be described in which the vehicle body side outer side (the region indicated by hatching in the drawing) is automatically set in the restriction range memory 32 as the restriction range S. That is, in the illustrated embodiment, the regulation range S is automatically set on the left side of the vehicle body and the set value W_S= W_JIt is.
[0034]
At this time, if the swivel 4 is turned in the direction T according to the turning operation signal, a situation in which the tip end portion of the hoisting boom 5, that is, the elbow portion E of the boom device, exceeds the regulation range S at the position P where the elbow portion E turns at a certain angle occurs. To do.
[0035]
The arithmetic processing circuit 1 in the control unit 30 calculates the position of the elbow part E with respect to the vehicle body 2 based on the position detection signals input from the turning angle detector 21, the undulation angle detector 22, and the lower extension amount detector 23. When an operation signal for turning operation is input from the boom operation device 10, a predicted locus of the elbow part E corresponding to the operation signal is calculated. Then, it is determined that the elbow part E exceeds the regulation range S from the predicted trajectory and the regulation range S stored in the regulation range memory 32, so that the elbow part E passes through the regulation range S. Control the operation.
[0036]
For example, as schematically shown by a two-dot chain line in FIG. 4, the swivel base 4 is swung based on the swivel operation signal, and the hoisting boom 5 is lifted according to the swivel angle of the swivel base 4. Elbow part E turning radius R_E(Refer to FIG. 1) is reduced, and control is performed so that the elbow portion E passes through the regulation range S. Further, at this time, the bending / extending operation and the contracting operation of the bending boom 6 are synchronously controlled so that the work table 8 is turned according to the original turning movement locus (the turning movement locus when there is no restriction range S) T. Specifically, this control is performed by controlling an electromagnetic proportional valve in the hydraulic unit 40, and the control unit 30 is operated by the electromagnetic proportional valve SV.₂, SV_FourAnd SV_FiveThe operation of the hoisting cylinder 52, the bending cylinder 54, and the upper telescopic cylinder 55 is controlled in accordance with the turning operation of the turning motor 51, and the work table 8 is moved as described above.
[0037]
Alternatively, as schematically shown by a two-dot chain line in FIG. 5, the swivel base 4 is swung based on the swivel operation signal, and the hoisting boom 5 is contracted according to the swivel angle of the swivel base 4. Elbow part E turning radius R_EAnd the elbow part E is controlled so as to pass through the regulation range S. At the same time, the bending / extending operation and the extending operation of the bending boom 6 are synchronously controlled, and the work table 8 is moved along the movement trajectory as the original turning movement trajectory T. Specifically, the control is performed by controlling an electromagnetic proportional valve in the hydraulic unit 40, and the control unit 30 performs an electromagnetic proportional valve SV._Three, SV_FourAnd SV_FiveThe operation of the lower expansion / contraction cylinder 53, the bending / extension cylinder 54 and the upper expansion / contraction cylinder 55 is controlled in accordance with the turning operation of the turning motor 51, and the work table 8 is moved as described above.
[0038]
According to the operation control as described above, even when the operator who is on the work table 8 performs the turning operation of the turn table 4 without noticing the presence of the obstacle, the control unit 30 can be operated as shown in FIG. Since the avoidance control is performed as shown in FIG. 5 to perform the turning operation, the elbow portion E does not move beyond the regulation range S and collide with an obstacle. Further, according to the avoidance control as described above, the work table 8 moves along the same movement locus as when the swivel table 4 is swung without the restriction range S. Therefore, it is possible to move the work table safely and efficiently without giving the operator a sense of incongruity. When the avoidance control is performed as described above, it is notified that the avoidance control is performed by an alarm device 80 such as a display lamp or a buzzer provided in the boom operation device 10.
[0039]
When the hoisting boom 5 and the bending boom 6 do not have telescopic booms, or when the lower second boom 5b and the upper second boom 6b are both in the fully contracted state, the work table 8 should be The robot cannot be moved along the trajectory. In such a case, the avoidance control shown in FIG. 6 or 7 is performed based on a preset selection, as schematically shown in FIG. 6 and FIG.
