JP4177994B2

JP4177994B2 - Automatic extension device for bridge inspection car

Info

Publication number: JP4177994B2
Application number: JP2002120311A
Authority: JP
Inventors: 輝一木村; 裕之金川; 章弘三好; 征彦眞重; 明宏遠山
Original assignee: Tadano Ltd
Current assignee: Tadano Ltd
Priority date: 2002-04-23
Filing date: 2002-04-23
Publication date: 2008-11-05
Anticipated expiration: 2022-04-23
Also published as: JP2003312999A

Description

【０００１】
【発明の属する技術分野】
この発明は、橋梁点検車の自動張出装置に関するものである。
【０００２】
【従来の技術】
先ず、本発明に係る自動張出装置の取り付け対象としての橋梁点検車を、図２〜図４に基づいて説明する。なお、図２はブーム機構３を格納姿勢にした側面図、図３は同平面図である。図４は橋梁点検作業状態を示す後面図である。
図２〜図４において、橋梁点検車は、車輌１上へ旋回自在に搭載した旋回台２に、ブーム機構３を介して作業台４を取り付けて構成している。
【０００３】
前記ブーム機構３は、
・旋回台２に起伏自在に取り付けた伸縮自在な第１ブーム３ａ、
・第1ブーム３ａの先端に第1ブーム３ａの起伏動に関わらずその対地姿勢を一定に維持可能に取り付けた第1姿勢維持部材３ｂ、
・第1姿勢維持部材３ｂの下側に水平旋回自在に取り付けた旋回部材３ｃ、
・鉛直下向きの倒伏位置と略水平な起仰位置との間で起伏自在なようその基端部を前記旋回部材３ｃに起伏自在に取り付けた第２ブーム３ｄ、
・その先端部に前記作業台４を取り付けた第３ブーム３ｅであって、第２ブーム３ｄに沿った折畳位置と伸展位置との間で屈伸自在なようその基端部を第２ブーム３ｄの先端部に屈伸自在に取り付けた伸縮自在な第３ブーム３ｅ、
とでもって構成されている。
【０００４】
５は、前記第1姿勢維持部材３ｂの対地姿勢を第１ブーム３ａの起伏動に関わらず一定に維持するための姿勢維持部材レベリング手段である。
【０００５】
第３ブーム３ｅの先端部への作業台４の取り付けは、第３ブーム３ｅの先端部にレベリング手段を介して作業台４を直接取り付けるようにしても良いが、図２〜図４図示のように間接的に取り付けても良い。すなわち、図２〜図４において、作業台４は、第３ブーム３ａの先端部に起伏自在に取り付けた先端ブーム６、先端ブーム６の先端に常に（ブーム機構３および先端ブーム６の作動にかかわらず）一定の対地姿勢を維持するようにして取り付けた第2姿勢維持部材７、および、一端部を前記第2姿勢維持部材７に水平首振り自在に取り付けられ他端部を作業台４に取り付けたアーム８を介して、第３ブーム３ｅの先端部に間接的に取り付けられている。
【０００６】
なお、図において、９、９、・・は、車輌１の前後位置において車幅外側に張出接地可能なアウトリガである。各アウトリガ９、９、・・の下端部には接地ローラ９ａが取り付けられており、アウトリガ９の接地状態で車輌１の前後方向移動が可能なようになっている。これらアウトリガ９、９、・・は、橋梁点検作業時には張出接地して車輌１の安定を確保し、車輌１の走行移動時には車輌１の車幅内に格納するものである。
【０００７】
（橋梁点検時の姿勢について）
このように構成した橋梁点検車は、橋梁点検作業時には、第２ブーム３ｄが鉛直下向きになるよう旋回部材３ｃに対して第２ブーム３ｄを倒伏（倒伏位置）させた状態で、旋回台２の旋回動、第１ブーム３ａの起伏並びに伸縮動、旋回部材３ｃの旋回動、第３ブーム３ｅの屈伸動（第２ブーム３ｄに対する屈伸動）することで、車輌１に対する作業台４の位置を調節して橋梁点検作業をするものである（図４）。なお、上述したように、第３ブーム３ｅの先端部に間接的に作業台４を取り付けたものにおいては、車輌１に対する作業台４の位置調節に、上記の各作動に加えて、先端ブーム６の起伏動、並びに、アーム８の水平首振り動を併用する。
【０００８】
（ブーム機構３の格納姿勢…橋梁点検車の走行移動時の姿勢…について）
また、ブーム機構３の格納姿勢は、縮小して車輌１の進行方向に沿うように倒伏した第１ブーム３ａの下側に第２および第３ブーム３ｄ，３ｅが略積層状に折り畳まれ、且つ、第２ブーム３ｄの先端部または第３ブーム３ｅの基端部が、旋回台２の適所に配置した振れ止め１０上に載置された状態（図２および図３）となる。
【０００９】
なお、図示の橋梁点検車のブーム機構３は、
・第１ブーム３ａの起伏駆動時に当該第１ブーム３ａの長手軸心線３ａ１が描く鉛直な軌跡面を「第１ブーム長手軸心線３ａ１の起伏軌跡面」、
・第２ブーム３ｄの起伏駆動（鉛直な倒伏位置と略水平な起仰位置との間の起伏駆動）時に当該第２ブーム３ｄの長手軸心線３ｄ１が描く鉛直な軌跡面を「第２ブーム長手軸心線３ｄ１の起伏軌跡面」、
