JP4132864B2 - Automatic storage device for aerial work platforms with flexure and extension jib - Google Patents

Automatic storage device for aerial work platforms with flexure and extension jib Download PDF

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JP4132864B2
JP4132864B2 JP2002040959A JP2002040959A JP4132864B2 JP 4132864 B2 JP4132864 B2 JP 4132864B2 JP 2002040959 A JP2002040959 A JP 2002040959A JP 2002040959 A JP2002040959 A JP 2002040959A JP 4132864 B2 JP4132864 B2 JP 4132864B2
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bending
jib
boom
angle
signal
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JP2003238093A (en
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毅 多田
野口　　真児
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Tadano Ltd
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Description

【０００１】
【発明の属する技術分野】
この発明は、車両と、この車両の上に旋回自在に取付けた旋回台と、旋回台に起伏自在にその基端部を取付けた伸縮ブームと、伸縮ブームの先端部にブームの起伏面と平行な平面上で屈伸自在にその基端部を取付けた屈伸ジブと、屈伸ジブの先端部に伸縮ブームの起伏作動および屈伸ジブの屈伸作動に関わらず姿勢を維持するよう取付けた姿勢維持ブラケットと、この姿勢維持ブラケットに水平首振自在に取付けたバスケットと、からなる高所作業車の自動格納装置に関するものである。
【０００２】
【従来の技術】
従来の屈伸ジブ付き高所作業車の構造について、図１、図２、および図３を用いて説明する。
【０００３】
屈伸ジブ付き高所作業車Ａは、車両１と、作業機２とからなっている。作業機２は、車両１上に固定された基台３と、基台３の前後左右方向４隅に取付けスライドおよびジャッキ作動をするアウトリガ４ａ，４ｂ，４ｃ，４ｄと、基台３の上に旋回自在に取付けた旋回台５と、旋回台５を旋回駆動する旋回駆動手段６（図示せず）と、旋回台５に起伏自在にその基端部を取付けた伸縮ブーム７と、伸縮ブーム７を起伏駆動する起伏駆動手段８と、伸縮ブーム７を伸縮駆動するブーム伸縮駆動手段９（図示せず）と、伸縮ブーム７の先端部に伸縮ブーム７の起伏面と平行な平面上で屈伸自在にその基端部を取付けた屈伸ジブ10と、屈伸ジブ10を屈伸駆動する屈伸駆動手段11と、屈伸ジブ10の先端部に伸縮ブーム７の起伏作動および屈伸ジブ10の屈伸作動に関わらず姿勢を維持するよう揺動自在に取付けた姿勢維持ブラケット12と、姿勢維持ブラケット12を姿勢維持駆動する姿勢維持駆動手段13と、姿勢維持ブラケット12に水平首振自在に取付けたバスケット14と、バスケット14を水平首振駆動する首振駆動手段15（図示せず）と、バスケット14に取付け操作信号を出力する上部操作手段16と、旋回台５に取付け操作信号を出力する下部操作手段17と、操作信号を受信し各駆動手段へ駆動信号を出力する制御手段18（図示せず）と、からなっている。
【０００４】
そして、屈伸ジブ付き高所作業車Ａは、作業機２の格納姿勢として、図１および図２に示されるような格納姿勢を採る。すなわち、旋回台５を所定格納旋回位置に旋回し、伸縮ブーム７を所定ブーム格納長さに縮小および所定格納起伏角度に倒伏し、屈伸ジブ10を所定格納屈伸角度に屈曲、バスケット14を所定格納首振角度に首振りし、屈伸ジブ10を基台３上に取付けたジブレスト19上に置いた格納姿勢を採っている。
【０００５】
作業時には、オペレータは、先ずアウトリガ４ａ〜４ｄを適宜スライド作動およびジャッキ作動して接地し、屈伸ジブ付き高所作業車Ａを支持する。そして、バスケット14に搭乗し、操作手段16の操作レバー、操作スイッチを操作して、例えば図３のように、起伏駆動手段８を駆動して伸縮ブーム７を適宜起仰し、その後旋回駆動手段６を駆動して旋回台５を適宜旋回、ブーム伸縮駆動手段９を駆動して伸縮ブーム７を適宜伸縮、屈伸駆動手段11を駆動して屈伸ジブ10を適宜屈伸、首振駆動手段15を駆動してバスケット14を適宜首振りし、対象の高所作業または地下作業の位置にバスケット14を近づけて作業を行う。
【０００６】
作業が終わると、オペレータは、その時の作業姿勢から、作業機２を既述の格納姿勢に至るよう、操作手段16の操作レバー、操作スイッチを操作して、ブーム伸縮駆動手段９を駆動して伸縮ブーム７を所定ブーム格納長さに伸縮し、首振駆動手段12を駆動してバスケット14を所定格納首振位置に首振りし、屈伸駆動手段11を駆動して屈伸ジブ10を所定格納屈伸角度に屈曲、旋回駆動手段６を駆動して旋回台５を所定格納旋回位置に旋回し、そして、起伏駆動手段８を駆動して伸縮ブーム７を所定格納起伏角度に倒伏し、屈伸ジブ10をジブレスト19上に載置して格納する。その後、オペレータは、バスケット14から降り、アウトリガ４ａ〜４ｄのジャッキ縮小作動およびスライド縮小作動をし、アウトリガ４ａ〜４ｄを格納すれば、図１および図２に示す走行姿勢となり、現場内の移動または現場から離れることができる。
【０００７】
【発明が解決しようとする課題】
ところで、この格納における一連の作動中、オペレータは、作業機２と作業対象物等環境物との干渉、さらに作業機２自体の干渉および作業機２と車両１との干渉に注意を払いながら、干渉しないようにブーム伸縮駆動手段９、首振駆動手段12、屈伸駆動手段11、旋回駆動手段６、起伏駆動手段８の各駆動手段を作動させるように上部操作手段16または下部操作手段17を操作して、格納する。つまり、オペレータは、これらの干渉防止のための監視とその操作に多大な注意を払わなければならず、負担が大きいという問題点がある。
そのうえ屈伸角度によって作動方向感覚が反転する屈伸ジブ10を備えるため、オペレータは、なおさら負担が大きいという問題点がある。
【０００８】
また、屈伸ジブを伸縮式屈伸ジブ21にした場合には、伸縮式屈伸ジブ21の伸縮作動が加わるため、オペレータの負担はさらに大きくなるという問題点がある。
【０００９】
本願発明の課題は、従来の屈伸ジブ付き高所作業車の問題点である格納作動時のオペレータの監視と操作とに係る大きな負担をできる限り小さくして、格納作動を安全であると共に、効率的にすることである。
【００１０】
【課題を解決するための手段】
上記の課題を解決するため、本願発明に係る屈伸ジブ付き高所作業車の自動格納装置は、以下の如く構成する。
【００１１】
本願発明の請求項１では、屈伸ジブ付き高所作業車の自動格納装置を、車両と、この車両の上に旋回自在に取付けた旋回台と、旋回駆動手段と、旋回台に起伏自在にその基端部を取付けた伸縮ブームと、起伏駆動手段と、ブーム伸縮駆動手段と、伸縮ブームの先端部に伸縮ブームの起伏面と平行な平面上で屈伸自在にその基端部を取付けた屈伸ジブと、屈伸駆動手段と、屈伸ジブの先端部に伸縮ブームの起伏作動および屈伸ジブの屈伸作動に関わらず姿勢を維持するよう取付けた姿勢維持ブラケットと、この姿勢維持ブラケットに取付けたバスケットと、バスケットあるいは旋回台に取付け操作信号を出力する操作手段と、操作信号を受信し各駆動手段へ駆動信号を出力する制御手段と、からなる作業機と、からなり、旋回台を所定格納旋回位置に旋回、伸縮ブームを所定ブーム格納長さに縮小および所定格納起伏角度に倒伏、屈伸ジブを所定格納屈伸角度に屈曲した格納姿勢を採る屈伸ジブ付き高所作業車において、前記旋回台の旋回角度を検出する旋回角検出手段と、前記伸縮ブームの起伏角度を検出する起伏角検出手段と、伸縮ブームのブーム長さを検出するブーム長さ検出手段と、前記屈伸ジブの屈伸角度を検出する屈伸角検出手段と、これら各検出手段の検出値により前記作業機の現在の姿勢を演算算出する姿勢算出手段と、作業機自体または作業機と車両との干渉に基く侵入規制域を記憶した侵入規制域記憶手段と、作業機と侵入規制域との位置を比較し侵入規制域に作業機の少なくとも一部が重複する場合または作業機の格納作動に関連する屈曲作動における軌跡と侵入規制域との位置関係を比較し侵入規制域に作業機の軌跡の少なくとも一部が重複する場合には規制信号を出力する判定手段と、前記所定格納屈伸角度を記憶し屈伸角検出手段の検出値がこの記憶値に一致すると停止信号を出力する比較手段と、自動格納司令信号を出力する自動格納スイッチと、格納制御装置と、を設け、この格納制御装置は、自動格納司令信号を受信すると、格納作動に関連する屈曲作動を実行するよう前記屈伸駆動手段に屈曲側駆動信号を出力し、自動格納司令信号と共に規制信号を受信すると、屈曲側駆動信号を停止し侵入規制域外への回避作動をする側に伸縮ブームの作動をするようブーム駆動手段に駆動信号を出力し、停止信号を受信すると屈曲側駆動信号を停止する、よう構成した。
【００１２】
このように構成したので、屈伸ジブの格納に際し屈伸ジブを所定格納屈伸角度にまで屈曲作動させるのに、オペレータは、自動格納スイッチを操作する。すると、屈伸ジブは、屈曲作動を始め、作業機自体または作業機と車両との干渉に基く侵入規制域に掛かると屈曲作動を停止する。そこで、ブーム駆動手段が侵入規制域外への伸縮ブームの回避作動をし、侵入規制域外になると、屈曲作動を再開する。そして、所定格納屈伸角度に至ると停止する。
つまり、オペレータは、自動格納スイッチを操作するだけで、作業機自体または作業機と車両との干渉をすることなく、屈伸ジブの所定格納屈伸角度への格納を完了させることができる。
【００１３】
本願発明の請求項２では、屈伸ジブ付き高所作業車の自動格納装置を、車両と、この車両の上に旋回自在に取付けた旋回台と、旋回駆動手段と、旋回台に起伏自在にその基端部を取付けた伸縮ブームと、起伏駆動手段と、ブーム伸縮駆動手段と、伸縮ブームの先端部に伸縮ブームの起伏面と平行な平面上で屈伸自在にその基端部を取付けた伸縮式屈伸ジブと、屈伸駆動手段と、ジブ伸縮駆動手段と、伸縮式屈伸ジブの先端部に伸縮ブームの起伏作動および伸縮式屈伸ジブの屈伸作動に関わらず姿勢を維持するよう取付けた姿勢維持ブラケットと、この姿勢維持ブラケットに取付けたバスケットと、バスケットあるいは旋回台に取付け操作信号を出力する操作手段と、操作信号を受信し各駆動手段へ駆動信号を出力する制御手段と、からなる作業機と、からなり、旋回台を所定格納旋回位置に旋回、伸縮ブームを所定ブーム格納長さに縮小および所定格納起伏角度に倒伏、伸縮式屈伸ジブを所定ジブ格納長さに縮小および所定格納屈伸角度に屈曲した格納姿勢を採る屈伸ジブ付き高所作業車において、前記旋回台の旋回角度を検出する旋回角検出手段と、前記伸縮ブームの起伏角度を検出する起伏角検出手段と、伸縮ブームのブーム長さを検出するブーム長さ検出手段と、前記伸縮式屈伸ジブの屈伸角度を検出する屈伸角検出手段と、伸縮式屈伸ジブのジブ長さを検出するジブ長さ検出手段と、これら各検出手段の検出値により前記作業機の現在の姿勢を演算算出する姿勢算出手段と、作業機自体または作業機と車両との干渉に基く侵入規制域または車両の安定に基く侵入規制域を記憶した侵入規制域記憶手段と、作業機と侵入規制域との位置を比較し侵入規制域に作業機の少なくとも一部が重複する場合または作業機の格納作動に関連するジブ伸縮作動における軌跡と侵入規制域との位置関係を比較し侵入規制域に作業機の軌跡の少なくとも一部が重複する場合には規制信号を出力する判定手段と、前記所定ジブ格納長さを記憶しジブ長さ検出手段の検出値がこの記憶値に一致すると停止信号を出力する比較手段と、自動格納司令信号を出力する自動格納スイッチと、格納制御装置と、を設け、この格納制御装置は、自動格納司令信号を受信すると、格納作動に関連するジブ伸縮作動を実行するよう前記ジブ伸縮駆動手段にジブ伸縮駆動信号を出力し、自動格納司令信号と共に規制信号を受信すると、ジブ伸縮駆動信号を停止し侵入規制域外への回避作動をする側に伸縮ブームの作動をするようブーム駆動手段に駆動信号を出力し、停止信号を受信するとジブ伸縮駆動信号を停止する、よう構成した。
【００１４】
このように構成したので、伸縮式屈伸ジブの格納に際し伸縮式屈伸ジブを所定ジブ格納長さにまで伸縮作動させるのに、オペレータは、自動格納スイッチを操作する。すると、伸縮式屈伸ジブは、ジブ伸縮作動を始め、作業機自体または作業機と車両との干渉に基く侵入規制域に掛かるとジブ伸縮作動を停止する。そこで、ブーム駆動手段が侵入規制域外への伸縮ブームの回避作動をし、侵入規制域外になると、ジブ伸縮作動を再開する。そして、所定ジブ格納長さに至ると停止する。
つまり、オペレータは、自動格納スイッチを操作するだけで、作業機自体または作業機と車両との干渉をすることなく、伸縮式屈伸ジブの所定ジブ格納長さへの格納を完了させることができる。
【００１５】
本願発明の請求項３では、屈伸ジブ付き高所作業車の自動格納装置を、車両と、この車両の上に旋回自在に取付けた旋回台と、旋回駆動手段と、旋回台に起伏自在にその基端部を取付けた伸縮ブームと、起伏駆動手段と、ブーム伸縮駆動手段と、伸縮ブームの先端部に伸縮ブームの起伏面と平行な平面上で屈伸自在にその基端部を取付けた屈伸ジブと、屈伸駆動手段と、屈伸ジブの先端部に伸縮ブームの起伏作動および屈伸ジブの屈伸作動に関わらず姿勢を維持するよう取付けた姿勢維持ブラケットと、この姿勢維持ブラケットに水平首振自在に取付けたバスケットと、首振駆動手段と、バスケットあるいは旋回台に取付け操作信号を出力する操作手段と、操作信号を受信し各駆動手段へ駆動信号を出力する制御手段と、からなる作業機と、からなり、旋回台を所定格納旋回位置に旋回、伸縮ブームを所定ブーム格納長さに縮小および所定格納起伏角度に倒伏、屈伸ジブを所定格納屈伸角度に屈曲、バスケットを所定格納首振角度に首振りした格納姿勢を採る屈伸ジブ付き高所作業車において、前記旋回台の旋回角度を検出する旋回角検出手段と、前記伸縮ブームの起伏角度を検出する起伏角検出手段と、伸縮ブームのブーム長さを検出するブーム長さ検出手段と、前記屈伸ジブの屈伸角度を検出する屈伸角検出手段と、前記バスケットの首振角度を検出する首振角検出手段と、前記所定格納旋回位置、前記所定ブーム格納長さ、前記所定格納起伏角度、前記所定格納屈伸角度、前記所定格納首振角度を記憶し各検出手段の検出値が対応する記憶値に一致すると停止信号を出力する比較手段と、自動格納司令信号を出力する自動格納スイッチと、格納制御装置と、を設け、この格納制御装置は、自動格納司令信号を受信すると、バスケットの所定格納首振角度への首振作動を実行するよう前記首振駆動手段に首振駆動信号を出力し停止信号を受信すると首振駆動信号を停止、屈伸ジブの所定格納屈伸角度への屈曲作動を実行するよう前記屈伸駆動手段に屈曲側駆動信号を出力し停止信号を受信すると屈曲側駆動信号を停止、伸縮ブームの所定ブーム格納長さへの縮小作動を実行するよう前記ブーム伸縮駆動手段にブーム縮小側駆動信号を出力し停止信号を受信するとブーム縮小側駆動信号を停止、旋回台の所定格納旋回位置への旋回作動を実行するよう前記旋回駆動手段に旋回駆動信号を出力し停止信号を受信すると旋回駆動信号を停止、伸縮ブームの所定格納起伏角度への倒伏作動を実行するよう前記起伏駆動手段に倒伏駆動信号を出力し停止信号を受信すると倒伏駆動信号を停止、の順序に従って格納作動制御をする、よう構成した。
【００１６】
このように構成したので、屈伸ジブ付き高所作業車の作業機の格納に際し、オペレータは、自動格納スイッチを操作する。すると、バスケットの所定格納首振角度への首振作動を実行し所定格納首振角度に至ると首振作動を停止、屈伸ジブの所定格納屈伸角度への屈曲作動を実行し所定格納屈伸角度に至ると屈曲作動を停止、伸縮ブームの所定ブーム格納長さへの縮小作動を実行し所定ブーム格納長さに至ると縮小作動を停止、旋回台の所定格納旋回位置への旋回作動を実行し所定格納旋回位置に至ると旋回作動を停止、伸縮ブームの所定格納起伏角度への倒伏作動を実行し所定格納起伏角度に至ると倒伏作動を停止する。
つまり、オペレータは、自動格納スイッチを操作するだけで屈伸ジブ付き高所作業車の作業機の格納を完了させることができる。
【００１７】
本願発明の請求項４では、屈伸ジブ付き高所作業車の自動格納装置を、車両と、この車両の上に旋回自在に取付けた旋回台と、旋回駆動手段と、旋回台に起伏自在にその基端部を取付けた伸縮ブームと、起伏駆動手段と、ブーム伸縮駆動手段と、伸縮ブームの先端部に伸縮ブームの起伏面と平行な平面上で屈伸自在にその基端部を取付けた伸縮式屈伸ジブと、屈伸駆動手段と、ジブ伸縮駆動手段と、伸縮式屈伸ジブの先端部に伸縮ブームの起伏作動および伸縮式屈伸ジブの屈伸作動に関わらず姿勢を維持するよう取付けた姿勢維持ブラケットと、この姿勢維持ブラケットに水平首振自在に取付けたバスケットと、首振駆動手段と、バスケットあるいは旋回台に取付け操作信号を出力する操作手段と、操作信号を受信し各駆動手段へ駆動信号を出力する制御手段と、からなる作業機と、からなり、旋回台を所定格納旋回位置に旋回、伸縮ブームを所定ブーム格納長さに縮小および所定格納起伏角度に倒伏、伸縮式屈伸ジブを所定ジブ格納長さに縮小および所定格納屈伸角度に屈曲、バスケットを所定格納首振角度に首振りした格納姿勢を採る屈伸ジブ付き高所作業車において、前記旋回台の旋回角度を検出する旋回角検出手段と、前記伸縮ブームの起伏角度を検出する起伏角検出手段と、伸縮ブームのブーム長さを検出するブーム長さ検出手段と、前記伸縮式屈伸ジブの屈伸角度を検出する屈伸角検出手段と、伸縮式屈伸ジブのジブ長さを検出するジブ長さ検出手段と、前記バスケットの首振角度を検出する首振角検出手段と、前記所定格納旋回位置、前記所定ブーム格納長さ、前記所定格納起伏角度、前記ジブ所定格納長さ、前記所定格納屈伸角度、前記所定格納首振角度を記憶し各検出手段の検出値が対応する記憶値に一致すると停止信号を出力する比較手段と、自動格納司令信号を出力する自動格納スイッチと、格納制御装置と、を設け、この格納制御装置は、自動格納司令信号を受信すると、伸縮式屈伸ジブの所定ジブ格納長さへのジブ伸縮作動を実行するよう前記ジブ伸縮駆動手段にジブ伸縮駆動信号を出力し停止信号を受信するとジブ伸縮駆動信号を停止、バスケットの所定格納首振角度への首振作動を実行するよう前記首振駆動手段に首振駆動信号を出力し停止信号を受信すると首振駆動信号を停止、伸縮式屈伸ジブの所定格納屈伸角度への屈曲作動を実行するよう前記屈伸駆動手段に屈曲側駆動信号を出力し停止信号を受信すると屈曲側駆動信号を停止、伸縮ブームの所定ブーム格納長さへの縮小作動を実行するよう前記ブーム伸縮駆動手段にブーム縮小側駆動信号を出力し停止信号を受信するとブーム縮小側駆動信号を停止、旋回台の所定格納旋回位置への旋回作動を実行するよう前記旋回駆動手段に旋回駆動信号を出力し停止信号を受信すると旋回駆動信号を停止、伸縮ブームの所定格納起伏角度への倒伏作動を実行するよう前記起伏駆動手段に倒伏駆動信号を出力し停止信号を受信すると倒伏駆動信号を停止、の順序に従って格納作動制御をする、よう構成した。