[0040]
In the control example shown in FIG. 6, the control unit 30 swings the swivel base 4 based on the swivel operation signal, lifts the hoisting boom 5 according to the swivel angle of the swivel base 4, and the elbow part E is regulated. Control is performed so as to pass through the range of the range S, and the work table 8 is turned by the turning radius R in plan view.₈The bending / extending operation of the bending boom 6 is synchronously controlled so as to turn in a state where the movement is held. According to such avoidance control, the height position of the work table 8 is changed, but the turning radius R in the plan view of the work table 8 is changed.₈The work table can be moved without changing the angle. Therefore, the elbow part E and the work table 8 can be safely moved without causing them to collide with each other in a work situation in which there is an obstacle on the elbow part side and a work object in front of the work table with the swivel base 4 interposed therebetween. .
[0041]
Further, in the control example shown in FIG. 7, the control unit 30 turns the turntable 4 based on the turning operation signal, raises the hoisting boom 5 according to the turning angle of the turntable 4, and moves the elbow part E. Is controlled so as to pass through the range of the regulation range S, and the bending / extension operation of the bending boom 6 is synchronously controlled so that the workbench 8 rotates while maintaining the height h with respect to the vehicle body. According to such avoidance control, the turning radius of the work table 8 changes, but the work table can be moved without changing the height position h of the work table 8. Therefore, in a work situation where there is a work object at the top or bottom of the workbench 8, the workbench 8 can be safely moved without being brought into contact with or being pinched.
[0042]
Next, the control contents of the control unit 30 when a movement operation signal for instructing the movement direction of the work table 8 is input from the boom operation device 10 will be described with reference to FIG. The second embodiment operates when a movement operation signal (moving operation signal of the work table including a turning operation of the swivel table 4) for moving the work table 8 in a straight line is input in a boom posture similar to FIG. Control.
[0043]
  In a boom posture as shown in FIG. 8, when a movement operation signal for linearly moving the work table 8 in the direction of the arrow H in the horizontal plane is input, the control unit 30 detects the boom position.apparatusFrom the work table position input from 20 and the movement operation signal, the operation amount of each operation axis required to move the work table 8 in the movement direction according to the movement operation signal is calculated and obtained. Based on this, the operation of each operating shaft is controlled. In the boom posture shown in the figure, the swivel 4 is swung, the bending boom 6 is bent and extended, and the bending boom 6 is contracted and the work table 8 is controlled to move horizontally.
[0044]
However, in such operation control, the elbow part E exceeds the regulation range S at the position P by the turning operation of the turntable 4. The control unit 30 predicts and calculates that the elbow part E exceeds the restriction range S from the predicted locus corresponding to the movement operation signal and the restriction range S stored in the restriction range memory 32, and the elbow part E is within the restriction range S. The operation of the boom device is controlled so as to pass through the range.
[0045]
For example, in the same manner as shown in FIG. 4, the swivel base 4 is swung, and the hoisting boom 5 is lifted according to the swivel angle of the swivel 4 to turn the turning radius R of the elbow part E._EAnd the elbow part E is controlled so as to pass within the range of the regulation range S. At the same time, the bending and extending operation and the contracting operation of the bending boom 6 are controlled synchronously, and the work table 8 moves according to the movement operation signal. The operation is controlled so as to pass the locus H.
[0046]
Alternatively, as shown in FIG. 5, the swivel base 4 is swiveled, and the hoisting boom 5 is contracted according to the swivel angle of the swivel base 4 to turn the turning radius R of the elbow part E._EAnd the elbow part E is controlled so as to pass through the range of the regulation range S. At the same time, the bending and extending operations and the contracting operations of the bending boom 6 are controlled synchronously, and the work table 8 moves according to the operation signal. The operation is controlled to pass through H.
[0047]
Therefore, according to the operation control as described above, even when the worker who is on the work table 8 performs a linear movement operation with the turning operation of the turn table 4 without noticing the presence of an obstacle, Since the control unit 30 performs avoidance control to operate the boom device, the elbow portion E does not move beyond the regulation range S and collide with an obstacle.
[0048]
  In the above, the boom position detection is performed for the setting means for the restriction range S.apparatus20 and position of the work table 8 detected by the jack27Jack overhang W detected by_JFrom the above, the jack extension W on the opposite side of the workbench_JSet value W of the regulation range_SAs an example, the control range memory 32 is automatically set. However, when the work is started, the jack extension W with respect to both the left and right sides of the vehicle body is described._JMay be automatically set in the restriction range memory 32 as an initial value of the restriction range S, and one of the restriction ranges may be canceled as required by the operator's selection.