・第３ブーム３ｅの屈伸駆動時に当該第３ブーム３ｅの長手軸心線３ｅ１が描く軌跡面を「第３ブーム長手軸心線３ｅ１の屈伸軌跡面」、
とした場合、水平旋回自在な旋回部材３ｃの旋回軸心線３ｃ１（鉛直）が、「第１ブーム長手軸心線３ａ１の起伏軌跡面」の延長面上で、且つ、「第２ブーム長手軸心線３ｄ１の起伏軌跡面」の延長面上に位置し、且つ、「第２ブーム長手軸心線３ｄ１の起伏軌跡面」と「第３ブーム長手軸心線３ｅ１の屈伸軌跡面」とが同一面上にあるよう構成している。
【００１０】
そして、ブーム機構３を上記格納時姿勢とした時、第２ブーム３ｄの先端部および当該先端部に屈曲自在に取り付けた第３ブーム３ｅの基端部（第２ブーム３ｄと第３ブーム３ｅの屈曲部）が、第１ブーム３ａの基端部の側方に位置するようにしている。このため、ブーム機構３の格納姿勢において実現される第１ブーム３ａ、第２ブーム３ｄおよび第３ブームの折畳状態は、完全な積層状ではないものの略積層状となっている。
【００１１】
ところで、上述した如く構成した橋梁点検車は、ブーム機構３の格納時姿勢…橋梁点検車の走行移動時の姿勢…（図２および図３の状態）で点検対象の橋梁上へ走行移動し、車輌１を路肩フェンス（橋梁の欄干またはフェンス）に沿って位置させ、且つ、アウトリガ９、９、・・を張出接地して車輌１の安定を確保した後、ブーム機構３を橋梁点検時の姿勢にするものである。
ブーム機構３をその格納時姿勢から橋梁点検作業時の姿勢に張り出すには、橋梁点検車の各構成要素を相互干渉させることなく、また、ブーム機構３と路肩フェンスを干渉させることなく注意して張出す必要がある。
【００１２】
【発明が解決しようとする課題】
従来、ブーム機構３をその格納姿勢から橋梁点検時の姿勢への張出しは、オペレータが、ブーム機構３の各駆動要素の駆動制御手段を順次操作して行っていた。
【００１３】
このため、ブーム機構３の張り出し時に、オペレータが極めて煩雑な操作をしなければならないばかりでなく、往々にして、橋梁点検車の各構成要素を相互干渉させ、また、ブーム機構３と路肩フェンスを干渉させて、橋梁点検車を破損させるという問題があった。
この発明は、ブーム機構３を、その格納姿勢から橋梁点検時の姿勢に自動的に張り出すことのできる自動張出装置を提供し、以って上記問題点を解決しようとするものである。
【００１４】
【課題を解決するための手段】
上記問題点を解決するため、本発明に係る橋梁点検車の自動張出装置は次の如く構成する。
・旋回台２の旋回角度を検出する旋回台旋回角度検出手段２１、
・第１ブーム３ａの起伏角度を検出する第１ブーム起伏角度検出手段２２、
・第１ブーム３ａの長さを検出する第１ブーム長さ検出手段２３、
・旋回部材３ｃの旋回角度を検出する旋回部材旋回角度検出手段２４、
・第２ブーム３ｄの起伏角度を検出する第２ブーム起伏角度検出手段２５、
・格納姿勢にあるブーム機構３の作業姿勢への自動張り出しを指示する自動張出信号を出力する自動張出指令手段２６、
・前記各検出手段２１〜２５、および、前記自動張出指令手段２６からの信号を受け取り、旋回台２の旋回作動を制御する旋回台作動制御手段１１、第１ブーム３ａの起伏作動を制御する第１ブーム起伏作動制御手段１２、第１ブーム３ａの伸縮作動を制御する第１ブーム伸縮作動制御手段１３、旋回部材３ｃの旋回作動を制御する旋回部材作動制御手段１４、及び、第２ブーム３ｄの起伏作動を制御する第２ブーム起伏作動制御手段１５に作動制御信号を出力するコントローラ２７、
とからなり、前記コントローラ２７は、自動張出指令手段２６からの自動張出信号を受け取ると、下記の手順を実行し、第１ブーム３ａを車輌１の前後方向に略直交するまで旋回および所定の起伏角度と所定長さにし、第２ブーム３ｄと第３ブーム３ｅとを含む平面が車輌１の前後方向に略平行となると共に鉛直な倒伏姿勢の第２ブーム３ｄと第２ブーム３ｄに沿った第３ブーム３ｅとなる姿勢にさせるための作動指令信号を前記各作動制御手段１１〜１５に出力するよう構成してあることを特徴とする橋梁点検車の自動張出装置。
【００１５】
（手順１）
第１ブーム３ａを、当該第１ブーム３ａと略水平姿勢に維持された第２ブーム３ｄが干渉しない第１ブーム３ａ起仰可能角度の範囲内であって、少なくとも第２ブーム３ｄの先端部または第３ブーム３ｅの基端部がブーム振れ止め１０から離脱する所定角度まで、起仰駆動する。
（手順２）
次いで、第１ブーム３ａと第２および第３ブーム３ｄ，３ｅが干渉することなく次手順３での第１ブーム３ａの起仰駆動を可能にすべく旋回部材３ｃを所定旋回角度まで旋回駆動する。
（手順３）
次いで、第１ブーム３ａを、次手順４の旋回台２の旋回駆動により旋回部材３が路肩フェンス上方外側に位置するに足る、所定の起伏角度と所定長さになるまで、起仰駆動並びに伸長駆動する。
（手順４）
次いで、第１ブーム３ａが車輌１の前後方向に略直交するまで旋回台２を旋回駆動して、旋回部材３ｃを路肩フェンス上方外側に位置させる。
（手順５）
次いで、水平状態にある第２ブーム３ｄおよび第３ブーム３ｅが、路肩フェンス上方外側で車輌１の前後方向に略平行となるよう、旋回部材３ｃを旋回駆動する。
（手順６）
次いで、第２ブーム３ｄが鉛直な倒伏姿勢になるよう、第２ブーム３ｄを倒伏駆動する。
【００１６】
【作用】