【００１８】
このように構成したので、屈伸ジブ付き高所作業車の作業機の格納に際し、オペレータは、自動格納スイッチを操作する。すると、伸縮式屈伸ジブの所定ジブ格納長さへの伸縮作動を実行し所定ジブ格納長さに至ると伸縮作動を停止、バスケットの所定格納首振角度への首振作動を実行し所定格納首振角度に至ると首振作動を停止、伸縮式屈伸ジブの所定格納屈伸角度への屈曲作動を実行し所定格納屈伸角度に至ると屈曲作動を停止、伸縮ブームの所定ブーム格納長さへの縮小作動を実行し所定ブーム格納長さに至ると縮小作動を停止、旋回台の所定格納旋回位置への旋回作動を実行し所定格納旋回位置に至ると旋回作動を停止、伸縮ブームの所定格納起伏角度への倒伏作動を実行し所定格納起伏角度に至ると倒伏作動を停止する。
つまり、オペレータは、自動格納スイッチを操作するだけで屈伸ジブ付き高所作業車の作業機の格納を完了させることができる。
【００１９】
【発明の実施の形態】
本願発明の実施の形態について、屈伸ジブ付き高所作業車として伸縮式屈伸ジブを備えた高所作業車に例をとり、図１、図２、図３、図４、図５、図６、および図７、を用いて説明する。
【００２０】
屈伸ジブ付き高所作業車Ａは、車両１と、作業機２とからなっている。作業機２は、車両１上に固定された基台３と、基台３の前後左右方向４隅に取付けスライドおよびジャッキ作動をするアウトリガ４ａ，４ｂ，４ｃ，４ｄと、基台３の上に旋回自在に取付けた旋回台５と、旋回台５を旋回駆動する旋回駆動手段６（図示せず）と、旋回台５に起伏自在にその基端部を取付けた伸縮ブーム７と、伸縮ブーム７を起伏駆動する起伏駆動手段８と、伸縮ブーム７を伸縮駆動するブーム伸縮駆動手段９（図示せず）と、伸縮ブーム７の先端部に伸縮ブーム７の起伏面と平行な平面上で屈伸自在にその基端部を取付けた伸縮式屈伸ジブ21と、伸縮式屈伸ジブ21を屈伸駆動する屈伸駆動手段11と、伸縮式屈伸ジブ21を伸縮駆動するジブ伸縮駆動手段22（図示せず）と、伸縮式屈伸ジブ21の先端部に伸縮ブーム７の起伏作動および伸縮式屈伸ジブ21の屈伸作動に関わらず姿勢を維持するよう揺動自在に取付けた姿勢維持ブラケット12と、姿勢維持ブラケット12を姿勢維持駆動する姿勢維持駆動手段13と、姿勢維持ブラケット12に水平首振自在に取付けたバスケット14と、バスケット14を水平首振駆動する首振駆動手段15（図示せず）と、バスケット14に取付け操作信号を出力する上部操作手段16と、旋回台５に取付け操作信号を出力する下部操作手段17と、操作信号を受信し各駆動手段へ駆動信号を出力する制御手段18と、からなっている。
【００２１】
そして、屈伸ジブ付き高所作業車は、作業機２の格納姿勢として、図１および図２に示されるような格納姿勢を採る。すなわち、旋回台５を所定格納旋回位置に旋回し、伸縮ブーム７を所定ブーム格納長さに縮小および所定格納起伏角度に倒伏し、伸縮式屈伸ジブ21を所定格納屈伸角度に屈曲、バスケット14を所定格納首振角度に首振りし、伸縮式屈伸ジブ21を基台３上に取付けたジブレスト19上に置いた格納姿勢を採っている。
【００２２】
本願発明の自動格納装置を備えた屈伸ジブ付き高所作業車は、上記の構成を備えた屈伸ジブ付き高所作業車Ａに以下に説明する構成を付加したところに特徴がある。
符号31は、旋回角検出手段、32は、起伏角検出手段、33は、ブーム長さ検出手段、34は、屈伸角検出手段、35は、ジブ長さ検出手段、36は、首振角検出手段、37は、自動格納スイッチ、38は、格納位置記憶手段、39は、比較手段、40は、格納制御装置である。
旋回角検出手段31は、旋回台の旋回角度を検出し、起伏角検出手段32は、伸縮ブームの起伏角度を検出し、ブーム長さ検出手段33は、伸縮ブームのブーム長さを検出し、屈伸角検出手段34は、伸縮式屈伸ジブの屈伸角度を検出し、ジブ長さ検出手段35は、伸縮式屈伸ジブのジブ長さを検出し、首振角検出手段36は、バスケットの首振角度を検出する。
自動格納スイッチ37は、オペレータの操作により自動格納司令信号を出力し、格納位置記憶手段38は、前記所定格納旋回位置、前記所定ブーム格納長さ、前記所定格納起伏角度、前記ジブ所定格納長さ、前記所定格納屈伸角度、前記所定格納首振角度を記憶している。比較手段39は、各検出手段31〜36の検出値が格納位置記憶手段38の記憶している対応する記憶値に一致すると停止信号を出力する。
【００２３】
格納制御装置40は、自動格納司令信号を受信すると、伸縮式屈伸ジブ21の所定ジブ格納長さへのジブ伸縮作動を実行するようジブ伸縮駆動手段22にジブ伸縮駆動信号を出力し停止信号を受信するとジブ伸縮駆動信号を停止、バスケット14の所定格納首振角度への首振作動を実行するよう首振駆動手段15に首振駆動信号を出力し停止信号を受信すると首振駆動信号を停止、伸縮式屈伸ジブ21の所定格納屈伸角度への屈曲作動を実行するよう屈伸駆動手段11に屈曲側駆動信号を出力し停止信号を受信すると屈曲側駆動信号を停止、伸縮ブーム７の所定ブーム格納長さへの縮小作動を実行するようブーム伸縮駆動手段９にブーム縮小側駆動信号を出力し停止信号を受信するとブーム縮小側駆動信号を停止、旋回台５の所定格納旋回位置への旋回作動を実行するよう旋回駆動手段６に旋回駆動信号を出力し停止信号を受信すると旋回駆動信号を停止、伸縮ブーム７の所定格納起伏角度への倒伏作動を実行するよう起伏駆動手段８に倒伏駆動信号を出力し停止信号を受信すると倒伏駆動信号を停止、の順序に従って格納作動制御をする。
【００２４】
さらに、41は、姿勢算出手段、42は、侵入規制域記憶手段、43は、判定手段である。
姿勢算出手段41は、各検出手段31〜36の検出値により作業機２の現在の姿勢を演算算出し、侵入規制域記憶手段42は、作業機２自体または作業機２と車両１との干渉に基く侵入規制域または車両１の安定に基く侵入規制域を記憶し、判定手段43は、作業機２と侵入規制域との位置を比較し侵入規制域に作業機２の少なくとも一部が重複する場合または作業機２の格納作動に関連する伸縮作動または屈曲における軌跡と侵入規制域との位置関係を比較し侵入規制域に作業機の軌跡の少なくとも一部が重複する場合には規制信号を出力する。
【００２５】
格納制御装置40は、前述の説明に加え、自動格納司令信号と共に規制信号を受信すると、伸縮駆動信号を停止し侵入規制域外への回避作動をする側に伸縮ブーム７の作動をするようブーム駆動手段（起伏駆動手段８または旋回駆動手段６またはブーム伸縮駆動手段９）に駆動信号を出力し、停止信号を受信するとジブ伸縮駆動信号を停止する。
【００２６】
以上のように構成した伸縮式屈伸ジブ付き高所作業車の自動格納装置は、以下のように作用する。
まず、格納作動の各過程において侵入規制域との重複がない場合として説明する。
▲１▼オペレータが自動格納スイッチ37を操作すると、自動格納司令信号を出力する（ステップ１）。
▲２▼伸縮式屈伸ジブ21の格納に関する伸縮作動が安全な作動かチェックし（ステップ２）、YESならジブ伸縮駆動手段22にジブ伸縮駆動信号を出力し所定ジブ格納長さへの伸縮作動を実行（ステップ４）、ジブ長さ検出手段35の検出値がジブ所定格納長さかチェックし（ステップ５）、YES（停止信号を受信）ならジブ伸縮駆動信号を停止し伸縮作動を停止する（ステップ６）。ステップ５においてNOなら、ステップ４に戻り伸縮作動を続行する。
▲３▼首振駆動手段15に首振駆動信号を出力し所定格納首振角度への首振作動を実行（ステップ７）、首振角検出手段36の検出値が所定格納首振角度かチェックし（ステップ８）、YES（停止信号を受信）なら首振駆動信号を停止し首振作動を停止する（ステップ９）。ステップ８においてNOなら、ステップ７に戻り首振作動を続行する。
▲４▼伸縮式屈伸ジブ21の格納に関する屈曲作動が安全な作動かチェックし（ステップ10）、YESなら屈伸駆動手段11に屈曲側駆動信号を出力し所定格納屈伸角度への屈曲作動を実行（ステップ12）、屈伸角検出手段34の検出値が所定格納屈伸角度かチェックし（ステップ13）、YES（停止信号を受信）ならジブ屈曲側駆動信号を停止し屈曲作動を停止する（ステップ14）。ステップ13においてNOなら、ステップ12に戻り屈曲作動を続行する。
▲５▼ブーム伸縮駆動手段９にブーム縮小側駆動信号を出力し所定ブーム格納長さへの縮小作動を実行（ステップ15）、ブーム長さ検出手段33の検出値が所定ブーム格納長さかチェックし（ステップ16）、YES（停止信号を受信）ならブーム縮小側駆動信号を停止し縮小作動を停止する（ステップ17）。ステップ16においてNOなら、ステップ15に戻り首振作動を続行する。
▲６▼旋回駆動手段６に旋回駆動信号を出力し所定格納旋回位置への旋回作動を実行（ステップ18）、旋回角検出手段31の検出値が所定格納旋回位置かチェックし（ステップ19）、YES（停止信号を受信）なら旋回駆動信号を停止し旋回作動を停止する（ステップ20）。ステップ19においてNOなら、ステップ18に戻り旋回作動を続行する。
▲７▼起伏駆動手段８に倒伏駆動信号を出力し所定格納起伏角度への倒伏作動を実行（ステップ21）、起伏角検出手段32の検出値が所定格納起伏角度かチェックし（ステップ22）、YES（停止信号を受信）なら倒伏駆動信号を停止し倒伏作動を停止する（ステップ23）。ステップ22においてNOなら、ステップ21に戻り倒伏作動を続行する。
▲８▼格納完了（ステップ24）。
【００２７】
このように、オペレータは、自動格納スイッチ37を操作するだけで、作業機２の格納作動が実行され、例えば図３のような作業姿勢から図1および図２の格納姿勢への姿勢変更が完了する。
そこで、オペレータは、複数の操作レバーおよび操作スイッチを操作する煩雑さがなくなる。
また、一連の格納作動過程において、作業機２自体の干渉および作業機２と車両１との干渉は発生しないよう仕組まれているため、オペレータは、作業機２と作業対象物等環境物との干渉防止の監視だけをしておればよい。
したがって、格納作動の所要時間を短縮でき効率化できると共に、オペレータが作業の監視に注力できる分安全性の向上が計れるのである。
【００２８】
次に、格納作動の過程において侵入規制域との重複がある場合についての作用を説明する。
▲１▼オペレータが自動格納スイッチ37を操作すると、自動格納司令信号を出力する（ステップ１）。
▲２▼伸縮式屈伸ジブ21の格納に関する伸縮作動が安全な作動かチェックし（ステップ２）、YESならジブ伸縮駆動手段22にジブ伸縮駆動信号を出力し所定ジブ格納長さへの伸縮作動を実行（ステップ４）、ジブ長さ検出手段35の検出値がジブ所定格納長さかチェックし（ステップ５）、YES（停止信号を受信）ならジブ伸縮駆動信号を停止し伸縮作動を停止する（ステップ６）。ステップ５においてNOなら、ステップ４に戻り伸縮作動を続行する。
▲３▼ステップ２でNOの場合、起伏駆動手段８に起仰信号が出力されブームが起仰し（ステップ３）、ステップ２に戻る。
▲４▼首振駆動手段15に首振駆動信号を出力し所定格納首振角度への首振作動を実行（ステップ７）、首振角検出手段36の検出値が所定格納首振角度かチェックし（ステップ８）、YES（停止信号を受信）なら首振駆動信号を停止し首振作動を停止する（ステップ９）。ステップ８においてNOなら、ステップ７に戻り首振作動を続行する。
▲５▼伸縮式屈伸ジブ21の格納に関する屈曲作動が安全な作動かチェックし（ステップ10）、YESなら屈伸駆動手段11に屈曲側駆動信号を出力し所定格納屈伸角度への屈曲作動を実行（ステップ12）、屈伸角検出手段34の検出値が所定格納屈伸角度かチェックし（ステップ13）、YES（停止信号を受信）ならジブ屈曲側駆動信号を停止し屈曲作動を停止する（ステップ14）。ステップ13においてNOなら、ステップ12に戻り屈曲作動を続行する。
▲６▼ステップ10でNOの場合、起伏駆動手段８に起仰信号が出力されブームが起仰し（ステップ11）、ステップ10に戻る。（図４におけるアからイへの回避作動）
▲７▼ブーム伸縮駆動手段９にブーム縮小側駆動信号を出力し所定ブーム格納長さへの縮小作動を実行（ステップ15）、ブーム長さ検出手段33の検出値が所定ブーム格納長さかチェックし（ステップ16）、YES（停止信号を受信）ならブーム縮小側駆動信号を停止し縮小作動を停止する（ステップ17）。ステップ16においてNOなら、ステップ15に戻り首振作動を続行する。
▲８▼旋回駆動手段６に旋回駆動信号を出力し所定格納旋回位置への旋回作動を実行（ステップ18）、旋回角検出手段31の検出値が所定格納旋回位置かチェックし（ステップ19）、YES（停止信号を受信）なら旋回駆動信号を停止し旋回作動を停止する（ステップ20）。ステップ19においてNOなら、ステップ18に戻り旋回作動を続行する。
▲９▼起伏駆動手段８に倒伏駆動信号を出力し所定格納起伏角度への倒伏作動を実行（ステップ21）、起伏角検出手段32の検出値が所定格納起伏角度かチェックし（ステップ22）、YES（停止信号を受信）なら倒伏駆動信号を停止し倒伏作動を停止する（ステップ23）。ステップ22においてNOなら、ステップ21に戻り倒伏作動を続行する。
■格納完了（ステップ24）。
【００２９】
▲３▼と▲６▼とにおいて、作業機２を、侵入規制域外へ回避作動することが示されているが、屈曲における軌跡と侵入規制域との位置関係を比較し侵入規制域に作業機の軌跡の少なくとも一部が重複する関係であると規制信号を出力する場合には、
規制信号の出力により伸縮式屈伸ジブ21の格納作動に係る伸縮作動または屈曲作動は実行されず、先ず侵入規制域外へ回避作動するよう起伏駆動手段８（ブーム駆動手段）に駆動信号が出力され回避作動が実行される。そして、規制信号が解除されると回避作動は停止し、伸縮式屈伸ジブ21の格納作動に係る伸縮作動または屈曲作動が初めて実行される。
【００３０】
回避作動は、ステップ３と11とに分けて作動するように説明したが、ステップ３においてステップ11でされる回避作動も取込んで一度にすることにしてもよい。
【００３１】
また、侵入規制域に作業機２の少なくとも一部が重複する関係になると規制信号を出力する場合には、伸縮式屈伸ジブ21の格納作動に係る伸縮作動または屈曲作動が先ず実行され、規制信号の出力により作動が一時停止される。代りに侵入規制域外へ回避作動するよう起伏駆動手段８（ブーム駆動手段）に駆動信号が出力され回避作動が実行され、規制信号が解除されると回避作動は停止する。そして、伸縮式屈伸ジブ21の格納作動に係る伸縮作動または屈曲作動が再開される。この場合、ステップ２とステップ４、ステップ10とステップ12の順序が逆転することとなる。
【００３２】
これらは、いずれにしろ、判定手段43が規制信号を出力しても、格納作動を停止してしまうだけてなく、回避作動をし規制信号が解除されると格納作動がされる。
つまり、たとえ、格納作動の過程に侵入規制域と重複する箇所（図４ではバスケット14とアウトリガ４との干渉）があろうとも、オペレータは、自動格納スイッチ37を操作するだけで、作業機２の格納作動が実行され、例えば図３のような作業姿勢から途中経路において回避作動を伴って（図４ではアからイへの回避作動）図1および図２の格納姿勢への姿勢変更が完了する。
そこで、複数の操作レバーおよび操作スイッチを操作する煩雑さが全くなくなる。
また、一連の格納作動過程において、作業機２自体の干渉および作業機２と車両１との干渉は発生しないよう仕組まれているため、オペレータは、作業機２と作業対象物等環境物との干渉防止の監視だけをしておればよい。
したがって、格納作動の所要時間を短縮でき効率化できると共に、オペレータが作業の監視に注力できる分安全性の向上が計れるのである。
【００３３】
なお、自動格納スイッチ37は、押し続けることにより自動格納作動が継続されるものがよい。なぜなら、作業機２と作業対象物等環境物との干渉防止の監視中に危険と判断した時、手を離せば即座に停止できるからである。もちろん、自動格納スイッチ37が一度操作すると作動し続け、他の停止用スイッチを設けるものでもよい。
【００３４】
以上の説明では、回避作動は、伸縮式屈伸ジブ21の格納作動における伸縮作動または屈曲作動にだけ対応するものとして説明したが、バスケット14の首振作動、伸縮ブーム７の縮小作動、旋回作動、倒伏作動に対応して作動するようにしてもよい。
【００３５】
また、屈伸ジブを伸縮式屈伸ジブ21として説明したが、伸縮しない屈伸ジブ10に適用してもよく、この場合、ステップ２〜６が割愛される。
【００３６】
さらに、格納位置記憶手段38と比較手段39とは別構成として説明したが、一体としたものでもよい。また、侵入規制域記憶手段42と判定手段43とは別構成として説明したが、一体としたものでもよい。さらに、これら格納位置記憶手段38と比較手段39と侵入規制域記憶手段42と判定手段43とが一体化されてもよい。
また、旋回角検出手段31、起伏角検出手段32、ブーム長さ検出手段33、屈伸角検出手段34、ジブ長さ検出手段35、首振角検出手段36は、既に備えられていればそれらを利用すればよく、線形検出ができるものでもリミットスイッチでもよい。さらに、ジブレスト19に屈伸ジブ10、21が格納された格納姿勢の完了の検出には、起伏角検出手段32の所定格納起伏角度の検出に代えてジブレスト19に屈伸ジブ10、21間のリミットスイッチによる検出としてもよい。また、格納制御装置40は、既存の制御手段18に追加されるものでもよい。