[0049]
Further, when the jack extension amounts of the front and rear outrigger jacks are different, any one of the jack extension amounts (for example, the inner jack extension amount) is set to the set value W of the restriction range._SIn addition to the method of providing the restriction range S parallel to the side surface of the vehicle body, it is also possible to provide an oblique restriction range with respect to the vehicle body using the line segment connecting the front and rear jacks as a restriction value. In addition, the amount of jack extension W is limited to the outermost side of the vehicle body._JA value obtained by adding or subtracting a certain constant (for example, a jack base dimension or a predetermined margin dimension) or a value obtained by multiplying a predetermined coefficient (for example, a safety coefficient) is automatically set in the restriction range memory 32 as a restriction range. It can also be configured as follows.
[0050]
Further, in setting the restriction range S, the boom device is actually operated to move the elbow part E to a position just before the interference with the obstacle, and the restriction range setting button is pressed at that position to set the restriction position to an arbitrary position. It is also possible to configure.
[0051]
Next, a third embodiment of the present invention will be described with reference to FIGS. This embodiment relates to operation control when a moving operation for vertically moving the work table 8 or a moving operation for moving the work table 8 horizontally within the hoisting operation surface of the hoisting boom is performed. 9 and 10 are a plan view of the aerial work vehicle 1 as viewed from above and a side view as viewed from the rear of the vehicle body, similar to FIGS. 1 and 2. Further, in this embodiment, the overhanging amount W of the outrigger jack 17_JFor the regulation range S that is automatically set based on the_SThe example which changed and set is shown.
[0052]
In a boom posture as shown in both figures, when a movement operation signal for vertically moving the work table 8 in the direction indicated by the arrow V in the figures is input, the control unit 30 normally operates the raising boom 5 to fall down. The bending and extending boom 6 is operated to bend and extend, and the bending and extending boom 6 is operated to contract and operate so that the work table 8 is vertically lowered.
[0053]
However, in such operation control, the turning radius R of the elbow part is caused by the overturning operation of the hoisting boom 5._EAnd the elbow part E exceeds the regulation range S at the position P. The control unit 30 predicts and calculates that the elbow part E exceeds the restriction range S from the predicted locus corresponding to the movement operation signal and the restriction range S stored in the restriction range memory 32, and the elbow part E is within the restriction range S. The operation of the boom device is controlled so as to be within the range.
[0054]
For example, as schematically shown in the lower two-dot chain line in FIG. 10, the tilting operation of the hoisting boom 5 is regulated at a predetermined hoisting angle, the bending boom 6 is bent and lowered, and the bending boom 6 is shortened. Are controlled so that the work table 8 passes the movement locus V according to the movement operation signal in a state where the elbow part E is located within the range of the regulation range S. Specifically, the control unit 30 is an electromagnetic proportional valve SV.₂The solenoid proportional valve SV_FourAnd SV_FiveThe operations of the bending cylinder 54 and the upper telescopic cylinder 55 are controlled in synchronization with each other, and the operation of the work table 8 is controlled so as to pass the movement locus V according to the movement operation signal. At this time, the contraction operation of the hoisting boom 5 may be synchronously controlled.
[0055]
When an operation signal for horizontally moving the work table 8 in the direction of the boom hoisting axis indicated by an arrow H in the figure is input, the control unit 30 normally operates the hoisting boom 5 to fall down and the bending boom 6 to be turned off. The operation control is performed so that the work table 8 moves horizontally by the bending and extending operation and the bending boom 6 being contracted.
[0056]
However, in such operation control, the elbow part E exceeds the regulation range S at the position P by the overturning operation of the hoisting boom 5 as in the case of the vertical movement. The control unit 30 predicts and calculates that the elbow part E exceeds the regulation range S from the predicted locus corresponding to the operation signal and the regulation range S stored in the regulation range memory 32, and the elbow part E is within the range of the regulation range S. The operation of the boom device is controlled so as to be located inside.
[0057]
For example, as schematically shown by the upper two-dot chain line in FIG. 10, the folding operation of the hoisting boom 5 is regulated at a predetermined hoisting angle, and the bending and raising operation of the bending boom 6 and the contracting operation of the bending boom 6 are performed. Are controlled so that the work table 8 passes through the horizontal movement locus H according to the movement operation signal in a state where the elbow part E is located within the range of the regulation range S. The specific control target is the same as in the above embodiment.