上記の如く構成した本発明に係る橋梁点検車の自動張出装置は、自動張出指令手段２６を操作して、自動張出信号をコントローラ２７に入力するのみで、コントローラ２７が、旋回台２並びにブーム機構３の各作動制御手段に順次作動制御信号を出力して、上記（手順１）〜（手順６）を実行するので、オペレータに煩雑な操作を強いることなく、しかも、橋梁点検車の各構成要素の相互干渉およびブーム機構３と路肩フェンスの干渉を回避して、橋梁点検車のブーム機構３を格納姿勢から、橋梁点検時の姿勢に張り出すことができるのである。
【００１７】
【発明の実施の形態】
以下、図２〜図４に示し上述した橋梁点検車に適用した本発明の橋梁点検車の自動張出装置を、図１に基づき説明する。
【００１８】
本発明の橋梁点検車の自動張出装置の説明に先立ち、まず、図２〜図３に示し上述した橋梁点検車の各作動要素を個別に制御するための作動制御手段を図１に基づいて説明する。
図１において、１１は旋回台２の旋回作動を制御する旋回台作動制御手段、１２は第１ブーム３ａの起伏作動を制御する第１ブーム起伏作動制御手段、１３は第１ブーム３ａの伸縮作動を制御する第１ブーム伸縮作動制御手段、１４は旋回部材３ｃの旋回作動を制御する旋回部材作動制御手段、１５は第２ブーム３ｄの起伏作動を制御する第２ブーム起伏作動制御手段、１６は第３ブーム３ｅの屈伸作動を制御する第３ブーム屈伸作動制御手段、１７は第３ブーム３ｅの伸縮作動を制御する第３ブーム伸縮作動制御手段、１８は先端ブーム６の起伏作動を制御する先端ブーム起伏作動制御手段、１９はアーム８の首振り作動を制御するアーム首振り作動制御手段である。
【００１９】
これら各作動制御手段１１〜１９は、それに入力される作動制御信号に応じて該当する駆動アクチュエータ（図示せず）を駆動させるものである。
【００２０】
１１ａ〜１９ａは、前記各作動制御手段１１〜１９にそれぞれ対応して設けられた操作入力部である。２０は、操作入力部１１ａ〜１９ａからの操作信号を受け取って、受け取りに係る操作信号に該当する作動制御手段に対して作動制御信号を出力する個別制御用コントローラである。
【００２１】
次に、本発明に係る橋梁点検車の自動張出装置を図１に基づいて説明する。本発明に係る橋梁点検車の自動張出装置は、
・旋回台２の旋回角度を検出する旋回台旋回角度検出手段２１、
・第１ブーム３ａの起伏角度を検出する第１ブーム起伏角度検出手段２２、
・第１ブーム３ａの長さを検出する第１ブーム長さ検出手段２３、
・旋回部材３ｃの旋回角度を検出する旋回部材旋回角度検出手段２４、
・第２ブーム３ｄの起伏角度を検出する第２ブーム起伏角度検出手段２５、
・格納姿勢にあるブーム機構３の作業姿勢への自動張り出しを指示する自動張出信号を出力する自動張出指令手段２６、および、
・コントローラ２７、
とから構成されている。
【００２２】
前記自動張出指令手段２６は、オペレータの操作に応じて自動張出信号を出力するものである。
【００２３】
前記コントローラ２７は、各検出手段２１〜２５、および、自動張出指令手段２６からの信号を受け取り、旋回台２の旋回作動を制御する旋回台作動制御手段１１、第１ブーム３ａの起伏作動を制御する第１ブーム起伏作動制御手段１２、第１ブームの伸縮作動を制御する第１ブーム伸縮作動制御手段１３、旋回部材３ｃの旋回作動を制御する旋回部材作動制御手段１４、及び、第２ブーム３ｄの起伏作動を制御する第２ブーム起伏作動制御手段１５に作動制御信号を出力するものである。
【００２４】
そして、このコントローラ２７は、自動張出指令手段２６からの自動張出信号を受け取ると、下記の手順を実行させるための作動指令信号を前記各作動制御手段に出力するよう構成している。
【００２５】
（手順１）
第１ブーム３ａを、当該第１ブーム３ａと第２ブーム３ｄが干渉しない第１ブーム３ａの起仰可能角度の範囲内であって、少なくとも第２ブーム３ｄの先端部または第３ブーム３ｅの基端部がブーム振れ止め１０から離脱する所定角度まで、起仰駆動する。
【００２６】
ブーム機構３の格納姿勢、すなわち、第１ブーム３ａの下側に第２および第３ブーム３ｄ，３ｅが積層状態にある姿勢からの第１ブーム３ａの起仰駆動は、第２ブーム３ｄが第1姿勢維持部材３ｂにより略水平姿勢に維持されている関係で、第１ブーム３ａと第２ブーム３ｄが干渉する危険があるため、その起仰動は自ずと制限されるのであるが、（手順１）では、この制限範囲内に設定した所定角度まで第１ブーム３ａを起仰駆動し、第２ブーム３ｄの先端部または第３ブーム３ｅの基端部をブーム振れ止め１０から離脱させるものである。
【００２７】
（手順１）で用いる所定角度はコントローラ２７中に記憶している。コントローラ２７は、自動張出指令手段２６から自動張出信号を受け取ると、第１ブーム起伏角度検出手段２２の検出に係る第１ブーム３ａの起伏角度が記憶に係る所定角度になるまで、第１ブーム起伏作動制御手段１２に対して起仰作動を指示する作動制御信号を出力する。
【００２８】
（手順２）
次いで、第１ブーム３ａと第２および第３ブーム３ｄ，３ｅが干渉することなく次の（手順３）での第１ブーム３ａの起仰駆動を可能にすべく旋回部材３ｃを所定旋回角度まで旋回駆動する。
【００２９】