【００３７】
なお、伸縮式屈伸ジブ21は、伸縮ブーム７の上方に格納されるものでもよい。
【００３８】
【発明の効果】
まず、本願発明の請求項１では、屈伸ジブ付き高所作業車の自動格納装置を、車両と、この車両の上に旋回自在に取付けた旋回台と、旋回駆動手段と、旋回台に起伏自在にその基端部を取付けた伸縮ブームと、起伏駆動手段と、ブーム伸縮駆動手段と、伸縮ブームの先端部に伸縮ブームの起伏面と平行な平面上で屈伸自在にその基端部を取付けた屈伸ジブと、屈伸駆動手段と、屈伸ジブの先端部に伸縮ブームの起伏作動および屈伸ジブの屈伸作動に関わらず姿勢を維持するよう取付けた姿勢維持ブラケットと、この姿勢維持ブラケットに取付けたバスケットと、バスケットあるいは旋回台に取付け操作信号を出力する操作手段と、操作信号を受信し各駆動手段へ駆動信号を出力する制御手段と、からなる作業機と、からなり、旋回台を所定格納旋回位置に旋回、伸縮ブームを所定ブーム格納長さに縮小および所定格納起伏角度に倒伏、屈伸ジブを所定格納屈伸角度に屈曲した格納姿勢を採る屈伸ジブ付き高所作業車において、前記旋回台の旋回角度を検出する旋回角検出手段と、前記伸縮ブームの起伏角度を検出する起伏角検出手段と、伸縮ブームのブーム長さを検出するブーム長さ検出手段と、前記屈伸ジブの屈伸角度を検出する屈伸角検出手段と、これら各検出手段の検出値により前記作業機の現在の姿勢を演算算出する姿勢算出手段と、作業機自体または作業機と車両との干渉に基く侵入規制域を記憶した侵入規制域記憶手段と、作業機と侵入規制域との位置を比較し侵入規制域に作業機の少なくとも一部が重複する場合または作業機の格納作動に関連する屈曲作動における軌跡と侵入規制域との位置関係を比較し侵入規制域に作業機の軌跡の少なくとも一部が重複する場合には規制信号を出力する判定手段と、前記所定格納屈伸角度を記憶し屈伸角検出手段の検出値がこの記憶値に一致すると停止信号を出力する比較手段と、自動格納司令信号を出力する自動格納スイッチと、格納制御装置と、を設け、この格納制御装置は、自動格納司令信号を受信すると、格納作動に関連する屈曲作動を実行するよう前記屈伸駆動手段に屈曲側駆動信号を出力し、自動格納司令信号と共に規制信号を受信すると、屈曲側駆動信号を停止し侵入規制域外への回避作動をする側に伸縮ブームの作動をするようブーム駆動手段に駆動信号を出力し、停止信号を受信すると屈曲側駆動信号を停止する、よう構成した。
【００３９】
このように構成したので、屈伸ジブの格納に際し屈伸ジブを所定格納屈伸角度にまで屈曲作動させるのに、たとえ、格納作動の過程に侵入規制域と重複する箇所があろうとも、オペレータは、自動格納スイッチを操作するだけで、屈伸ジブの格納作動が侵入規制域での回避作動を伴って実行され、作業姿勢から所定格納屈伸角度への姿勢変更が完了する。
複数の操作レバーおよび操作スイッチを操作する煩雑さが全くなくなり、また、一連の格納作動過程において、オペレータは、作業機と作業対象物等環境物との干渉防止の監視だけをしておればよい。したがって、格納作動の所要時間を短縮でき効率化できると共に、オペレータが作業の監視に注力できる分安全性の向上が計れる効果大である。
【００４０】
また、本願発明の請求項２では、本願発明の請求項１における屈伸ジブを伸縮式屈伸ジブとし、伸縮式屈伸ジブの格納に際し伸縮式屈伸ジブを所定ジブ格納長さにまでジブ伸縮作動させるのに、判定手段を、作業機と侵入規制域との位置を比較し侵入規制域に作業機の少なくとも一部が重複する場合または作業機の格納作動に関連するジブ伸縮作動における軌跡と侵入規制域との位置関係を比較し侵入規制域に作業機の軌跡の少なくとも一部が重複する場合には規制信号を出力するものとして構成した。
【００４１】
このように構成したので、伸縮式屈伸ジブの格納に際し伸縮式屈伸ジブを所定ジブ格納長さにまでジブ伸縮作動させるのに、たとえ、格納作動の過程に侵入規制域と重複する箇所があろうとも、オペレータは、自動格納スイッチを操作するだけで、伸縮式屈伸ジブの格納作動が侵入規制域での回避作動を伴って実行され、作業姿勢から所定ジブ格納長さへの姿勢変更が完了する。
複数の操作レバーおよび操作スイッチを操作する煩雑さが全くなくなり、また、一連の格納作動過程において、オペレータは、作業機と作業対象物等環境物との干渉防止の監視だけをしておればよい。したがって、格納作動の所要時間を短縮でき効率化できると共に、オペレータが作業の監視に注力できる分安全性の向上が計れる効果大である。
【００４２】
次に、本願発明の請求項３では、屈伸ジブ付き高所作業車の自動格納装置を、車両と、この車両の上に旋回自在に取付けた旋回台と、旋回駆動手段と、旋回台に起伏自在にその基端部を取付けた伸縮ブームと、起伏駆動手段と、ブーム伸縮駆動手段と、伸縮ブームの先端部に伸縮ブームの起伏面と平行な平面上で屈伸自在にその基端部を取付けた屈伸ジブと、屈伸駆動手段と、屈伸ジブの先端部に伸縮ブームの起伏作動および屈伸ジブの屈伸作動に関わらず姿勢を維持するよう取付けた姿勢維持ブラケットと、この姿勢維持ブラケットに水平首振自在に取付けたバスケットと、首振駆動手段と、バスケットあるいは旋回台に取付け操作信号を出力する操作手段と、操作信号を受信し各駆動手段へ駆動信号を出力する制御手段と、からなる作業機と、からなり、旋回台を所定格納旋回位置に旋回、伸縮ブームを所定ブーム格納長さに縮小および所定格納起伏角度に倒伏、屈伸ジブを所定格納屈伸角度に屈曲、バスケットを所定格納首振角度に首振りした格納姿勢を採る屈伸ジブ付き高所作業車において、前記旋回台の旋回角度を検出する旋回角検出手段と、前記伸縮ブームの起伏角度を検出する起伏角検出手段と、伸縮ブームのブーム長さを検出するブーム長さ検出手段と、前記屈伸ジブの屈伸角度を検出する屈伸角検出手段と、前記バスケットの首振角度を検出する首振角検出手段と、前記所定格納旋回位置、前記所定ブーム格納長さ、前記所定格納起伏角度、前記所定格納屈伸角度、前記所定格納首振角度を記憶し各検出手段の検出値が対応する記憶値に一致すると停止信号を出力する比較手段と、自動格納司令信号を出力する自動格納スイッチと、格納制御装置と、を設け、この格納制御装置は、自動格納司令信号を受信すると、バスケットの所定格納首振角度への首振作動を実行するよう前記首振駆動手段に首振駆動信号を出力し停止信号を受信すると首振駆動信号を停止、屈伸ジブの所定格納屈伸角度への屈曲作動を実行するよう前記屈伸駆動手段に屈曲側駆動信号を出力し停止信号を受信すると屈曲側駆動信号を停止、伸縮ブームの所定ブーム格納長さへの縮小作動を実行するよう前記ブーム伸縮駆動手段にブーム縮小側駆動信号を出力し停止信号を受信するとブーム縮小側駆動信号を停止、旋回台の所定格納旋回位置への旋回作動を実行するよう前記旋回駆動手段に旋回駆動信号を出力し停止信号を受信すると旋回駆動信号を停止、伸縮ブームの所定格納起伏角度への倒伏作動を実行するよう前記起伏駆動手段に倒伏駆動信号を出力し停止信号を受信すると倒伏駆動信号を停止、の順序に従って格納作動制御をする、よう構成した。
【００４３】
このように構成したので、屈伸ジブ付き高所作業車の格納に際し作業機を作業姿勢から所定格納姿勢にさせるのに、オペレータは、自動格納スイッチを操作するだけで、姿勢変更が完了する。
複数の操作レバーおよび操作スイッチを操作する煩雑さが全くなくなり、また、一連の格納作動過程において、オペレータは、作業機と作業対象物等環境物との干渉防止の監視だけをしておればよい。したがって、格納作動の所要時間を短縮でき効率化できると共に、オペレータが作業の監視に注力できる分安全性の向上が計れる効果大である。
【００４４】
また、本願発明の請求項４では、本願発明の請求項３における屈伸ジブを伸縮式屈伸ジブとして構成した。
【００４５】
このように構成したので、屈伸ジブ付き高所作業車の格納に際し作業機を作業姿勢から所定格納姿勢にさせるのに、オペレータは、自動格納スイッチを操作するだけで、姿勢変更が完了する。
複数の操作レバーおよび操作スイッチを操作する煩雑さが全くなくなり、また、一連の格納作動過程において、オペレータは、作業機と作業対象物等環境物との干渉防止の監視だけをしておればよい。したがって、格納作動の所要時間を短縮でき効率化できると共に、オペレータが作業の監視に注力できる分安全性の向上が計れる効果大である。
【図面の簡単な説明】
【図１】屈伸ジブ付き高所作業車の格納姿勢を示す側面図である。
【図２】図１の平面図である。
【図３】屈伸ジブ付き高所作業車の作業姿勢を示す説明図である。
【図４】屈伸ジブ付き高所作業車の格納作動を示す説明図である。
【図５】本願発明の実施形態を示すブロック図である。
【図６】本願発明の実施形態を示すフローチャートの前半部である。
【図７】本願発明の実施形態を示すフローチャートの後半部である。
【符号の説明】
５ 旋回台、
６ 旋回駆動手段、
７ 伸縮ブーム、
８ 起伏駆動手段、
９ ブーム伸縮駆動手段、
10 屈伸ジブ、
11 屈伸駆動手段、
15 首振駆動手段、
21 伸縮式屈伸ジブ、
22 ジブ伸縮駆動手段、
31 旋回角検出手段、
32 起伏角検出手段、
33 ブーム長さ検出手段、
34 屈伸角検出手段、
35 ジブ長さ検出手段、
36 首振角検出手段、
37 自動格納スイッチ、
38 格納位置記憶手段、
39 比較手段、
40 格納制御装置、
41 姿勢算出手段、
42 侵入規制域記憶手段、
43 判定手段、[0001]
BACKGROUND OF THE INVENTION
The present invention includes a vehicle, a swivel mounted on the vehicle so as to be pivotable, a telescopic boom having a base end mounted on the swivel so as to be raised and lowered, and a boom raising and lowering surface parallel to a distal end of the telescopic boom. A flexion / extension jib with its proximal end attached flexibly on a flat surface, and a posture maintenance bracket attached to the distal end of the flexion / extension jib so as to maintain the attitude regardless of the undulation operation of the telescopic boom and the flexion / extension operation of the flexion / extension jib, The present invention relates to an automatic storage device for an aerial work vehicle comprising a basket attached to the posture maintaining bracket so as to freely swing horizontally.
[0002]
[Prior art]
The structure of a conventional aerial work vehicle with a bending / extending jib will be described with reference to FIGS. 1, 2, and 3.
[0003]
The aerial work platform A with a bending / extending jib includes a vehicle 1 and a work implement 2. The work implement 2 includes a base 3 fixed on the vehicle 1, outriggers 4 a, 4 b, 4 c, 4 d that perform mounting and sliding operations at four corners of the base 3 in the front-rear and left-right directions, and a base 3 A swivel base 5 that is pivotably mounted, a swivel drive means 6 (not shown) that drives the swivel base 5 to swing, a telescopic boom 7 that has a base end attached to the swivel base 5 so as to be able to move up and down, and a telescopic boom 7 The hoisting drive means 8 for driving the hoisting movement, the boom telescopic drive means 9 (not shown) for driving the telescopic boom 7 to extend and retract, and the distal end of the telescopic boom 7 can be bent and extended on a plane parallel to the hoisting surface of the telescopic boom 7. The bending and stretching jib 10 with its base end attached to the bending and stretching jib 10 and the bending and stretching drive means 11 and the bending and stretching jib 10 at the distal end of the bending and stretching jib 10 regardless of the undulation operation of the telescopic boom 7 and the bending and stretching operation of the bending and stretching jib 10 Posture maintenance bracket that is swingably mounted to maintain , A posture maintaining drive means 13 for driving the attitude maintaining bracket 12 to maintain the attitude, a basket 14 attached to the attitude maintaining bracket 12 so as to freely swing horizontally, and a swing driving means 15 for driving the basket 14 to swing horizontally. (Not shown), an upper operation means 16 for outputting an attachment operation signal to the basket 14, a lower operation means 17 for outputting an attachment operation signal to the swivel 5, and a drive signal received by the operation signal to each drive means. And a control means 18 (not shown) for outputting.
[0004]
Then, the aerial work platform A with a bending / extending jib adopts a retracted posture as shown in FIG. 1 and FIG. That is, the swivel base 5 is swung to a predetermined retracted swivel position, the telescopic boom 7 is reduced to a predetermined boom retracted length and collapsed to a predetermined retracted undulation angle, the bending / extending jib 10 is bent to a predetermined retracting / extending angle, and the basket 14 is stored in a predetermined manner. A retracted posture is adopted in which the head is swung at a swing angle and the bending / extending jib 10 is placed on the jibrest 19 attached to the base 3.
[0005]