[0058]
Therefore, according to the operation control as described above, even if the worker who is on the work table 8 performs a linear movement operation with the hoisting operation of the hoisting boom 5 without noticing the presence of an obstacle, Since the control unit 30 performs avoidance control to operate the boom device, the elbow portion E does not move beyond the regulation range S and collide with an obstacle.
[0059]
Next, a fourth embodiment of the present invention will be described with reference to FIGS. This embodiment relates to operation control when the boom device is automatically stored on the vehicle body 2. The setting of the boom posture and the restriction range S of the aerial work vehicle 1 shown in FIG. 11 is the same as the boom posture and the restriction range S of the third embodiment described with reference to FIGS. 9 and 10. Further, the retracting posture of the boom device in the aerial work vehicle 1 is such that the bending boom 6 and the hoisting boom 5 are folded up and down, the elbow part E is stored in front of the vehicle body 2, and the work table 8 is mounted on the vehicle body 2. This is a storage posture of so-called rear storage, which is stored behind the rear.
[0060]
Here, at the turning position of the swivel base 4 as shown in FIG. 9, the swivel operation angle until retracting is smaller when the swivel base 4 is swiveled clockwise in the figure, and the hoisting angle of the hoisting boom 5 is as shown in FIG. As shown in FIG. 11, it is lifted at a large undulation angle. Therefore, in the automatic storage control, the swivel 4 is generally swiveled clockwise in FIG. 9 and the boom boom 5 is tilted to retract the boom device. However, according to such operation control, it is clear that any of the above-described operations is an operation in which the elbow portion E approaches the restriction range S, and the restriction range S is exceeded with a slight boom operation.
[0061]
  In such a situation, when the automatic storage switch is operated by the boom operation device 10 and the operation signal is input to the control unit 30, the control unit 30 detects the boom position.apparatusFrom the position of the elbow portion E detected at 20 and the restriction range S set in the restriction range memory, automatic storage control is performed as follows.
[0062]
First, the control unit 30 starts the contracting operation of the hoisting boom 5, the bending / extending operation of the bending boom 6, and the contracting operation of the bending boom 6. Further, the turning radius R of the elbow portion required for turning the swivel 4 clockwise without exceeding the regulation range S._E(See Figure 9) W_SSince this is the following, this turning radius R_EThe hoisting angle θ of the hoisting boom that satisfies the above is calculated by the arithmetic processing circuit 31 and the hoisting boom 5 is raised and raised to the hoisting angle θ. It should be noted that the turning radius R is obtained only by the contraction operation of the hoisting boom 5._EIs W_SWhen it becomes less than the above, the raising operation is not performed and the undulation angle is maintained.
[0063]
Then, the work table 4 is turned while maintaining the undulation angle, and the undulation is performed when the turning angle with respect to the vehicle body 2 falls within a predetermined stored turning angle (for example, about ± 5 degrees with respect to the reference stored angle). The inclining operation of the boom 5 is started and stored in a predetermined storage position.
[0064]
  According to the automatic storage control as described above, the control range 30 and the boom position detection in which the control unit 30 is set.Device 20Based on the position of the elbow part E detected in step 1, the elbow part E collides with an obstacle to operate the boom device by performing avoidance control that automatically avoids the elbow part E from exceeding the regulation range S. There is no such thing as letting
[0065]
In the above embodiments, the predetermined distance W in the width direction of the vehicle body 2 is used._SAlthough the example in which the planar regulation range S standing upright is set is disclosed, the setting position of the regulation range can be set not only in the vehicle body width direction but also in the front-rear direction, and the regulation range setting form is not limited to the planar shape. It is also possible to define a stepped shape, a sloped shape of a predetermined angle, or a undulating angle of the undulating boom.
[0066]
In the embodiment, the case where the movement operation signal for the horizontal linear movement and the movement operation signal for the vertical linear movement are input to the control unit has been described. However, these signals are input in the form of being disassembled for each operation axis. It can also be applied to things. That is, the control unit predicts and calculates the movement trajectory of the elbow part corresponding to these operation signals, and operates the boom device so that the elbow part is located within the regulation range and the work table moves in the direction of the operation signal synthesis. Can be controlled.