この（手順２）では、旋回部材３ｃを旋回駆動することで、第１ブーム３ａと第２ブーム３ｄが干渉することなく第１ブーム３ａを起仰駆動できる起伏角度域を増大するためのものである。そして、この（手順２）で行われる旋回部材３ｃの旋回駆動は、第２，第３ブームの屈曲部の車輌１からの突出量（車幅方向突出量）を抑えるために必要最低限度（次の（手順３）での第１ブーム３ａの起仰駆動を実行するのに必要充分な値）に設定されている。
【００３０】
（手順２）で用いる所定旋回角度はコントローラ２７中に記憶している。コントローラ２７は、上記（手順１）の完了した後、旋回台旋回角度検出手段２１の検出に係る旋回角度が、記憶に係る所定旋回角度になるまで、旋回台作動制御手段１１に対して旋回作動を指示する作動制御信号を出力する。
【００３１】
（手順３）
次いで、第１ブーム３ａを、次手順４の旋回台２の旋回駆動により旋回部材３が路肩フェンス上方外側に位置するに足る、所定の起伏角度と所定長さになるまで、起仰駆動並びに伸長駆動する。
【００３２】
（手順３）で用いる所定起伏角度と所定長さは、コントローラ２７中に記憶している。コントローラは、上記（手順２）の完了後、第１ブーム起伏角度検出手段２２の検出に係る起伏角度が記憶に係る所定起伏角度になるまで、第１ブーム起伏作動制御手段１２に対して起仰作動を指示する作動制御信号を出力すると共に、第１ブーム長さ検出手段２３の検出に係る長さが記憶に係る所定長さになるまで、第１ブーム伸縮作動制御手段１３に対して伸長作動を指示する作動制御信号を出力する。
【００３３】
（手順４）
次いで、第１ブーム３ａが車輌１の前後方向に略直交するまで旋回台２を旋回駆動して、旋回部材３ｃを路肩フェンス上方外側に位置させる。
【００３４】
コントローラ２７中には、第１ブーム３ａが車輌１の前後方向に略直交する旋回台２の旋回角度を記憶している。コントローラ２７は、上記（手順３）の完了後、旋回台旋回角度検出手段２１が検出した旋回角度が、この記憶に係る旋回角度になるまで、旋回台作動制御手段１１に対して旋回作動を指示する作動制御信号を出力する。
【００３５】
（手順５）
次いで、水平状態にある第２ブーム３ｄおよび第３ブーム３ｅが、路肩フェンス上方外側で当該路肩フェンスに略平行となるよう、旋回部材３ｃを旋回駆動する。
【００３６】
先行する（手順４）において、第１ブーム３ａが車輌１の前後方向に略直交するよう旋回しており、且つ、車輌１は路肩フェンスに沿って停車しているので、水平状態にある第２ブーム３ｄおよび第３ブーム３ｅを路肩フェンスに略平行にする旋回部材３ｃの旋回角度（第１ブーム３ａに対する相対旋回角度）は略９０度である。この値がコントローラ２７中に記憶されている。コントローラ２７は、上記（手順４）の完了後、旋回部材旋回角度検出手段２４が検出した旋回角度が、記憶に係る旋回角度になるまで、旋回部材作動制御手段１４に対して旋回作動を指示する作動制御信号を出力する。
【００３７】
（手順６）
次いで、第２ブーム３ｄが鉛直な倒伏姿勢になるよう、第２ブーム３ｄを倒伏駆動する。
【００３８】
コントローラ２７は、上記（手順５）の完了後、第２ブーム起伏角度検出手段２５から、第２ブーム３ｄが鉛直な倒伏姿勢となったことを示す信号が入力されるまで、第２ブーム起伏作動制御手段１５に対して倒伏作動を指示する作動制御信号を出力する。
【００３９】
上記の如く構成した橋梁点検車の自動張出装置は、橋梁点検車を点検対象の橋梁まで走行移動し、アウトリガ９、９、・・を張出接地した上で、その自動張出指令手段２６を操作するのみで、上記（手順１）〜（手順６）でブーム機構３の自動張出ができるのである。
【００４０】
自動張出装置による自動張出がなされた後、すなわち、上記（手順６）が完了した後は、オペレータが必要に応じて操作入力部１１ａ〜１９ａを操作することで、旋回台２の旋回作動、ブーム機構３の各作動要素の作動、先端ブーム６の起伏作動、および、アーム８の首振り作動（作業台４の首振り作動）を併用し、作業台４の位置を任意に調節して橋梁点検作業をするものである。
【００４１】
なお、本発明に係る橋梁点検車の自動張出装置での上記（手順１）〜（手順６）は、その順序でこれら手順が実行されるものであれば良く、これら手順間に、適宜、旋回台２の旋回作動、ブーム機構３の各作動要素の作動、先端ブーム６の起伏作動、あるいは、アーム８の首振り作動を介在させても良いものであり、そのようなものも本件発明に含まれるものである。
【００４２】
また、図１では、個別制御用コントローラ２０と、本発明の橋梁点検車の自動張出装置の構成要素たるコントローラ２７とを、別々に図示しているが、これら個別制御用コントローラ２０とコントローラ２７は、両機能を内在させた単一のもので構成しても良いこと勿論である。
【００４３】
上記の説明では、自動張出について説明したが、格納作動の場合、第２ブーム３ｄが鉛直な倒伏姿勢（（手順６）による自動張出の完了時の姿勢）から、手順を自動張出の場合と逆順に（手順６）〜（手順１）へ実行することにより、自動格納させることは容易に可能である。
【００４４】
【発明の効果】
以上の如く構成し作用する本発明に係る橋梁点検車の自動張出装置は、自動張出指令手段を操作するのみで、従来のようにオペレータに煩雑な操作を強いることなく、しかも、橋梁点検車の各構成要素の相互干渉およびブーム機構と路肩フェンスの干渉を回避して、橋梁点検車のブーム機構を格納姿勢から、橋梁点検時の姿勢に張り出すことができるのである。