At the time of work, the operator first grounds the outriggers 4a to 4d by sliding and jacking as appropriate to support the aerial work vehicle A with a bending / extending jib. Then, the user rides on the basket 14, operates the operation lever and the operation switch of the operation means 16, drives the hoisting drive means 8 as shown in FIG. 6 is driven to turn the swivel base 5 as appropriate, the boom telescopic drive means 9 is driven to extend and retract the telescopic boom 7 as appropriate, the flexure and extension drive means 11 is driven to flex and elongate the jib 10 as appropriate, and the swing drive means 15 is driven. Then, the basket 14 is swung as appropriate, and the basket 14 is moved close to the target high-altitude work or underground work position.
[0006]
When the work is finished, the operator operates the operation lever 16 and the operation switch of the operation means 16 to drive the boom extension / contraction drive means 9 so that the working machine 2 reaches the retracted position described above from the current work posture. The telescopic boom 7 is expanded and contracted to a predetermined boom storage length, the swing driving means 12 is driven to swing the basket 14 to the predetermined storage swing position, and the bending / extension driving means 11 is driven to extend the bending / extension jib 10 to the predetermined storage bending / extension Bending at an angle, driving the turning drive means 6 to turn the turntable 5 to a predetermined retracted turning position, and driving the undulation drive means 8 to fall the telescopic boom 7 to a predetermined stored undulation angle, Place and store on gibres 19. Thereafter, the operator gets out of the basket 14, performs jack reduction operation and slide reduction operation of the outriggers 4a to 4d, and if the outriggers 4a to 4d are stored, the traveling posture shown in FIGS. Can leave the field.
[0007]
[Problems to be solved by the invention]
By the way, during a series of operations in this storage, the operator pays attention to the interference between the work machine 2 and the environmental object such as the work object, the interference of the work machine 2 itself, and the interference between the work machine 2 and the vehicle 1. Operate the upper operation means 16 or the lower operation means 17 so that the boom expansion / contraction drive means 9, the swing drive means 12, the bending / extension drive means 11, the turning drive means 6 and the undulation drive means 8 are operated so as not to interfere with each other. And store. That is, the operator has to pay great attention to the monitoring and the operation for preventing the interference, and there is a problem that the burden is large.
In addition, since the bending / extension jib 10 whose operating direction sense is reversed depending on the bending / extension angle, there is a problem that the operator is more burdensome.
[0008]
Further, when the bending / extension jib 21 is replaced by the telescopic bending / extension jib 21, the expansion / contraction operation of the expansion / contraction bending / extension jib 21 is added, so that the burden on the operator is further increased.
[0009]
The object of the present invention is to reduce the large burden on the monitoring and operation of the operator during the storage operation, which is a problem of the conventional aerial work platform with a bending / extending jib, as much as possible, making the storage operation safe and efficient. To do.
[0010]
[Means for Solving the Problems]
In order to solve the above-described problems, an automatic storage device for an aerial work platform with a bending and extending jib according to the present invention is configured as follows.
[0011]
According to claim 1 of the present invention, an automatic storage device for an aerial work vehicle with a bending and extending jib is provided with a vehicle, a swivel mounted on the vehicle so as to be swiveled, a swivel drive means, and a swivel on the swivel. Telescopic boom attached with a base end, hoisting drive means, boom telescopic drive means, and a flexing and extending jib with the base end attached to the distal end of the telescopic boom on a plane parallel to the hoisting surface of the telescopic boom. A bending / extension driving means, a posture maintaining bracket attached to the tip of the bending / extension jib so as to maintain the posture regardless of the up-and-down operation of the telescopic boom and the bending / extension operation of the bending / extension jib, a basket attached to the posture maintaining bracket, Alternatively, the working table includes an operation unit that outputs a mounting operation signal to the swivel and a control unit that receives the operation signal and outputs a drive signal to each driving unit. Swivel in an aerial work platform with a flexion / extension jib that takes a retracted position in which the telescopic boom is retracted to a predetermined boom retracted length, collapsed to a predetermined retracted undulation angle, and a flexion / extension jib is bent to a predetermined retracted flexion / extension angle Rotation angle detection means for detecting the angle, undulation angle detection means for detecting the undulation angle of the telescopic boom, boom length detection means for detecting the boom length of the telescopic boom, and detecting the flexion / extension angle of the flexion / extension jib Bending / extension angle detecting means, attitude calculating means for calculating and calculating the current attitude of the work implement based on the detection values of each of the detecting means, and an intrusion storing an intrusion restriction area based on the work implement itself or the interference between the work implement and the vehicle The restriction area storage means and the locus in the bending operation when the position of the work machine and the intrusion restriction area are compared and at least a part of the work machine overlaps the intrusion restriction area or related to the retracting operation of the work machine A position determination unit that compares a positional relationship with the entrance restriction area and outputs a restriction signal when at least a part of the trajectory of the work machine overlaps the intrusion restriction area; Comparing means for outputting a stop signal when the detected value matches the stored value, an automatic storage switch for outputting an automatic storage command signal, and a storage control device are provided, and this storage control device receives the automatic storage command signal Then, the bending side drive signal is output to the bending / extension driving means so as to execute the bending operation related to the storage operation, and when the control signal is received together with the automatic storage command signal, the bending side drive signal is stopped and the intrusion control area is avoided. A drive signal is output to the boom drive means so as to operate the telescopic boom to the operating side, and when the stop signal is received, the bending side drive signal is stopped.
[0012]
With this configuration, the operator operates the automatic retracting switch to cause the bending / extension jib to bend to a predetermined retracting / extension angle when retracting the bending / extension jib. Then, the bending / extending jib starts the bending operation, and stops the bending operation when it enters the intrusion regulation area based on the working machine itself or the interference between the working machine and the vehicle. Therefore, when the boom driving means performs the operation of avoiding the telescopic boom to the outside of the intrusion regulation area, and when it is outside the intrusion regulation area, the bending operation is resumed. And it stops when it reaches a predetermined storage bending-extension angle.
That is, the operator can complete the storage of the bending / extension jib to the predetermined storage bending / extension angle only by operating the automatic storage switch without causing interference between the work machine itself or the work machine and the vehicle.