[0067]
Further, in the embodiment, the case where both the hoisting boom and the bending boom are telescopic booms is illustrated as an example, but the present invention can be controlled so that the tip of the hoisting boom is located within a predetermined restriction range. For example, a boom device of a type in which a hoisting boom or a bending boom does not have a telescopic boom, or a so-called up-and-over type in which a hoisting boom or a bending boom is constituted by a parallel link mechanism. A boom device may be used.
[0068]
【The invention's effect】
  As described above, the present invention provides a boom device in which a turning motion, a undulation motion, and a bending motion are freely disposed on a vehicle body, a work table disposed at a tip portion of the boom device, and an operation of the boom device. Position detection for detecting the position of the tip of a hoisting boom with respect to a vehicle body in an aerial work vehicle including a boom operating device to be operated and an operation control device for controlling the operation of the boom device based on an operation signal from the boom operating device Having means,When the operation control device turns the boom device based on the turning operation signal that commands the turning operation of the turntable, the position of the tip of the hoisting boom detected by the position detector is set in advance outside the vehicle body. The hoisting boom is operated so that the tip of the hoisting boom passes through the control range and the workbench moves while maintaining the turning radius in plan view. A bend-extension boom type aerial work vehicle is configured to control the bend-extension operation of the bend-extension boom. According to such a configuration, when the operation control device determines that the tip of the hoisting boom exceeds the restriction range due to the turning operation of the swivel base, the action control device does not restrict the entire boom device at the restriction position. Therefore, the hoisting operation of the hoisting boom and the bending operation of the hoisting boom are controlled so that the tip of the hoisting boom does not exceed the regulation range, and the work table is swung while maintaining the turning radius in plan view. Therefore, even when the operator who is on the work table is distracted by the immediate object and performs an operation operation in which the tip of the hoisting boom (elbow part) interferes with the obstacle, the hoisting boom There is no possibility that the front end portion or the work table front end portion will accidentally collide with an obstacle, and the work table can be safely swiveled to efficiently perform work at a high place.
[0069]
  Also,The operation control device determines that the position of the tip of the hoisting boom detected by the position detector exceeds the regulation range when the boom device is turned based on a turning operation signal that commands the turning operation of the turntable. The hoisting boom is bent and the hoisting boom is bent and extended so that the tip of the hoisting boom passes through the regulation range and the workbench is swiveled while maintaining the height position with respect to the vehicle body. A bent boom type aerial work vehicle is configured to control. According to such a configuration, when the operation control device determines that the tip of the hoisting boom exceeds the restriction range due to the turning operation of the swivel base, the action control device does not restrict the entire boom device at the restriction position. In addition, the hoisting operation of the hoisting boom and the bending operation of the hoisting and booming boom are controlled so that the tip end portion of the hoisting boom does not exceed the regulation range, and the work table is swung while keeping the height position with respect to the vehicle body. Therefore, even when the operator who is on the work table is distracted by the immediate object and performs an operation operation in which the tip of the hoisting boom (elbow part) interferes with the obstacle, the hoisting boom There is no risk of accidentally colliding the front end portion or the bottom surface of the work table with an obstacle, and the work table can be safely swiveled to efficiently perform work at a high place.

[0070]
  In addition, at least one of the hoisting boom and the bending boom is configured to be freely extendable and retractable, and the position is detected when the operation control device causes the boom device to turn based on a turning operation signal that commands turning operation of the turntable. When the position of the tip of the hoisting boom detected by the device is determined to exceed the regulation range, the tip of the hoisting boom passes through the regulation range, and the work platform is seen to have a turning radius and a height relative to the vehicle body in plan view. Bend-and-extend boom type so as to control at least one of the hoisting operation of the hoisting boom, the hoisting and unfolding operation of the hoisting boom, the hoisting and retracting operation of the hoisting boom and the telescopic action of the hoisting and extending boom Configure an aerial work vehicle. According to such a configuration, the operation control device does not restrict and stop the entire boom device in the same manner as described above when it is determined by the turning operation of the swivel base that the tip of the hoisting boom exceeds the restriction range. The operation of the boom device is controlled so that the tip of the hoisting boom does not exceed the regulation range, and the work table is kept in accordance with the original turning trajectory (while maintaining the turning radius and the height position with respect to the vehicle body in plan view). Turn and move. Therefore, even when the operator who is on the work table is distracted by the immediate object and performs an operation operation in which the tip of the hoisting boom (elbow part) interferes with the obstacle, the hoisting boom There is no risk of accidentally colliding the front end or the work table with an obstacle, and the work table can be safely swiveled and moved efficiently according to the operator's operation intention.