【図面の簡単な説明】
【図１】本発明に係る橋梁点検車の自動張出装置の説明図である。
【図２】本発明の適用対象たる橋梁点検車のブーム機構格納姿勢を示す側面図である。
【図３】同平面図である。
【図４】図２および図３に示す橋梁点検車の橋梁点検作業時の説明図である。
【符号の説明】
１；車輌、２；旋回台、３；ブーム機構、３ａ；第１ブーム、
３ａ１；第１ブーム３ａの長手軸心線、３ｂ；第１姿勢維持部材、
３ｃ；旋回部材、３ｃ１；旋回部材３ｃの旋回軸心線、３ｄ；第２ブーム、
３ｄ１；第２ブーム３ｄの長手軸心線、３ｅ；第３ブーム、
３ｅ１；第３ブーム３ｅの長手軸心線、４；作業台、
５；姿勢維持部材レベリング手段、６；先端ブーム、７；第2姿勢維持部材、
８；アーム、９，９，・・；アウトリガ、９ａ，９ａ，・・；接地ローラ、
１０；ブーム振れ止め、１１；旋回台作動制御手段、
１２；第1ブーム起伏作動制御手段、１３；第１ブーム伸縮作動制御手段、
１４；旋回部材作動制御手段、１５；第２ブーム起伏作動制御手段、
１６；第３ブーム屈伸作動制御手段、１７；第３ブーム伸縮作動制御手段、
１８；先端ブーム起伏作動制御手段、１９；アーム首振り作動制御手段、
１１ａ〜１９ａ；操作入力部、２０；個別制御用コントローラ、
２１；旋回台旋回角度検出手段、２２；第１ブーム起伏角度検出手段、
２３；第１ブーム長さ検出手段、２４；旋回部材旋回角度検出手段、
２５；第２ブーム起伏角度検出手段、２６；自動張出指令手段、
２７；コントローラ、[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic extension device for a bridge inspection vehicle.
[0002]
[Prior art]
First, a bridge inspection vehicle as an attachment target of an automatic overhanging apparatus according to the present invention will be described with reference to FIGS. 2 is a side view of the boom mechanism 3 in the retracted position, and FIG. 3 is a plan view of the same. FIG. 4 is a rear view showing the bridge inspection work state.
2 to 4, the bridge inspection vehicle is configured by attaching a work table 4 via a boom mechanism 3 to a turntable 2 that is slidably mounted on a vehicle 1.
[0003]
The boom mechanism 3 is
A telescopic first boom 3a attached to the swivel base 2 so as to be raised and lowered.
A first posture maintaining member 3b attached to the tip of the first boom 3a so that the ground posture can be maintained constant regardless of the up-and-down movement of the first boom 3a;
A swiveling member 3c attached to the lower side of the first posture maintaining member 3b so as to be horizontally swivelable;
A second boom 3d having a base end portion attached to the swivel member 3c so as to be able to rise and fall between a vertically downward lying position and a substantially horizontal raising position;
The third boom 3e having the work table 4 attached to the distal end thereof, and the base end of the third boom 3d being bent and extended between the folding position and the extended position along the second boom 3d. A telescopic third boom 3e attached to the distal end of
It is configured with.