[0013]
According to claim 2 of the present invention, an automatic storage device for an aerial work vehicle with a bending / extending jib is provided with a vehicle, a swivel mounted on the vehicle so as to be swiveled, a swivel driving means, and a swivel on the swivel. Telescopic boom with base end attached, hoisting drive means, boom telescopic drive means, and telescopic type with the base end attached to the distal end of the telescopic boom on a plane parallel to the hoisting surface of the telescopic boom. A bending / extension jib, a bending / extension driving means, a jib expansion / contraction driving means, and a posture maintaining bracket attached to the distal end of the expansion / contraction type bending / extension jib so as to maintain the posture regardless of the undulation operation of the expansion / contraction boom and the bending / extension operation of the expansion / contraction type expansion / contraction jib. A basket attached to the attitude maintaining bracket, an operation means for outputting an operation signal to the basket or the swivel, and a control means for receiving the operation signal and outputting a drive signal to each drive means. The swivel base is turned to a predetermined retracted swivel position, the telescopic boom is reduced to a predetermined boom retracted length and tilted to a predetermined retracted undulation angle, and the telescopic retractable jib is reduced to a predetermined jib retracted length and predetermined retracted retracted In an aerial work vehicle with a bending and extending jib that takes a retracted posture bent at an angle, a turning angle detecting means for detecting a turning angle of the swivel, a rising and falling angle detecting means for detecting a rising and falling angle of the telescopic boom, Boom length detection means for detecting the boom length, bending / extension angle detection means for detecting the bending / extension angle of the telescopic bending / extension jib, jib length detection means for detecting the jib length of the telescopic bending / extension jib, The attitude calculation means for calculating and calculating the current attitude of the work implement based on the detection value of the detection means, and the intrusion restriction area based on the work implement itself or the interference between the work implement and the vehicle or the intrusion restriction area based on the stability of the vehicle are recorded. Was the entrance preventing region storage means, the storing operation or when working machine at least a portion of the comparing the positions of the entrance preventing area and the working machine working machine in the entrance preventing areas overlap Associated jib telescopic actuation And comparing the positional relationship between the trajectory and the intrusion control area in the case where at least a part of the trajectory of the work implement overlaps the intrusion control area, and storing the predetermined jib storage length and storing the predetermined jib storage length. Comparing means for outputting a stop signal when the detection value of the length detection means matches the stored value, an automatic storage switch for outputting an automatic storage command signal, and a storage control device are provided. When the storage command signal is received, the jib expansion / contraction drive signal is output to the jib expansion / contraction drive means so as to execute the jib expansion / contraction operation related to the storage operation, and the control signal is output together with the automatic storage command signal. When receiving, jib telescopic drive signal Is stopped and the drive signal is output to the boom drive means so as to operate the telescopic boom to the side where the avoidance operation outside the intrusion regulation area is performed, and when the stop signal is received, the jib telescopic drive signal is stopped.
[0014]
With this configuration, the operator operates the automatic storage switch to extend and retract the telescopic bending / extension jib to a predetermined jib storage length when retracting the telescopic bending / extension jib. Then Telescopic type bending jib is jib expansion and contraction operation Intrusion control areas based on the interference between the work implement itself or the work implement and the vehicle Jib expansion and contraction when hung To stop. Therefore, the boom drive means operates to avoid the telescopic boom to the outside of the intrusion regulation area, and out of the intrusion regulation area. Then, jib expansion and contraction operation To resume. And when it reaches the predetermined jib storage length, it stops.
That is, the operator can complete the storage of the telescopic bending jib to the predetermined jib storage length by only operating the automatic storage switch without causing interference between the work machine itself or the work machine and the vehicle.
[0015]
According to a third aspect of the present invention, an automatic storage device for an aerial work vehicle with a bending / extending jib is provided with a vehicle, a swivel mounted on the vehicle so as to be swiveled, a swivel driving means, and a swivel on the swivel. Telescopic boom attached with a base end, hoisting drive means, boom telescopic drive means, and a flexing and extending jib with the base end attached to the distal end of the telescopic boom on a plane parallel to the hoisting surface of the telescopic boom. And a bending and stretching drive means, a posture maintaining bracket attached to the tip of the bending and stretching jib so as to maintain the posture regardless of the up and down operation of the telescopic boom and the bending and stretching operation of the bending and stretching jib, and a horizontal swinging attachment to the posture maintaining bracket A working machine comprising: a basket, a swing drive means, an operation means for outputting an operation signal to the basket or the swivel, and a control means for receiving the operation signal and outputting a drive signal to each drive means; The swivel base is swung to the predetermined retracted swivel position, the telescopic boom is reduced to the predetermined boom retracted length, is tilted to the predetermined retracted undulation angle, the bending jib is bent to the predetermined retracted bending extension angle, and the basket is swung to the predetermined retracted swing angle. In an aerial work platform with a bending and extending jib that adopts a swinging stored posture, a turning angle detecting means for detecting a turning angle of the swivel, a rising and falling angle detecting means for detecting a rising and falling angle of the telescopic boom, and a boom length of the telescopic boom Boom length detection means for detecting the length, bending / extension angle detecting means for detecting the bending / extension angle of the bending / extension jib, swing angle detecting means for detecting the swing angle of the basket, the predetermined storage turning position, and the predetermined The boom storage length, the predetermined storage undulation angle, the predetermined storage bending / extension angle, and the predetermined storage swing angle are stored, and a stop signal is output when the detection value of each detection means matches the corresponding storage value. Comparing means, an automatic storage switch that outputs an automatic storage command signal, and a storage control device are provided, and when the automatic storage command signal is received, the storage control device swings the basket to a predetermined storage swing angle. When the swing drive signal is output to the swing drive means and the stop signal is received, the swing drive signal is stopped, and the flexure / extension drive means is bent so as to perform the bending operation of the flexion / extension jib to a predetermined retracted / extend angle. When the side drive signal is output and the stop signal is received, the bending side drive signal is stopped, and the boom extension side drive signal is output to the boom extension / contraction drive means so as to execute the reduction operation of the extension boom to the predetermined boom storage length. Is received, the boom reduction drive signal is stopped, the turning drive signal is output to the turning drive means so as to execute the turning operation to the predetermined storage turning position of the turntable, and the stop drive is received when the stop signal is received. The storage operation is controlled in accordance with the order of stopping the motion signal and outputting the swaying drive signal to the swaying drive means to execute the swaying operation to the predetermined storage swaying angle of the telescopic boom, and stopping the swaying drive signal when receiving the stop signal. Configured as follows.
[0016]
Since it comprised in this way, an operator operates an automatic storing switch at the time of storing of the working machine of an aerial work vehicle with a bending / extending jib. Then, the swing operation to the predetermined retracted swing angle of the basket is executed, and when the predetermined retracted swing angle is reached, the swing operation is stopped, and the bending operation of the bending / extension jib to the predetermined retracted bending / extension angle is performed to obtain the predetermined retracted bending / extension angle. When it reaches, the bending operation is stopped, the expansion operation of the telescopic boom is reduced to the predetermined boom storage length, the reduction operation is stopped when the predetermined boom storage length is reached, and the turning operation of the swivel base to the predetermined storage turning position is executed. When reaching the retracted turning position, the turning operation is stopped, the falling operation of the telescopic boom to the predetermined storage undulation angle is executed, and when the predetermined storage undulation angle is reached, the overturning operation is stopped.
That is, the operator can complete the storage of the working machine of the aerial work platform with a bending and extending jib simply by operating the automatic storage switch.
[0017]
According to claim 4 of the present invention, there is provided an automatic storage device for an aerial work vehicle with a bending and extending jib, a vehicle, a swivel mounted on the vehicle so as to be swiveled, a swivel drive means, and a swivel on the swivel. Telescopic boom with base end attached, hoisting drive means, boom telescopic drive means, and telescopic type with the base end attached to the distal end of the telescopic boom on a plane parallel to the hoisting surface of the telescopic boom. A bending / extension jib, a bending / extension driving means, a jib expansion / contraction driving means, and a posture maintaining bracket attached to the distal end of the expansion / contraction type bending / extension jib so as to maintain the posture regardless of the undulation operation of the expansion / contraction boom and the bending / extension operation of the expansion / contraction type expansion / contraction jib. , A basket attached to the posture maintaining bracket in a freely swingable manner, a swing drive means, an operation means for outputting an operation signal to the basket or the swivel base, and an operation signal received and a drive signal sent to each drive means. And a work implement comprising: a swiveling base that is swung to a predetermined retracted swivel position; a telescopic boom is reduced to a predetermined boom retracted length; Turning angle detecting means for detecting the turning angle of the swivel base in a work platform with a bending and extension jib that is retracted to a retracted length, bent to a predetermined retracted bending / extension angle, and has a retracted posture in which a basket is swung to a predetermined retracted swing angle. A hoisting angle detecting means for detecting the hoisting angle of the telescopic boom, a boom length detecting means for detecting the boom length of the telescopic boom, and a bending / extension detecting means for detecting the bending angle of the telescopic bending jib, Jib length detection means for detecting the jib length of the telescopic bending / extension jib, swing angle detection means for detecting the swing angle of the basket, the predetermined storage turning position, the predetermined boom storage length, Comparison means for storing a constant storage undulation angle, the jib predetermined storage length, the predetermined storage bending / extension angle, and the predetermined storage swing angle, and outputting a stop signal when the detection value of each detection means matches the corresponding storage value; An automatic storage switch that outputs an automatic storage command signal and a storage control device are provided. When the storage control device receives the automatic storage command signal, Jib expansion and contraction operation to a predetermined jib storage length When the jib expansion / contraction driving signal is output to the jib expansion / contraction driving means and the stop signal is received, the jib expansion / contraction driving signal is stopped and the swing driving means performs the swinging operation to the predetermined storage swing angle of the basket. When the stop drive signal is output and the stop drive signal is received, the swing drive signal is stopped, and the bend-side drive signal is output to the bend-extension drive means and stopped to execute the bending operation of the telescopic bending / extension jib to the predetermined retracted bending-extension angle. When the signal is received, the bending side drive signal is stopped, and the boom contraction side drive signal is output to the boom expansion / contraction drive means so as to execute the contraction operation of the telescopic boom to the predetermined boom storage length. Stops the signal and outputs the turning drive signal to the turning drive means to execute the turning operation to the predetermined storage turning position of the turntable. When the stop signal is received, the turning drive signal is stopped. Stop lodging driving signal and outputs a lodging driving signal receives a stop signal to the hoisting drive means so as to perform a lodging operation in a predetermined storage derricking angle of the arm, the storing operation control according to the order of, and configured.
[0018]
Since it comprised in this way, an operator operates an automatic storing switch at the time of storing of the working machine of an aerial work vehicle with a bending / extending jib. Then, the expansion / contraction operation of the telescopic bending jib is performed to the predetermined jib storage length, and when the predetermined jib storage length is reached, the expansion / contraction operation is stopped, the swing operation to the predetermined storage swing angle of the basket is performed, and the predetermined storage neck When the swing angle is reached, the swinging operation is stopped, the bending operation of the telescopic bending jib is performed to the predetermined retracted bending / extension angle, the bending operation is stopped when the predetermined retracting bending / extension angle is reached, and the telescopic boom is reduced to the predetermined boom retracting length. When the operation is performed and the boom storage length is reached, the reduction operation is stopped, the rotation operation to the predetermined storage rotation position of the swivel base is executed, and the rotation operation is stopped when the predetermined storage rotation position is reached, and the predetermined storage undulation angle of the telescopic boom When the tilting operation is performed and the predetermined retracted undulation angle is reached, the lodging operation is stopped.
That is, the operator can complete the storage of the working machine of the aerial work platform with a bending and extending jib simply by operating the automatic storage switch.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
With respect to the embodiment of the present invention, taking an example of an aerial work vehicle equipped with a telescopic bending / extension jib as an aerial work vehicle with a bending / extending jib, FIG. 1, FIG. 2, FIG. 3, FIG. 4, FIG. This will be described with reference to FIG.
[0020]
The aerial work platform A with a bending / extending jib includes a vehicle 1 and a work implement 2. The work implement 2 includes a base 3 fixed on the vehicle 1, outriggers 4 a, 4 b, 4 c, 4 d that perform mounting and sliding operations at four corners of the base 3 in the front-rear and left-right directions, and a base 3 A swivel base 5 that is pivotably mounted, a swivel drive means 6 (not shown) that drives the swivel base 5 to swing, a telescopic boom 7 that has a base end attached to the swivel base 5 so as to be able to move up and down, and a telescopic boom 7 The hoisting drive means 8 for driving the hoisting movement, the boom telescopic drive means 9 (not shown) for driving the telescopic boom 7 to extend and retract, and the distal end of the telescopic boom 7 can be bent and extended on a plane parallel to the hoisting surface of the telescopic boom 7. A telescopic bending / extension jib 21 having a base end attached thereto, a bending / extension driving means 11 for driving the telescopic bending / extension jib 21 to bend / extend, and a jib expansion / contraction driving means 22 (not shown) for driving the telescopic bending / extension jib 21 to extend / contract. The telescopic boom 7 is raised and lowered at the tip of the telescopic bending jib 21. The posture maintaining bracket 12 that is swingably mounted so as to maintain the posture regardless of the bending / extending operation of the telescopic bending jib 21, the posture maintaining driving means 13 that drives the posture maintaining bracket 12 to maintain the posture, and the posture maintaining bracket 12 horizontally A basket 14 that is freely swingable, a swing drive means 15 (not shown) that drives the basket 14 to swing horizontally, an upper operation means 16 that outputs a mounting operation signal to the basket 14, and a swing base 5 It comprises a lower operation means 17 that outputs an operation signal, and a control means 18 that receives the operation signal and outputs a drive signal to each drive means.
[0021]
Then, the aerial work platform with a bending and extending jib adopts a retracted posture as shown in FIG. 1 and FIG. That is, the swivel base 5 is swung to a predetermined retracted swivel position, the telescopic boom 7 is reduced to a predetermined boom retracted length and collapsed to a predetermined retracted undulation angle, the telescopic bending jib 21 is bent to a predetermined retracted bending / extension angle, and the basket 14 is A retracted posture is adopted in which the head is swung to a predetermined retractable swing angle and the telescopic bending / extending jib 21 is placed on the jibrest 19 mounted on the base 3.
[0022]
The aerial work vehicle with a bending / extending jib provided with the automatic storage device of the present invention is characterized in that the configuration described below is added to the aerial working vehicle with a bending / extending jib having the above-described configuration.
Reference numeral 31 is a turning angle detection means, 32 is a undulation angle detection means, 33 is a boom length detection means, 34 is a bending / extension angle detection means, 35 is a jib length detection means, and 36 is a swing angle detection means. Means, 37 is an automatic storage switch, 38 is a storage position storage means, 39 is a comparison means, and 40 is a storage control device.
The turning angle detection means 31 detects the turning angle of the turntable, the undulation angle detection means 32 detects the undulation angle of the telescopic boom, the boom length detection means 33 detects the boom length of the telescopic boom, The bending / extension detecting means 34 detects the bending / extension angle of the telescopic bending / extension jib, the jib length detecting means 35 detects the jib length of the expanding / contracting bending / extension jib, and the swing angle detecting means 36 detects the swing of the basket. Detect the angle.
The automatic storage switch 37 outputs an automatic storage command signal in response to an operator's operation, and the storage position storage means 38 includes the predetermined storage turning position, the predetermined boom storage length, the predetermined storage undulation angle, and the jib predetermined storage length. The predetermined retracted bending / extension angle and the predetermined retracted swing angle are stored. The comparison means 39 outputs a stop signal when the detection values of the detection means 31 to 36 coincide with the corresponding stored values stored in the storage position storage means 38.
[0023]
When the storage control device 40 receives the automatic storage command signal, the retractable bending jib 21 Jib expansion and contraction operation to a predetermined jib storage length When the jib expansion / contraction driving signal is output to the jib expansion / contraction driving means 22 and the stop signal is received, the jib expansion / contraction driving signal is stopped, and the swing driving means is configured to execute the swing operation of the basket 14 to the predetermined stored swing angle. When the stop drive signal is output to 15 and the stop signal is received, the swing drive signal is stopped, and the bending drive signal is output to the bending / extension driving means 11 so as to execute the bending operation to the predetermined retracted bending / extension angle of the telescopic bending jib 21 When the stop signal is received, the bending side drive signal is stopped, and the boom contraction side drive signal is output to the boom telescopic drive means 9 so as to execute the contraction operation of the telescopic boom 7 to the predetermined boom storage length. The reduction drive signal is stopped, the turning drive signal is output to the turning drive means 6 so as to execute the turning operation of the turntable 5 to the predetermined storage turning position, and when the stop signal is received, the turning drive signal is stopped, and the telescopic boom 7 The storage operation is controlled in accordance with the order of outputting an overturn drive signal to the overturn drive means 8 and executing a stop signal when the stop signal is received so as to execute the overturn operation to the predetermined storage up / down angle.