[0071]
  Further, at least one of the hoisting boom and the bending boom is configured to be freely extendable and retractable, and the operation control device turns the boom device based on a movement operation signal that commands the moving direction of the work table including the turning operation of the turning table. When it is determined that the position of the tip of the hoisting boom detected by the position detector exceeds the restriction range when operating, the tip of the hoisting boom passes through the restriction range, and the work table is moved. Controls at least one of the swivel turning operation, the hoisting boom hoisting operation, the bending boom hoisting operation, the hoisting boom telescopic operation, and the hoisting boom telescopic operation so as to move in the direction of movement as indicated by the signal. Constructs a boom-lift type aerial work platform. According to such a configuration, the operation control device does not restrict and stop the entire boom device in the same manner as described above when it is determined by the turning operation of the swivel base that the tip of the hoisting boom exceeds the restriction range. In addition, while controlling the operation of the hoisting boom so that the tip of the hoisting boom does not exceed the regulation range, the operation of the other operating shaft such as the bending boom is controlled to move the work table in the moving direction according to the movement operation signal. Let Therefore, even when the operator who is on the work table is distracted by the immediate object and performs an operation operation in which the tip of the hoisting boom (elbow part) interferes with the obstacle, the hoisting boom There is no risk of accidentally colliding the front end portion or the work table with an obstacle, and the work table can be safely moved in the moving direction according to the operator's operation command, so that the work at a high place can be performed efficiently.
[0072]
  Also, a plurality of jack devices that are arranged on the front, rear, left and right sides of the vehicle body, are configured to be able to project to the side of the vehicle body and extend and contract in the vertical direction, and lift and support the vehicle body with the lower end grounded. A projecting amount detecting means for detecting a projecting amount of the vehicle body to the side of the vehicle body, and the restriction range is set based on the projecting amount of the jack device detected by the projecting amount detecting means. A bending boom type aerial work vehicle is constructed. According to such a configuration, when there is a standing obstacle such as a wall or a wall on the side of the vehicle body, the extension width of the jack is limited and the inner side of the obstacle ( Body side ) It can only be extended and extended. That is, an obstacle may exist outside the overhanging width of the jack. On the other hand, on the vehicle body side with respect to the tip position of the jack, since the jack is already overhanging within the range, it can be estimated as a safety region where there is no standing object such as a bag or a wall surface. Based on such determination, the above configuration automatically detects and automatically sets the area (regulation range) where there is no obstacle indirectly from the overhang amount of the jack device. It is possible to prevent problems when the range setting is forgotten or an error is input.
  In addition, there is an obstacle detection means that is disposed on the vehicle body and detects the position of the obstacle located outside the vehicle body, and the restriction range is the obstacle presence position detected by the obstacle detection means. It is preferable to configure the boom boom type aerial work vehicle so as to be set based on the above. According to such a configuration, since the obstacle detection unit directly detects the position of the obstacle and automatically sets the restriction range, the work load can be reduced and the restriction range can be forgotten. Problems caused by erroneous input can be prevented in advance.
  Further, the bending boom type aerial work vehicle may be configured such that the restriction range is set by an operator selecting or inputting a numerical value based on a positional relationship between the vehicle body and an obstacle located outside the vehicle body. This is true. According to such a configuration, an operator who wants to work at a high place selects or inputs a numerical value according to the positional relationship between the vehicle body and surrounding obstacles, and sets the restriction range. It is possible to set a restriction range according to the work environment, for example, by operating the boom device and moving the tip of the hoisting boom until just before it interferes with an obstacle and setting the restriction position at that position.
  In addition, the bending boom is bent and stretched so that the proximal end portion can be bent and extended at the distal end portion of the hoisting boom so that the distal end portion is located on the opposite side of the upper end portion of the hoisting boom in the plan view. It is preferable to constitute an aerial work vehicle. According to such a configuration, the bending boom is located on the opposite side of the swivel base between the center of gravity of the hoisting boom and the center of gravity of the bending boom including the work bench disposed at the tip. When the hoisting boom and the bending boom are operated to perform the desired work at the height, the center of gravity of the entire boom device is kept near the pivot axis, so the work platform can be safely moved to the desired position to work at the height. It can be performed.