[0004]
Reference numeral 5 denotes posture maintaining member leveling means for maintaining the ground posture of the first posture maintaining member 3b constant regardless of the up-and-down movement of the first boom 3a.
[0005]
The work table 4 may be attached to the tip of the third boom 3e by directly attaching the work table 4 to the tip of the third boom 3e via leveling means, as shown in FIGS. You may attach it indirectly. That is, in FIGS. 2 to 4, the work table 4 is always attached to the tip of the tip boom 6 and the tip boom 6 attached to the tip of the third boom 3 a so as to be raised and lowered (regardless of the operation of the boom mechanism 3 and the tip boom 6. 2) The second posture maintaining member 7 attached so as to maintain a constant ground posture, and one end portion thereof being attached to the second posture maintaining member 7 so as to be freely swingable and the other end portion thereof being attached to the work table 4. The second boom 3e is indirectly attached to the tip of the third boom 3e via the arm 8.
[0006]
In the figure, 9, 9,... Are outriggers that can project to the outside of the vehicle width at the front and rear positions of the vehicle 1. A grounding roller 9 a is attached to the lower end of each outrigger 9,... So that the vehicle 1 can move in the front-rear direction when the outrigger 9 is in a grounded state. These outriggers 9, 9,... Are overhanged to ensure the stability of the vehicle 1 during bridge inspection work, and are stored within the vehicle width of the vehicle 1 when the vehicle 1 travels.
[0007]
(Attitudes during bridge inspection)
The bridge inspection vehicle configured as described above is in a state in which the second boom 3d is laid down (falling position) with respect to the turning member 3c so that the second boom 3d is vertically downward during the bridge inspection work . The position of the work table 4 with respect to the vehicle 1 is adjusted by turning, turning up and down of the first boom 3a, turning of the turning member 3c, and bending and extending of the third boom 3e (bending and extending with respect to the second boom 3d). The bridge is inspected (Fig. 4). As described above, in the case where the work table 4 is indirectly attached to the distal end portion of the third boom 3e, the position of the work table 4 with respect to the vehicle 1 is adjusted in addition to the operations described above, the front boom 6 Undulation movement and horizontal swing of the arm 8 are used in combination.
[0008]
(About the retracted posture of the boom mechanism 3 ... the posture when the bridge inspection vehicle is traveling)
Further, the retracted posture of the boom mechanism 3 is such that the second and third booms 3d and 3e are folded in a substantially stacked manner on the lower side of the first boom 3a that has been reduced and laid down along the traveling direction of the vehicle 1. Then, the distal end portion of the second boom 3d or the proximal end portion of the third boom 3e is placed on the steady rest 10 arranged at an appropriate position of the swivel base 2 (FIGS. 2 and 3).
[0009]
In addition, the boom mechanism 3 of the illustrated bridge inspection vehicle is
A vertical trajectory plane drawn by the longitudinal axis 3a1 of the first boom 3a when the first boom 3a is driven to undulate is referred to as “undulation trajectory plane of the first boom longitudinal axis 3a1”,
A vertical trajectory plane drawn by the longitudinal axis 3d1 of the second boom 3d when the second boom 3d is driven up and down (a vertical drive between a vertical lying position and a substantially horizontal upright position) is expressed as “second boom The undulating locus surface of the longitudinal axis 3d1 ",
The locus surface drawn by the longitudinal axis 3e1 of the third boom 3e when the third boom 3e is driven to bend and extend is "the bending locus of the third boom longitudinal axis 3e1",
In this case, the pivot axis 3c1 (vertical) of the pivot member 3c that can be pivoted horizontally is on an extended surface of the “undulation locus plane of the first boom longitudinal axis 3a1” and “the second boom longitudinal axis”. It is located on the extended surface of the “undulation locus surface of the core wire 3d1”, and the “undulation locus surface of the second boom longitudinal axis 3d1” and the “bend and extension locus surface of the third boom longitudinal axis 3e1” are the same. It is configured to be on the surface.
[0010]
When the boom mechanism 3 is in the retracted posture, the distal end portion of the second boom 3d and the proximal end portion of the third boom 3e that is flexibly attached to the distal end portion (the second boom 3d and the third boom 3e (Bending portion) is positioned to the side of the base end portion of the first boom 3a. For this reason, the folded state of the first boom 3a, the second boom 3d, and the third boom realized in the retracted posture of the boom mechanism 3 is not a perfect laminated shape, but is a substantially laminated shape.
[0011]
By the way, the bridge inspection vehicle configured as described above travels and moves on the bridge to be inspected in the retracted posture of the boom mechanism 3 ... the posture when the bridge inspection vehicle travels (the state of FIGS. 2 and 3). After the vehicle 1 is positioned along the roadside fence (bridge balustrade or fence) and the outriggers 9, 9,.. It is to make a posture.
In order to project the boom mechanism 3 from the stowed position to the position during the bridge inspection work, care should be taken without causing the components of the bridge inspection vehicle to interfere with each other and without causing the boom mechanism 3 and the roadside fence to interfere with each other. It is necessary to overhang.
[0012]
[Problems to be solved by the invention]
Conventionally, the boom mechanism 3 is extended from its retracted posture to the posture at the time of bridge inspection by an operator by sequentially operating the drive control means of each drive element of the boom mechanism 3.