[0024]
Furthermore, 41 is an attitude calculation means, 42 is an intrusion restriction area storage means, and 43 is a determination means.
The attitude calculation means 41 calculates and calculates the current attitude of the work implement 2 based on the detection values of the detection means 31 to 36, and the intrusion restriction area storage means 42 interferes with the work implement 2 itself or the work implement 2 and the vehicle 1. The intrusion restriction area based on the vehicle 1 or the intrusion restriction area based on the stability of the vehicle 1 is stored, and the determination means 43 compares the positions of the work implement 2 and the intrusion restriction area and at least a part of the work equipment 2 overlaps the intrusion restriction area. Or the positional relationship between the trajectory in the expansion / contraction operation or bending related to the retracting operation of the work machine 2 and the intrusion control area, and if at least part of the trajectory of the work machine overlaps the intrusion control area, Output.
[0025]
In addition to the above description, when the storage control device 40 receives the restriction signal together with the automatic storage command signal, the storage control device 40 stops the extension / contraction drive signal and operates the boom 7 so as to operate the extension boom 7 to the side of performing the avoidance operation outside the intrusion restriction area. A drive signal is output to the means (the hoisting drive means 8 or the turning drive means 6 or the boom expansion / contraction drive means 9), and when the stop signal is received, the jib expansion / contraction drive signal is stopped.
[0026]
The automatic storage device for an aerial work vehicle with a telescopic bending and extending jib configured as described above operates as follows.
First, the case where there is no overlap with the intrusion control area in each process of the storage operation will be described.
(1) When the operator operates the automatic storage switch 37, an automatic storage command signal is output (step 1).
(2) Check whether the telescopic operation for retracting the telescopic bending jib 21 is safe (step 2). If YES, output the jib telescopic drive signal to the jib telescopic drive means 22 and perform the telescopic operation to the predetermined jib retracting length. Execution (step 4), it is checked whether the detection value of the jib length detection means 35 is the jib predetermined storage length (step 5). If YES (stop signal is received), the jib expansion / contraction drive signal is stopped and the expansion / contraction operation is stopped (step) 6). If NO in step 5, return to step 4 to continue the expansion / contraction operation.
(3) Output an oscillation drive signal to the oscillation drive means 15 to execute an oscillation operation to a predetermined stored oscillation angle (step 7), and check whether the detected value of the oscillation angle detection means 36 is the predetermined stored oscillation angle If (YES in step 8) (stop signal is received), the swing drive signal is stopped and the swing operation is stopped (step 9). If NO in step 8, return to step 7 to continue the swing operation.
(4) Check whether the bending operation related to the retracting of the telescopic bending jib 21 is safe (step 10). If YES, the bending drive signal is output to the bending driving means 11 to execute the bending operation to a predetermined retracting / extending angle ( Step 12), whether the detected value of the bending / extension angle detecting means 34 is a predetermined stored bending / extension angle (step 13). If YES (stop signal is received), the drive signal for the jib bending side is stopped and the bending operation is stopped (step 14). . If NO in step 13, return to step 12 to continue the bending operation.
(5) A boom reduction side drive signal is output to the boom extension / contraction drive means 9 to perform a reduction operation to a predetermined boom storage length (step 15), and it is checked whether the detection value of the boom length detection means 33 is the predetermined boom storage length. If (step 16), YES (stop signal is received), the boom reduction side drive signal is stopped and the reduction operation is stopped (step 17). If NO in step 16, return to step 15 to continue the swing operation.
(6) A turning drive signal is output to the turning drive means 6 to execute a turning operation to a predetermined stored turning position (step 18), and the detected value of the turning angle detecting means 31 is checked to determine whether it is a predetermined stored turning position (step 19). If YES (receives a stop signal), the turning drive signal is stopped and the turning operation is stopped (step 20). If NO in step 19, return to step 18 to continue the turning operation.
(7) A tilt drive signal is output to the undulation drive means 8 to execute a tilt operation to a predetermined stored undulation angle (step 21), and whether the detected value of the undulation angle detection means 32 is a predetermined stored undulation angle (step 22), If YES (receives a stop signal), the lodging drive signal is stopped and the lodging operation is stopped (step 23). If NO in step 22, the process returns to step 21 and continues the lodging operation.
(8) Storage is completed (step 24).
[0027]
Thus, the operator simply operates the automatic storage switch 37, and the storage operation of the work implement 2 is executed. For example, the posture change from the work posture shown in FIG. 3 to the storage posture shown in FIGS. To do.
Therefore, the operator does not have to operate a plurality of operation levers and operation switches.
Further, in the series of storage operation processes, since the work machine 2 itself and the work machine 2 and the vehicle 1 are not interfered with each other, the operator can prevent the work machine 2 and the environmental object such as the work object from You only need to monitor for interference prevention.
Therefore, the time required for the storage operation can be shortened and the efficiency can be improved, and the safety can be improved by allowing the operator to focus on the work monitoring.
[0028]
Next, an operation when there is an overlap with the intrusion control area in the process of the storage operation will be described.
(1) When the operator operates the automatic storage switch 37, an automatic storage command signal is output (step 1).
(2) Check whether the telescopic operation for retracting the telescopic bending jib 21 is safe (step 2). If YES, output the jib telescopic drive signal to the jib telescopic drive means 22 and perform the telescopic operation to the predetermined jib retracting length. Execution (step 4), it is checked whether the detection value of the jib length detection means 35 is the jib predetermined storage length (step 5). If YES (stop signal is received), the jib expansion / contraction drive signal is stopped and the expansion / contraction operation is stopped (step) 6). If NO in step 5, return to step 4 to continue the expansion / contraction operation.
(3) If NO in step 2, an elevation signal is output to the hoisting drive means 8 to raise the boom (step 3), and the process returns to step 2.
(4) Output an oscillation drive signal to the oscillation drive means 15 to execute an oscillation operation to a predetermined stored oscillation angle (step 7), and check whether the detected value of the oscillation angle detection means 36 is the predetermined stored oscillation angle If (YES in step 8) (stop signal is received), the swing drive signal is stopped and the swing operation is stopped (step 9). If NO in step 8, return to step 7 to continue the swing operation.
(5) Check whether the bending operation related to the retracting of the telescopic bending jib 21 is safe (step 10). If YES, the bending side driving signal is output to the bending driving means 11 to execute the bending operation to the predetermined retracting / extending angle ( Step 12), whether the detected value of the bending / extension angle detecting means 34 is a predetermined stored bending / extension angle (step 13). If YES (stop signal is received), the drive signal for the jib bending side is stopped and the bending operation is stopped (step 14). . If NO in step 13, return to step 12 to continue the bending operation.
(6) If NO at step 10, a raising signal is output to the hoisting drive means 8, the boom is raised (step 11), and the process returns to step 10. (Avoidance operation from A to B in Fig. 4)
(7) A boom reduction side drive signal is output to the boom extension / contraction drive means 9 to execute a reduction operation to a predetermined boom storage length (step 15), and it is checked whether the detection value of the boom length detection means 33 is the predetermined boom storage length. If (step 16), YES (stop signal is received), the boom reduction side drive signal is stopped and the reduction operation is stopped (step 17). If NO in step 16, return to step 15 to continue the swing operation.
(8) A turning drive signal is output to the turning drive means 6 and the turning operation to the predetermined stored turning position is executed (step 18), and the detected value of the turning angle detecting means 31 is checked whether it is the predetermined stored turning position (step 19). If YES (receives a stop signal), the turning drive signal is stopped and the turning operation is stopped (step 20). If NO in step 19, return to step 18 to continue the turning operation.
{Circle around (9)} A tilt drive signal is output to the undulation drive means 8 to execute a tilt operation to a predetermined stored undulation angle (step 21), and whether the detected value of the undulation angle detection means 32 is a predetermined stored undulation angle (step 22), If YES (receives a stop signal), the lodging drive signal is stopped and the lodging operation is stopped (step 23). If NO in step 22, the process returns to step 21 and continues the lodging operation.
■ Completion of storage (step 24).
[0029]
In (3) and (6), it is shown that the work machine 2 is operated to avoid the intrusion restriction area. However, the positional relationship between the trajectory in bending and the intrusion restriction area is compared, and the work machine 2 is moved to the intrusion restriction area. When outputting a restriction signal that at least part of the locus of
The telescopic operation or the bending operation related to the retracting operation of the telescopic bending jib 21 is not executed by the output of the restriction signal, and the drive signal is first output to the hoisting drive means 8 (boom drive means) so as to avoid the intrusion regulation area. Operation is performed. When the restriction signal is released, the avoidance operation is stopped, and the expansion / contraction operation or the bending operation related to the storage operation of the expansion / contraction type bending / extension jib 21 is executed for the first time.
[0030]
Although the avoidance operation has been described as being divided into steps 3 and 11, the avoidance operation performed in step 11 in step 3 may be taken in once.
[0031]
In addition, when a restriction signal is output when at least a part of the work machine 2 overlaps the intrusion restriction area, the extension / contraction operation or the bending action related to the retracting operation of the extension / contraction type bending jib 21 is first executed. The operation is temporarily stopped by the output of. Instead, a drive signal is output to the hoisting drive means 8 (boom drive means) so as to perform an avoidance operation outside the intrusion restriction area, the avoidance operation is executed, and when the restriction signal is released, the avoidance operation stops. Then, the expansion / contraction operation or the bending operation related to the storage operation of the expansion / contraction type bending jib 21 is resumed. In this case, the order of steps 2 and 4 and steps 10 and 12 is reversed.
[0032]
In any case, even if the determination means 43 outputs a restriction signal, not only the storage operation is stopped, but also the avoidance operation is performed and the storage operation is performed when the restriction signal is released.
In other words, even if there is a portion overlapping the intrusion control area in the process of the storage operation (interference between the basket 14 and the outrigger 4 in FIG. 4), the operator only operates the automatic storage switch 37. 3 is executed, for example, with the avoidance operation on the way from the work posture as shown in FIG. 3 (the avoidance operation from A to B in FIG. 4), the posture change to the storage posture of FIG. 1 and FIG. 2 is completed. To do.
Therefore, the troublesome operation of the plurality of operation levers and operation switches is eliminated.
Further, in the series of storage operation processes, since the work machine 2 itself and the work machine 2 and the vehicle 1 are not interfered with each other, the operator can prevent the work machine 2 and the environmental object such as the work object from You only need to monitor for interference prevention.
Therefore, the time required for the storage operation can be shortened and the efficiency can be improved, and the safety can be improved by allowing the operator to focus on the work monitoring.
[0033]
It should be noted that the automatic storage switch 37 is preferably one that continues the automatic storage operation by continuing to be pressed. This is because, when it is judged dangerous while monitoring the prevention of interference between the work implement 2 and an environmental object such as a work object, it can be stopped immediately if it is released. Of course, the automatic retracting switch 37 may continue to be operated once operated, and another stop switch may be provided.
[0034]
In the above description, the avoidance operation has been described as corresponding only to the expansion operation or the bending operation in the retracting operation of the telescopic bending jib 21, but the swinging operation of the basket 14, the reduction operation of the telescopic boom 7, the turning operation, You may make it operate | move corresponding to a lodging operation.
[0035]
Moreover, although the bending / extension jib has been described as the telescopic bending / extension jib 21, it may be applied to the bending / extension jib 10 that does not expand / contract, and in this case, steps 2 to 6 are omitted.
[0036]
Furthermore, although the storage position storage means 38 and the comparison means 39 have been described as separate configurations, they may be integrated. Further, although the intrusion restriction area storage means 42 and the determination means 43 have been described as separate configurations, they may be integrated. Further, the storage position storage means 38, the comparison means 39, the intrusion restriction area storage means 42, and the determination means 43 may be integrated.
Further, the turning angle detection means 31, the undulation angle detection means 32, the boom length detection means 33, the bending / extension angle detection means 34, the jib length detection means 35, and the swing angle detection means 36 are provided as already provided. What is necessary is just to use, and the thing which can detect linearly or a limit switch may be sufficient. Further, for detecting the completion of the retracted posture in which the bending / extension jibs 10 and 21 are stored in the jibrest 19, the limit switch between the bending / extension jibs 10 and 21 is detected in place of the predetermined storage undulation angle detected by the undulation angle detection means 32. It is good also as detection by. Further, the storage control device 40 may be added to the existing control means 18.
[0037]
The telescopic bending jib 21 may be stored above the telescopic boom 7.
[0038]
【The invention's effect】
First, in claim 1 of the present invention, an automatic storage device for an aerial work vehicle with a bending / extending jib is provided with a vehicle, a swivel mounted on the vehicle so as to be swiveled, a swivel driving means, and a swivel on the swivel. The telescopic boom having the base end attached thereto, the hoisting drive means, the boom telescopic drive means, and the base end part attached to the distal end of the telescopic boom so as to be able to bend and stretch on a plane parallel to the hoisting surface of the telescopic boom. A bending / extension jib, a bending / extension driving means, a posture maintaining bracket attached to the tip of the bending / extension jib so as to maintain the posture regardless of the undulating operation of the telescopic boom and the bending / extending operation of the bending / extending jib, and a basket attached to the posture maintaining bracket An operating means for outputting a mounting operation signal to the basket or the swivel, and a control means for receiving the operation signal and outputting a driving signal to each driving means. In an aerial work vehicle with a flexion / extension jib that takes a retracted position in which the retractable boom is retracted, the telescopic boom is reduced to a predetermined boom retracted length, is tilted to a predetermined retracted undulation angle, and the flexion / extension jib is bent to a predetermined retractable flexion / extension angle Rotation angle detection means for detecting a turning angle, undulation angle detection means for detecting the undulation angle of the telescopic boom, boom length detection means for detecting the boom length of the telescopic boom, and detection of the bending / extension angle of the bending / extension jib Bending angle of extension detection means, attitude calculation means for calculating and calculating the current attitude of the work implement based on detection values of each of the detection means, and an intrusion restriction area based on the work implement itself or the interference between the work implement and the vehicle is stored. Compare the position of the intrusion restriction area storage means with the work machine and the intrusion restriction area, and when the work equipment overlaps at least part of the intrusion restriction area or in the bending operation related to the retracting operation of the work machine The position relation between the trace and the intrusion control area is compared, and when at least a part of the trajectory of the work machine overlaps the intrusion control area, a determination means for outputting a control signal and the predetermined stored bending / extension angle are stored and the bending / extension angle detection is performed. Comparing means for outputting a stop signal when the detected value of the means coincides with the stored value, an automatic storage switch for outputting an automatic storage command signal, and a storage control device are provided. Is received, the bending side driving signal is output to the bending / extension driving means so as to execute the bending operation related to the storing operation, and when the control signal is received together with the automatic storage command signal, the bending side driving signal is stopped and the intrusion control area is outside. A drive signal is output to the boom drive means so as to operate the telescopic boom on the side where the avoidance operation is performed, and when the stop signal is received, the bending side drive signal is stopped.