[Brief description of the drawings]
BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is an explanatory view for explaining the operation of a bending and extending boom type aerial work vehicle according to the present invention, and is a plan view of an aerial work vehicle as viewed from above.
FIG. 2 is an explanatory view for explaining the operation of the bending and extending boom type aerial work vehicle according to the present invention, and is a side view of the aerial work vehicle shown in FIG.
FIG. 3 is a block diagram showing a configuration of a control device used in a bending boom type aerial work vehicle according to the present invention.
4 is a side view of the aerial work vehicle as viewed from the rear of the vehicle body, and is an explanatory view showing a control example of the control device when a turning operation is performed in the boom posture shown in FIGS. 1 and 2. FIG.
5 is a side view of the aerial work vehicle as viewed from the rear of the vehicle body, and is an explanatory view showing another control example of the control device when the turning operation is performed in the boom posture shown in FIGS. 1 and 2. FIG. is there.
FIG. 6 is an explanatory view schematically showing another embodiment of a bending and extending boom type aerial work vehicle according to the present invention, and a control device when a turning operation is performed in the boom posture shown in FIGS. 1 and 2; It is explanatory drawing which shows the other example of control.
FIG. 7 is an explanatory view schematically showing another embodiment of a bending and extending boom type aerial work vehicle according to the present invention, and a control device when a turning operation is performed in the boom posture shown in FIGS. 1 and 2; It is explanatory drawing which shows the other example of control.
8 is a plan view of the aerial work vehicle according to the present invention as viewed from above, and a control example of the control device when a horizontal linear movement operation is performed in the direction of the arrow in the boom posture shown in FIG. 1 and FIG. It is explanatory drawing which shows.
FIG. 9 is a plan view of an aerial work vehicle according to the present invention as viewed from above, and shows a control device when a vertical linear movement operation or a horizontal linear movement operation is performed in the direction of each arrow in the illustrated boom posture. It is explanatory drawing for demonstrating the example of control.
FIG. 10 is a side view of the aerial work vehicle shown in FIG. 9 as seen from the rear of the vehicle body, and the upper control when the vertical linear movement operation or the horizontal linear movement operation is performed in the direction of each arrow in the illustrated boom posture. It is explanatory drawing which shows the example of control of an apparatus.
11 is an explanatory diagram showing a control example of the control device when an automatic storage operation is performed in the boom posture shown in FIGS. 9 and 10. FIG.
12 is an explanatory diagram showing a control example of the control device at the time of automatic storage following FIG. 11. FIG.
FIG. 13 is a perspective view of a straight-bending boom type aerial work vehicle shown as an embodiment of the bending-boom type aerial work vehicle according to the present invention.
[Explanation of symbols]
S Scope of regulation
1 Bending and extending boom type aerial work vehicle
2 body
4 swivel
5 Hoisting boom (5a Lower first boom, 5b Lower second boom)
6 Bending and extending booms (6a Upper first boom, 6b Upper second boom)
8 Working table
10 Boom operation device
17 Outrigger jack (jacking device)
20 Boom position detectionapparatus(Position detection means)
27  Jack overhang detector (overhang detector)
30 Control unit (operation control device)

Claims (8)

The car body,
Swivel base mounted freely horizontally pivot the vehicle body, a boom device having a bending boom provided by connecting freely bending and stretching motion in the distal end portion of the swivel deck mounted freely undulating motion to the undulations boom and the hoisting boom When,
A workbench disposed at the tip of the boom device;
A boom operating device for operating the boom device;
In an aerial work vehicle including an operation control device that controls the operation of the boom device based on an operation signal from the boom operation device,
Position detecting means for detecting the position of the tip of the hoisting boom with respect to the vehicle body;
The operation control device is configured such that the position of the tip of the hoisting boom detected by the position detector is detected when the boom device is turned based on a turning operation signal that commands turning operation of the turntable. If the tip of the hoisting boom passes through the regulation range and the work table keeps a turning radius in plan view, the turning platform moves in a state where it is determined that the regulation range that is preset outside is exceeded. Thus, the bending boom type aerial work vehicle characterized by controlling the raising and lowering operation of the hoisting boom and the bending operation of the bending boom. The car body,
Swivel base mounted freely horizontally pivot the vehicle body, a boom device having a bending boom provided by connecting freely bending and stretching motion in the distal end portion of the swivel deck mounted freely undulating motion to the undulations boom and the hoisting boom When,
A workbench disposed at the tip of the boom device;
A boom operating device for operating the boom device;
In an aerial work vehicle including an operation control device that controls the operation of the boom device based on an operation signal from the boom operation device,