[0013]
For this reason, when the boom mechanism 3 is extended, not only does the operator have to perform extremely complicated operations, but also the components of the bridge inspection vehicle often interfere with each other, and the boom mechanism 3 and the roadside fence can be connected to each other. There was a problem of damaging the bridge inspection car due to interference.
The present invention provides an automatic extension device that can automatically extend the boom mechanism 3 from its retracted posture to the posture at the time of inspection of the bridge, thereby attempting to solve the above problems.
[0014]
[Means for Solving the Problems]
In order to solve the above problems, an automatic overhanging device for a bridge inspection vehicle according to the present invention is configured as follows.
A swivel turn angle detection means 21 for detecting the turn angle of the swivel 2 ;
First boom hoisting angle detecting means 22 for detecting the hoisting angle of the first boom 3a,
First boom length detection means 23 for detecting the length of the first boom 3a,
A turning member turning angle detecting means 24 for detecting the turning angle of the turning member 3c;
Second boom hoisting angle detecting means 25 for detecting the hoisting angle of the second boom 3d,
Automatic extension command means 26 for outputting an automatic extension signal that instructs automatic extension of the boom mechanism 3 in the retracted position to the working position;
・ Receiving signals from the detection means 21 to 25 and the automatic overhang command means 26, the swivel base operation control means 11 for controlling the swivel action of the swivel base 2 and the undulation action of the first boom 3a are controlled. First boom raising / lowering operation control means 12, first boom extension / contraction operation control means 13 for controlling the extension / contraction operation of the first boom 3a, turning member operation control means 14 for controlling the turning operation of the turning member 3c, and second A controller 27 for outputting an operation control signal to the second boom hoisting operation control means 15 for controlling the hoisting operation of the boom 3d;
When the controller 27 receives the automatic extension signal from the automatic extension command means 26, the controller 27 performs the following procedure, turns the first boom 3a until it is substantially orthogonal to the longitudinal direction of the vehicle 1, The plane including the second boom 3d and the third boom 3e is substantially parallel to the front-rear direction of the vehicle 1 and is in a vertical lying position along the second boom 3d and the second boom 3d. An automatic extension device for a bridge inspection vehicle, characterized in that an operation command signal for causing the third boom 3e to be in a posture is output to each of the operation control means 11-15.
[0015]
(Procedure 1)
The first boom 3a is within a range of an angle at which the first boom 3a can be raised and does not interfere with the second boom 3d maintained in a substantially horizontal posture with the first boom 3a, and at least the tip of the second boom 3d or The third boom 3e is lifted up to a predetermined angle at which the base end of the third boom 3e is detached from the boom steady rest 10.
(Procedure 2)
Next, the swivel member 3c is swiveled to a predetermined swivel angle so that the first boom 3a can be lifted and raised in the next step 3 without interference between the first boom 3a and the second and third booms 3d and 3e. .
(Procedure 3)
Next, the first boom 3a is lifted and extended until a predetermined undulation angle and a predetermined length are sufficient for the swivel member 3 to be positioned above the roadside fence by the swivel drive of the swivel 2 in the next step 4. To drive.
(Procedure 4)
Subsequently, the swivel base 2 is driven to turn until the first boom 3a is substantially orthogonal to the front-rear direction of the vehicle 1, and the turning member 3c is positioned above the roadside fence.
(Procedure 5)
Next, the turning member 3c is driven to turn so that the second boom 3d and the third boom 3e that are in the horizontal state are substantially parallel to the front-rear direction of the vehicle 1 on the outer side of the roadside fence.
(Procedure 6)
Next, the second boom 3d is driven to fall so that the second boom 3d assumes a vertical lying posture.
[0016]
[Action]
The automatic extension device for a bridge inspection vehicle according to the present invention configured as described above operates the automatic extension command means 26 and only inputs an automatic extension signal to the controller 27. In addition, since the operation control signals are sequentially output to the respective operation control means of the boom mechanism 3 and the above (procedure 1) to (procedure 6) are executed, the operator is not forced to perform complicated operations and the bridge inspection vehicle is By avoiding mutual interference between components and interference between the boom mechanism 3 and the roadside fence, the boom mechanism 3 of the bridge inspection vehicle can be extended from the retracted position to the posture at the time of bridge inspection.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an automatic extension device for a bridge inspection vehicle of the present invention applied to the bridge inspection vehicle shown in FIGS. 2 to 4 will be described with reference to FIG.
[0018]
Prior to the description of the automatic inspection device for a bridge inspection vehicle according to the present invention, first, operation control means for individually controlling each operation element of the bridge inspection vehicle shown in FIGS. explain.
In FIG. 1, 11 is a swivel base operation control means for controlling the swivel action of the swivel base 2, 12 is a first boom hoisting action control means for controlling the hoisting action of the first boom 3a, and 13 is a telescopic action of the first boom 3a. First boom expansion / contraction operation control means for controlling, 14 is a turning member operation control means for controlling the turning action of the turning member 3c, 15 is a second boom hoisting action control means for controlling the hoisting action of the second boom 3d, and 16 is The third boom bending / extending operation control means for controlling the bending operation of the third boom 3e, 17 is the third boom extending / contracting operation control means for controlling the extending / contracting operation of the third boom 3e, and 18 is the tip for controlling the undulation operation of the tip boom 6. Boom hoisting operation control means 19 is an arm swing operation control means for controlling the swing operation of the arm 8.