[0039]
With this configuration, when retracting the bending / extension jib, the operator can automatically operate the bending / extension jib to the predetermined retracting / extension angle, even if there is a part that overlaps the intrusion control area during the retracting operation. By simply operating the retractable switch, the retracting operation of the bending / extension jib is executed with the avoidance operation in the intrusion regulation area, and the posture change from the working posture to the predetermined retracting / extending angle is completed.
The troublesome operation of a plurality of operating levers and operating switches is eliminated, and the operator only needs to monitor the prevention of interference between the work machine and the environmental object such as the work object in a series of storage operation processes. . Therefore, the time required for the storage operation can be shortened and the efficiency can be improved, and the safety can be improved as much as the operator can concentrate on monitoring the work.
[0040]
Further, in claim 2 of the present invention, the bending-extension jib in claim 1 of the present invention is an expansion-contraction bending-extension jib, and the expansion-contraction bending-extension jib is used when storing the expansion-contraction bending-extension jib. Jib expansion and contraction operation to the specified jib storage length In order to make the determination means, the position of the work machine and the intrusion control area are compared, and at least a part of the work machine overlaps the intrusion control area, Associated jib telescopic actuation The positional relationship between the trajectory and the intrusion restriction area is compared, and when at least a part of the trajectory of the work implement overlaps the intrusion restriction area, a restriction signal is output.
[0041]
With this configuration, the retractable retractable jib is retracted when retracting the retractable retractable jib. Jib expansion and contraction operation to the specified jib storage length Even if there is a part that overlaps the intrusion regulation area in the process of the retracting operation, the operator only operates the automatic retracting switch, and the retracting operation of the telescopic bending jib is avoided in the intrusion restricting area. The posture change from the working posture to the predetermined jib storage length is completed.
The troublesome operation of a plurality of operating levers and operating switches is eliminated, and the operator only needs to monitor the prevention of interference between the work machine and the environmental object such as the work object in a series of storage operation processes. . Therefore, the time required for the storage operation can be shortened and the efficiency can be improved, and the safety can be improved as much as the operator can concentrate on monitoring the work.
[0042]
Next, in claim 3 of the present invention, there is provided an automatic storage device for an aerial work vehicle with a bending and extending jib, a vehicle, a swivel mounted on the vehicle so as to be swiveled, a swivel driving means, and a swivel on the swivel Telescopic boom with its base end attached freely, hoisting drive means, boom telescopic drive means, and its base end part attached to the distal end of the telescopic boom so that it can be bent and extended on a plane parallel to the hoisting surface of the telescopic boom A bending-extension jib, a bending-extension driving means, a posture-maintaining bracket attached to the tip of the bending-extension jib so as to maintain the posture regardless of the undulation operation of the telescopic boom and the bending-extension operation of the bending-extension jib; Work comprising: freely attached basket; swing drive means; operation means for outputting an operation signal to the basket or swivel; and control means for receiving the operation signal and outputting the drive signal to each drive means. The swivel base is swung to a predetermined retracted swivel position, the telescopic boom is reduced to a predetermined retractable boom length, is tilted to a predetermined retracted undulation angle, the flexion / extension jib is bent to a predetermined retractable flexion / extension angle, and the basket is at a predetermined retractable swing angle. In an aerial work vehicle with a bending and extending jib that swings in a retracted position, a turning angle detecting means for detecting a turning angle of the swivel, a rising and falling angle detecting means for detecting a rising and falling angle of the telescopic boom, Boom length detecting means for detecting the boom length, bending / extension angle detecting means for detecting the bending / extension angle of the bending / extending jib, swing angle detecting means for detecting the swing angle of the basket, and the predetermined storage turning position, The predetermined boom storage length, the predetermined storage undulation angle, the predetermined storage bending / extension angle, and the predetermined storage swing angle are stored, and a stop signal is output when the detection value of each detection means matches the corresponding storage value. And a storage control device that outputs an automatic storage command signal. When the storage control device receives the automatic storage command signal, the storage control device swings the basket to a predetermined storage swing angle. When the swing drive signal is output to the swing drive means so as to execute the operation and the stop signal is received, the swing drive signal is stopped, and the bending / extension drive means is configured to execute the bending operation of the bending / extension jib to a predetermined storage bending / extension angle. When the bending-side drive signal is output and the stop signal is received, the bending-side drive signal is stopped, and the boom contraction-side drive signal is output to the boom extension / contraction drive means to stop the telescopic boom to be retracted to the predetermined boom storage length. When the signal is received, the boom reduction side drive signal is stopped, the turning drive signal is output to the turning drive means so as to execute the turning operation to the predetermined storage turning position of the turntable, and the stop signal is received. Storage operation control is performed in accordance with the order of stopping the turning drive signal and outputting the overturn drive signal to the uplift drive means and executing the overturn operation to the predetermined storage uplift angle of the telescopic boom, and stopping the overturn drive signal when the stop signal is received. It was configured as follows.
[0043]
With this configuration, the operator can change the posture only by operating the automatic retracting switch in order to change the working machine from the working posture to the predetermined retracted posture when retracting the aerial work vehicle with a bending / extending jib.
The troublesome operation of a plurality of operating levers and operating switches is eliminated, and the operator only needs to monitor the prevention of interference between the work machine and the environmental object such as the work object in a series of storage operation processes. . Therefore, the time required for the storage operation can be shortened and the efficiency can be improved, and the safety can be improved as much as the operator can concentrate on monitoring the work.
[0044]
Moreover, in Claim 4 of this invention, the bending-extension jib in Claim 3 of this invention was comprised as an expansion-contraction type bending extension.
[0045]
With this configuration, the operator can change the posture only by operating the automatic retracting switch in order to change the working machine from the working posture to the predetermined retracted posture when retracting the aerial work vehicle with a bending / extending jib.
The troublesome operation of a plurality of operating levers and operating switches is eliminated, and the operator only needs to monitor the prevention of interference between the work machine and the environmental object such as the work object in a series of storage operation processes. . Therefore, the time required for the storage operation can be shortened and the efficiency can be improved, and the safety can be improved as much as the operator can concentrate on monitoring the work.
[Brief description of the drawings]
FIG. 1 is a side view showing a retracted posture of an aerial work vehicle with a bending / extending jib.
2 is a plan view of FIG. 1. FIG.
FIG. 3 is an explanatory view showing a working posture of an aerial work vehicle with a bending / extending jib.
FIG. 4 is an explanatory view showing a retracting operation of an aerial work vehicle with a bending / extending jib.
FIG. 5 is a block diagram showing an embodiment of the present invention.
FIG. 6 is a first half of a flowchart showing an embodiment of the present invention.
FIG. 7 is the latter half of the flowchart showing the embodiment of the present invention.
[Explanation of symbols]
5 swivel,
6 turning drive means,
7 telescopic boom,
8 Undulating drive means,
9 Boom telescopic drive means,
10 Bending and stretching jib,
11 bending and stretching drive means,
15 swing drive means,
21 Telescopic bending and stretching jib,
22 jib telescopic drive means,
31 turning angle detection means,
32 Relief angle detection means,
33 Boom length detection means,
34 Bending / extension angle detecting means,
35 jib length detection means,
36 Swing angle detection means,
37 Automatic retractable switch,
38 Storage position storage means,
39 Comparison means,
40 containment controller,
41 posture calculation means,
42 Intrusion control area storage means,
43 judgment means,

Claims (4)

車両と、この車両の上に旋回自在に取付けた旋回台と、旋回駆動手段と、旋回台に起伏自在にその基端部を取付けた伸縮ブームと、起伏駆動手段と、ブーム伸縮駆動手段と、伸縮ブームの先端部に伸縮ブームの起伏面と平行な平面上で屈伸自在にその基端部を取付けた屈伸ジブと、屈伸駆動手段と、屈伸ジブの先端部に伸縮ブームの起伏作動および屈伸ジブの屈伸作動に関わらず姿勢を維持するよう取付けた姿勢維持ブラケットと、この姿勢維持ブラケットに取付けたバスケットと、バスケットあるいは旋回台に取付け操作信号を出力する操作手段と、操作信号を受信し各駆動手段へ駆動信号を出力する制御手段と、からなる作業機と、からなり、旋回台を所定格納旋回位置に旋回、伸縮ブームを所定ブーム格納長さに縮小および所定格納起伏角度に倒伏、屈伸ジブを所定格納屈伸角度に屈曲した格納姿勢を採る屈伸ジブ付き高所作業車において、
前記旋回台の旋回角度を検出する旋回角検出手段と、前記伸縮ブームの起伏角度を検出する起伏角検出手段と、伸縮ブームのブーム長さを検出するブーム長さ検出手段と、前記屈伸ジブの屈伸角度を検出する屈伸角検出手段と、これら各検出手段の検出値により前記作業機の現在の姿勢を演算算出する姿勢算出手段と、作業機自体または作業機と車両との干渉に基く侵入規制域を記憶した侵入規制域記憶手段と、作業機と侵入規制域との位置を比較し侵入規制域に作業機の少なくとも一部が重複する場合または作業機の格納作動に関連する屈曲作動における軌跡と侵入規制域との位置関係を比較し侵入規制域に作業機の軌跡の少なくとも一部が重複する場合には規制信号を出力する判定手段と、前記所定格納屈伸角度を記憶し屈伸角検出手段の検出値がこの記憶値に一致すると停止信号を出力する比較手段と、自動格納司令信号を出力する自動格納スイッチと、格納制御装置と、を設け、
この格納制御装置は、自動格納司令信号を受信すると、格納作動に関連する屈曲作動を実行するよう前記屈伸駆動手段に屈曲側駆動信号を出力し、自動格納司令信号と共に規制信号を受信すると、屈曲側駆動信号を停止し侵入規制域外への回避作動をする側に伸縮ブームの作動をするようブーム駆動手段に駆動信号を出力し、停止信号を受信すると屈曲側駆動信号を停止する、
ことを特徴とする屈伸ジブ付き高所作業車の自動格納装置。A vehicle, a swivel mounted on the vehicle so as to be pivotable, a swivel drive means, a telescopic boom having a base end attached to the swivel so as to be able to undulate, a hoisting drive means, a boom telescopic drive means, A bending / extension jib with its proximal end attached to the distal end of the telescopic boom on a plane parallel to the undulation surface of the telescopic boom, a bending / extension driving means, and the bending / extending jib of the telescopic boom at the distal end of the bending / extension jib A posture maintenance bracket that is attached to maintain the posture regardless of the bending and stretching operation, a basket attached to the posture maintenance bracket, an operation means that outputs an operation signal to the basket or the swivel, and each drive that receives the operation signal. And a work implement comprising: a control means for outputting a drive signal to the means; turning the swivel base to a predetermined storage turning position; reducing the telescopic boom to a predetermined boom storage length; Lodging the angle, the bending jib with aerial platforms take a stored position in which the bent bending and stretching jib in a predetermined storage bending angle,
A swivel angle detecting means for detecting a swivel angle of the swivel, a hoisting angle detecting means for detecting a hoisting angle of the telescopic boom, a boom length detecting means for detecting a boom length of the telescopic boom, Bending / extension angle detecting means for detecting a bending / extension angle, attitude calculating means for calculating and calculating the current attitude of the work implement based on detection values of each of the detecting means, and intrusion regulation based on interference between the work implement itself or the work implement and the vehicle The locus of the bending operation related to the storage operation of the work machine when at least a part of the work machine overlaps the intrusion control area by comparing the position of the work machine and the entry control area And a determination means for outputting a restriction signal when at least a part of the trajectory of the work machine overlaps the intrusion restriction area, and storing the predetermined stored bending / extension angle and a bending / extension angle detecting means Comparison means for detecting values and outputs a stopping signal matches this stored value, and an automatic storage switch for outputting the automatic retraction commander signal, a storage control unit, the provided
When receiving the automatic storage command signal, the storage control device outputs a bending side drive signal to the bending / extension driving means so as to execute a bending operation related to the storage operation, and when receiving the regulation signal together with the automatic storage command signal, The drive signal is output to the boom drive means so as to operate the telescopic boom to the side where the side drive signal is stopped and the avoidance operation outside the intrusion regulation area is performed, and when the stop signal is received, the bending side drive signal is stopped.
An automatic storage device for an aerial work platform with a bending and stretching jib characterized by the above. 車両と、この車両の上に旋回自在に取付けた旋回台と、旋回駆動手段と、旋回台に起伏自在にその基端部を取付けた伸縮ブームと、起伏駆動手段と、ブーム伸縮駆動手段と、伸縮ブームの先端部に伸縮ブームの起伏面と平行な平面上で屈伸自在にその基端部を取付けた伸縮式屈伸ジブと、屈伸駆動手段と、ジブ伸縮駆動手段と、伸縮式屈伸ジブの先端部に伸縮ブームの起伏作動および伸縮式屈伸ジブの屈伸作動に関わらず姿勢を維持するよう取付けた姿勢維持ブラケットと、この姿勢維持ブラケットに取付けたバスケットと、バスケットあるいは旋回台に取付け操作信号を出力する操作手段と、操作信号を受信し各駆動手段へ駆動信号を出力する制御手段と、からなる作業機と、からなり、旋回台を所定格納旋回位置に旋回、伸縮ブームを所定ブーム格納長さに縮小および所定格納起伏角度に倒伏、伸縮式屈伸ジブを所定ジブ格納長さに縮小および所定格納屈伸角度に屈曲した格納姿勢を採る屈伸ジブ付き高所作業車において、
前記旋回台の旋回角度を検出する旋回角検出手段と、前記伸縮ブームの起伏角度を検出する起伏角検出手段と、伸縮ブームのブーム長さを検出するブーム長さ検出手段と、前記伸縮式屈伸ジブの屈伸角度を検出する屈伸角検出手段と、伸縮式屈伸ジブのジブ長さを検出するジブ長さ検出手段と、これら各検出手段の検出値により前記作業機の現在の姿勢を演算算出する姿勢算出手段と、作業機自体または作業機と車両との干渉に基く侵入規制域または車両の安定に基く侵入規制域を記憶した侵入規制域記憶手段と、作業機と侵入規制域との位置を比較し侵入規制域に作業機の少なくとも一部が重複する場合または作業機の格納作動に関連するジブ伸縮作動における軌跡と侵入規制域との位置関係を比較し侵入規制域に作業機の軌跡の少なくとも一部が重複する場合には規制信号を出力する判定手段と、前記所定ジブ格納長さを記憶しジブ長さ検出手段の検出値がこの記憶値に一致すると停止信号を出力する比較手段と、自動格納司令信号を出力する自動格納スイッチと、格納制御装置と、を設け、
この格納制御装置は、自動格納司令信号を受信すると、格納作動に関連するジブ伸縮作動を実行するよう前記ジブ伸縮駆動手段にジブ伸縮駆動信号を出力し、自動格納司令信号と共に規制信号を受信すると、ジブ伸縮駆動信号を停止し侵入規制域外への回避作動をする側に伸縮ブームの作動をするようブーム駆動手段に駆動信号を出力し、停止信号を受信するとジブ伸縮駆動信号を停止する、
ことを特徴とする屈伸ジブ付き高所作業車の自動格納装置。A vehicle, a swivel mounted on the vehicle so as to be pivotable, a swivel drive means, a telescopic boom having a base end attached to the swivel so as to be able to undulate, a hoisting drive means, a boom telescopic drive means, A telescopic bending jib with its base end attached to the distal end of the telescopic boom on a plane parallel to the undulating surface of the telescopic boom, a bending / extension driving means, a jib expansion / contraction driving means, and a distal end of the telescopic bending / extension jib Attach the posture maintaining bracket attached to maintain the posture regardless of the hoisting operation of the telescopic boom and the bending operation of the telescopic bending jib, the basket attached to this posture maintaining bracket, and output the operation signal to the basket or swivel And a control unit that receives an operation signal and outputs a drive signal to each drive unit. Reduced to the boom storage length and lodging in a predetermined storage derricking angle, the telescopic bending jib to take stored position bent in reduction and predetermined stored bending angle in a predetermined stowing the jib length bending jib with aerial platforms,
A swivel angle detecting means for detecting a swivel angle of the swivel, a hoisting angle detecting means for detecting a hoisting angle of the telescopic boom, a boom length detecting means for detecting a boom length of the telescopic boom, and the telescopic bending and stretching A bending / extension angle detection means for detecting the bending / extension angle of the jib, a jib length detection means for detecting the jib length of the telescopic bending / extension jib, and the current posture of the work implement is calculated based on the detection values of each of the detection means. Position calculation means, intrusion control area storage means storing intrusion control area based on interference between work machine itself or work machine and vehicle or intrusion control area based on vehicle stability, position of work equipment and intrusion control area Compare the position relationship between the trajectory and the intrusion control area in the case where at least part of the work equipment overlaps the intrusion control area or the jib telescopic operation related to the retracting operation of the work equipment, and the trajectory of the work equipment in the intrusion control area At least A determination means for outputting a restriction signal when a part of the data overlaps, a comparison means for storing the predetermined jib storage length and outputting a stop signal when the detection value of the jib length detection means matches the stored value; An automatic storage switch that outputs an automatic storage command signal and a storage control device are provided,
When the storage control device receives the automatic storage command signal, it outputs a jib expansion / contraction drive signal to the jib expansion / contraction drive means so as to execute the jib expansion / contraction operation related to the storage operation, and receives the restriction signal together with the automatic storage command signal. The jib telescopic drive signal is output to the boom driving means so as to operate the telescopic boom to the side where the jib telescopic drive signal is stopped and the avoidance operation outside the intrusion regulation area is performed, and when the stop signal is received, the jib telescopic drive signal is stopped.