Position detecting means for detecting the position of the tip of the hoisting boom with respect to the vehicle body;
The operation control device is configured such that the position of the tip of the hoisting boom detected by the position detector is detected when the boom device is turned based on a turning operation signal that commands turning operation of the turntable. When the tip of the hoisting boom passes through the regulation range and the work table holds the height position with respect to the vehicle body. Thus, the bending boom type aerial work vehicle is characterized by controlling the raising and lowering operation of the raising and lowering boom and the bending and extending operation of the bending and extending boom. The car body,
Swivel base mounted freely horizontally pivot the vehicle body, a boom device having a bending boom provided by connecting freely bending and stretching motion in the distal end portion of the swivel deck mounted freely undulating motion to the undulations boom and the hoisting boom When,
A workbench disposed at the tip of the boom device;
A boom operating device for operating the boom device;
In an aerial work vehicle including an operation control device that controls the operation of the boom device based on an operation signal from the boom operation device,
Position detecting means for detecting the position of the tip of the hoisting boom with respect to the vehicle body;
At least one of the hoisting boom and the bending / extending boom is configured to be extendable and retractable,
The operation control device is configured such that the position of the tip of the hoisting boom detected by the position detector is detected when the boom device is turned based on a turning operation signal that commands turning operation of the turntable. When the end of the hoisting boom passes through the regulation range, the work platform has a turning radius and a height position with respect to the vehicle body in plan view. Controlling at least one of the hoisting operation of the hoisting boom, the hoisting / extending operation of the hoisting boom, the telescopic operation of the hoisting boom, and the telescopic operation of the hoisting / extending boom so that the hoisting boom swings while being held. A bending boom type aerial work vehicle. The car body,
Swivel base mounted freely horizontally pivot the vehicle body, a boom device having a bending boom provided by connecting freely bending and stretching motion in the distal end portion of the swivel deck mounted freely undulating motion to the undulations boom and the hoisting boom When,
A workbench disposed at the tip of the boom device;
A boom operating device for operating the boom device;
In an aerial work vehicle including an operation control device that controls the operation of the boom device based on an operation signal from the boom operation device,
Position detecting means for detecting the position of the tip of the hoisting boom with respect to the vehicle body;
At least one of the hoisting boom and the bending / extending boom is configured to be extendable and retractable,
The operation control device is configured to detect the hoisting boom detected by the position detector when the boom device is turned based on a movement operation signal that commands a moving direction of the work table including a turning operation of the turntable. When the position of the tip of the hoisting boom exceeds the regulation range set in advance outside the vehicle body, the tip of the hoisting boom passes through the regulation range, and the work table follows the movement operation signal. At least one of the swivel operation of the swivel base, the hoisting operation of the hoisting boom, the bending operation of the hoisting boom, the telescopic operation of the hoisting boom, and the hoisting operation of the hoisting and booming boom. Bending and extending boom type aerial work vehicle characterized by controlling A plurality of jack devices disposed on the front, rear, left, and right of the vehicle body, configured to be able to project to the side of the vehicle body and expand and contract in the vertical direction, and lift and support the vehicle body with the lower end grounded;
An overhang amount detecting means for detecting an overhang amount of the jack device to the side of the vehicle body;
5. The bending boom type height according to claim 1, wherein the restriction range is set based on an extension amount of the jack device detected by the extension amount detection means. Work vehicle. An obstacle detecting means disposed on the vehicle body for detecting an existing position of an obstacle located outside the vehicle body;
The bending boom extension work according to any one of claims 1 to 4, wherein the restriction range is set based on a position where the obstacle is detected by the obstacle detection means. car. 5. The control range according to claim 1, wherein the restriction range is set by an operator selecting or inputting a numerical value based on a positional relationship between the vehicle body and an obstacle located outside the vehicle body. A bending boom type aerial work vehicle described in any one of the above. The bending and extending boom has a proximal end portion provided at the distal end of the hoisting boom so as to be able to bend and extend so that the distal end is located on the opposite side of the upper end of the hoisting boom across the swivel base in plan view. A bending boom type aerial work vehicle according to any one of claims 1 to 7, characterized in that the vehicle is constructed.

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