An automatic storage device for an aerial work platform with a bending and stretching jib characterized by the above. 車両と、この車両の上に旋回自在に取付けた旋回台と、旋回駆動手段と、旋回台に起伏自在にその基端部を取付けた伸縮ブームと、起伏駆動手段と、ブーム伸縮駆動手段と、伸縮ブームの先端部に伸縮ブームの起伏面と平行な平面上で屈伸自在にその基端部を取付けた屈伸ジブと、屈伸駆動手段と、屈伸ジブの先端部に伸縮ブームの起伏作動および屈伸ジブの屈伸作動に関わらず姿勢を維持するよう取付けた姿勢維持ブラケットと、この姿勢維持ブラケットに水平首振自在に取付けたバスケットと、首振駆動手段と、バスケットあるいは旋回台に取付け操作信号を出力する操作手段と、操作信号を受信し各駆動手段へ駆動信号を出力する制御手段と、からなる作業機と、からなり、旋回台を所定格納旋回位置に旋回、伸縮ブームを所定ブーム格納長さに縮小および所定格納起伏角度に倒伏、屈伸ジブを所定格納屈伸角度に屈曲、バスケットを所定格納首振角度に首振りした格納姿勢を採る屈伸ジブ付き高所作業車において、
前記旋回台の旋回角度を検出する旋回角検出手段と、前記伸縮ブームの起伏角度を検出する起伏角検出手段と、伸縮ブームのブーム長さを検出するブーム長さ検出手段と、前記屈伸ジブの屈伸角度を検出する屈伸角検出手段と、前記バスケットの首振角度を検出する首振角検出手段と、前記所定格納旋回位置、前記所定ブーム格納長さ、前記所定格納起伏角度、前記所定格納屈伸角度、前記所定格納首振角度を記憶し各検出手段の検出値が対応する記憶値に一致すると停止信号を出力する比較手段と、自動格納司令信号を出力する自動格納スイッチと、格納制御装置と、を設け、この格納制御装置は、自動格納司令信号を受信すると、バスケットの所定格納首振角度への首振作動を実行するよう前記首振駆動手段に首振駆動信号を出力し停止信号を受信すると首振駆動信号を停止、屈伸ジブの所定格納屈伸角度への屈曲作動を実行するよう前記屈伸駆動手段に屈曲側駆動信号を出力し停止信号を受信すると屈曲側駆動信号を停止、伸縮ブームの所定ブーム格納長さへの縮小作動を実行するよう前記ブーム伸縮駆動手段にブーム縮小側駆動信号を出力し停止信号を受信するとブーム縮小側駆動信号を停止、旋回台の所定格納旋回位置への旋回作動を実行するよう前記旋回駆動手段に旋回駆動信号を出力し停止信号を受信すると旋回駆動信号を停止、伸縮ブームの所定格納起伏角度への倒伏作動を実行するよう前記起伏駆動手段に倒伏駆動信号を出力し停止信号を受信すると倒伏駆動信号を停止、の順序に従って格納作動制御をする
ことを特徴とする屈伸ジブ付き高所作業車の自動格納装置。A vehicle, a swivel mounted on the vehicle so as to be pivotable, a swivel drive means, a telescopic boom having a base end attached to the swivel so as to be able to undulate, a hoisting drive means, a boom telescopic drive means, A bending / extension jib with its proximal end attached to the distal end of the telescopic boom on a plane parallel to the undulation surface of the telescopic boom, a bending / extension driving means, and the bending / extending jib of the telescopic boom at the distal end of the bending / extension jib A posture maintenance bracket attached to maintain the posture regardless of the bending and stretching operation of the basket, a basket attached to the posture maintenance bracket so as to freely swing freely, a swing driving means, and a mounting operation signal is output to the basket or the swivel. A work implement comprising: operating means; control means for receiving an operation signal and outputting a driving signal to each driving means; turning the swivel base to a predetermined storage turning position; Reduced to Osamecho and lodging in a predetermined storage derricking angle, bending the bending jib in a predetermined storage bending angle, the bending jib with aerial platforms take a stored position that swinging the basket in a predetermined storage neck vibration angle,
A swivel angle detecting means for detecting a swivel angle of the swivel, a hoisting angle detecting means for detecting a hoisting angle of the telescopic boom, a boom length detecting means for detecting a boom length of the telescopic boom, A bending / extension angle detecting means for detecting a bending / extension angle; an oscillation angle detecting means for detecting an oscillation angle of the basket; the predetermined storage turning position; the predetermined boom storage length; the predetermined storage undulation angle; A comparison means for storing an angle, the predetermined stored swing angle, and outputting a stop signal when a detection value of each detection means matches a corresponding stored value, an automatic storage switch for outputting an automatic storage command signal, and a storage control device; When the automatic storage command signal is received, the storage control device outputs an oscillation drive signal to the oscillation drive means so as to execute an oscillation operation to a predetermined storage oscillation angle of the basket and stops. When the signal is received, the oscillation drive signal is stopped, the bending side driving signal is output to the bending / extension driving means so as to execute the bending operation to the predetermined retracted bending / extension angle of the bending / extension jib, and when the stop signal is received, the bending side driving signal is stopped, When the boom contraction side drive signal is output to the boom telescopic drive means and the stop signal is received, the boom contraction side drive signal is stopped so that the contraction operation of the telescopic boom to the predetermined boom retracted length is stopped. When the turn drive signal is output to the turn drive means and the stop signal is received, the turn drive signal is stopped, and the undulation drive means is executed so as to execute the overturn operation to a predetermined retracted undulation angle of the telescopic boom. Automatic storage of an aerial work platform with a bending-extension jib characterized by controlling the storage operation according to the order of outputting a lodging drive signal and stopping the lodging drive signal when a stop signal is received Location. 車両と、この車両の上に旋回自在に取付けた旋回台と、旋回駆動手段と、旋回台に起伏自在にその基端部を取付けた伸縮ブームと、起伏駆動手段と、ブーム伸縮駆動手段と、伸縮ブームの先端部に伸縮ブームの起伏面と平行な平面上で屈伸自在にその基端部を取付けた伸縮式屈伸ジブと、屈伸駆動手段と、ジブ伸縮駆動手段と、伸縮式屈伸ジブの先端部に伸縮ブームの起伏作動および伸縮式屈伸ジブの屈伸作動に関わらず姿勢を維持するよう取付けた姿勢維持ブラケットと、この姿勢維持ブラケットに水平首振自在に取付けたバスケットと、首振駆動手段と、バスケットあるいは旋回台に取付け操作信号を出力する操作手段と、操作信号を受信し各駆動手段へ駆動信号を出力する制御手段と、からなる作業機と、からなり、旋回台を所定格納旋回位置に旋回、伸縮ブームを所定ブーム格納長さに縮小および所定格納起伏角度に倒伏、伸縮式屈伸ジブを所定ジブ格納長さに縮小および所定格納屈伸角度に屈曲、バスケットを所定格納首振角度に首振りした格納姿勢を採る屈伸ジブ付き高所作業車において、
前記旋回台の旋回角度を検出する旋回角検出手段と、前記伸縮ブームの起伏角度を検出する起伏角検出手段と、伸縮ブームのブーム長さを検出するブーム長さ検出手段と、前記伸縮式屈伸ジブの屈伸角度を検出する屈伸角検出手段と、伸縮式屈伸ジブのジブ長さを検出するジブ長さ検出手段と、前記バスケットの首振角度を検出する首振角検出手段と、前記所定格納旋回位置、前記所定ブーム格納長さ、前記所定格納起伏角度、前記ジブ所定格納長さ、前記所定格納屈伸角度、前記所定格納首振角度を記憶し各検出手段の検出値が対応する記憶値に一致すると停止信号を出力する比較手段と、自動格納司令信号を出力する自動格納スイッチと、格納制御装置と、を設け、
この格納制御装置は、自動格納司令信号を受信すると、伸縮式屈伸ジブの所定ジブ格納長さへのジブ伸縮作動を実行するよう前記ジブ伸縮駆動手段にジブ伸縮駆動信号を出力し停止信号を受信するとジブ伸縮駆動信号を停止、バスケットの所定格納首振角度への首振作動を実行するよう前記首振駆動手段に首振駆動信号を出力し停止信号を受信すると首振駆動信号を停止、伸縮式屈伸ジブの所定格納屈伸角度への屈曲作動を実行するよう前記屈伸駆動手段に屈曲側駆動信号を出力し停止信号を受信すると屈曲側駆動信号を停止、伸縮ブームの所定ブーム格納長さへの縮小作動を実行するよう前記ブーム伸縮駆動手段にブーム縮小側駆動信号を出力し停止信号を受信するとブーム縮小側駆動信号を停止、旋回台の所定格納旋回位置への旋回作動を実行するよう前記旋回駆動手段に旋回駆動信号を出力し停止信号を受信すると旋回駆動信号を停止、伸縮ブームの所定格納起伏角度への倒伏作動を実行するよう前記起伏駆動手段に倒伏駆動信号を出力し停止信号を受信すると倒伏駆動信号を停止、の順序に従って格納作動制御をする
ことを特徴とする屈伸ジブ付き高所作業車の自動格納装置。A vehicle, a swivel mounted on the vehicle so as to be pivotable, a swivel drive means, a telescopic boom having a base end attached to the swivel so as to be able to undulate, a hoisting drive means, a boom telescopic drive means, A telescopic bending jib with its base end attached to the distal end of the telescopic boom on a plane parallel to the undulating surface of the telescopic boom, a bending / extension driving means, a jib expansion / contraction driving means, and a distal end of the telescopic bending / extension jib A posture maintaining bracket that is mounted so as to maintain the posture regardless of the up-and-down operation of the telescopic boom and the bending and stretching operation of the telescopic bending and extending jib, a basket that is mounted on the posture maintaining bracket so as to freely swing horizontally, and a swing drive means A work machine comprising: an operation means for outputting an operation signal for mounting to a basket or a swivel; and a control means for receiving the operation signal and outputting a drive signal to each drive means. Rotate to the turning position, retract the telescopic boom to the specified boom retracted length, fall down to the specified retracted undulation angle, retract the telescopic retractable jib to the specified jib retracted length, bend to the specified retracted flexure angle, and the basket to the specified retractable swing angle In an aerial work platform with a flexion jib that takes the retracted position
A swivel angle detecting means for detecting a swivel angle of the swivel, a hoisting angle detecting means for detecting a hoisting angle of the telescopic boom, a boom length detecting means for detecting a boom length of the telescopic boom, and the telescopic bending and stretching A bending angle detecting means for detecting the bending angle of the jib, a jib length detecting means for detecting the jib length of the telescopic bending / extension jib, an oscillation angle detecting means for detecting the swing angle of the basket, and the predetermined storage The turning position, the predetermined boom storage length, the predetermined storage undulation angle, the jib predetermined storage length, the predetermined storage bending / extension angle, and the predetermined storage swing angle are stored, and the detection values of the detection means correspond to the corresponding stored values. Comparing means for outputting a stop signal when matched, an automatic storage switch for outputting an automatic storage command signal, and a storage control device are provided,
When the storage control device receives the automatic storage command signal, it outputs a jib expansion / contraction drive signal to the jib expansion / contraction drive means so as to execute a jib expansion / contraction operation to a predetermined jib storage length of the expansion / contraction type expansion / contraction jib, and receives a stop signal. Then, the jib expansion / contraction drive signal is stopped, and the oscillation drive signal is output to the oscillation drive means so as to execute the swing operation to the predetermined storage swing angle of the basket, and when the stop signal is received, the oscillation drive signal is stopped and expanded / contracted The bending side drive signal is output to the bending / extension driving means so as to execute the bending operation of the bending-extension jib to the predetermined retracted bending-extension angle, and when the stop signal is received, the bending-side drive signal is stopped, and the telescopic boom is adjusted to the predetermined boom storage length. When the boom contraction side drive signal is output to the boom telescopic drive means so as to execute the contraction operation and the stop signal is received, the boom contraction side drive signal is stopped, and the swivel operation to the predetermined retractable swing position of the swivel base is performed. The turning drive signal is outputted to the turning drive means so as to be executed, and when the stop signal is received, the turning drive signal is stopped, and the falling drive signal is outputted to the raising and lowering drive means so as to execute the overturning operation to the predetermined retracted raising / lowering angle of the telescopic boom. When the stop signal is received, the storage drive control is performed according to the order of stopping the lodging drive signal.
JP2002040959A 2002-02-19 2002-02-19 Automatic storage device for aerial work platforms with flexure and extension jib Expired - Lifetime JP4132864B2 (en)

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