[0019]
Each of these operation control means 11 to 19 drives a corresponding drive actuator (not shown) according to an operation control signal input thereto.
[0020]
Reference numerals 11a to 19a denote operation input units provided corresponding to the operation control units 11 to 19, respectively. Reference numeral 20 denotes an individual control controller that receives operation signals from the operation input units 11a to 19a and outputs an operation control signal to an operation control unit corresponding to the received operation signal.
[0021]
Next, an automatic extension device for a bridge inspection vehicle according to the present invention will be described with reference to FIG. The automatic extension device for a bridge inspection vehicle according to the present invention is:
A swivel turn angle detection means 21 for detecting the turn angle of the swivel 2 ;
First boom hoisting angle detecting means 22 for detecting the hoisting angle of the first boom 3a,
First boom length detection means 23 for detecting the length of the first boom 3a,
A turning member turning angle detecting means 24 for detecting the turning angle of the turning member 3c;
Second boom hoisting angle detecting means 25 for detecting the hoisting angle of the second boom 3d,
An automatic extension command means 26 for outputting an automatic extension signal for instructing automatic extension of the boom mechanism 3 in the retracted posture to the working posture; and
・ Controller 27,
It consists of and.
[0022]
The automatic overhang command means 26 outputs an automatic overhang signal according to the operation of the operator.
[0023]
The controller 27 receives signals from the detection means 21 to 25 and the automatic overhang command means 26, and controls the turning base operation control means 11 for controlling the turning action of the turning base 2 and the hoisting action of the first boom 3a. First boom raising / lowering operation control means 12 for controlling, first boom expansion / contraction operation control means 13 for controlling the expansion / contraction operation of the first boom, turning member operation control means 14 for controlling the turning operation of the turning member 3c, and second boom An operation control signal is output to the second boom hoisting operation control means 15 for controlling the hoisting operation of 3d.
[0024]
When receiving the automatic extension signal from the automatic extension command means 26, the controller 27 is configured to output an operation command signal for executing the following procedure to each of the operation control means.
[0025]
(Procedure 1)
The first boom 3a is located within a range in which the first boom 3a can be raised and raised so that the first boom 3a and the second boom 3d do not interfere with each other, and at least the tip of the second boom 3d or the base of the third boom 3e. The elevator is driven up to a predetermined angle at which the end part is detached from the boom steady rest 10.
[0026]
When the boom mechanism 3 is retracted, that is, when the first boom 3a is lifted from a position where the second and third booms 3d and 3e are stacked on the lower side of the first boom 3a, the second boom 3d Since the first boom 3a and the second boom 3d are in a relationship of being maintained in a substantially horizontal posture by the one posture maintaining member 3b, the raising and lowering motion is naturally limited (Procedure 1). ), The first boom 3a is driven to rise up to a predetermined angle set within this limit range, and the distal end portion of the second boom 3d or the proximal end portion of the third boom 3e is detached from the boom steady rest 10. .
[0027]
The predetermined angle used in (Procedure 1) is stored in the controller 27. When the controller 27 receives the automatic extension signal from the automatic extension command means 26, the controller 27 performs the first operation until the rising angle of the first boom 3a according to the detection by the first boom rising angle detection means 22 becomes the predetermined angle related to the memory. An operation control signal for instructing the boom hoisting operation control means 12 to raise and lower is output.
[0028]
(Procedure 2)
Next, the turning member 3c is moved to a predetermined turning angle so that the first boom 3a can be lifted and raised in the next (procedure 3) without interference between the first boom 3a and the second and third booms 3d and 3e. Rotating drive.
[0029]
In this (Procedure 2), the turning member 3c is driven to turn, thereby increasing the hoisting angle range in which the first boom 3a can be raised and driven without interference between the first boom 3a and the second boom 3d. is there. Then, the turning drive of the turning member 3c performed in this (procedure 2) is the minimum necessary level (next order) in order to suppress the protruding amount (the protruding amount in the vehicle width direction) of the bent portion of the second and third booms from the vehicle 1. (The value necessary and sufficient for executing the raising / lowering drive of the first boom 3a in (Procedure 3)).
[0030]
The predetermined turning angle used in (Procedure 2) is stored in the controller 27. After the completion of the above (Procedure 1), the controller 27 performs the turning operation on the turntable operation control means 11 until the turn angle related to the detection of the turntable turn angle detecting means 21 reaches the predetermined turning angle related to the memory. The operation control signal instructing is output.
[0031]
(Procedure 3)
Next, the first boom 3a is lifted and extended until a predetermined undulation angle and a predetermined length are sufficient for the swivel member 3 to be positioned above the roadside fence by the swivel drive of the swivel 2 in the next step 4. To drive.
[0032]
The predetermined undulation angle and the predetermined length used in (Procedure 3) are stored in the controller 27. After the completion of the above (procedure 2), the controller raises the first boom hoisting operation control means 12 until the hoisting angle related to the detection by the first boom hoisting angle detecting means 22 becomes the predetermined hoisting angle related to the memory. An operation control signal for instructing the operation is output and the first boom extension / contraction operation control means 13 is extended until the length detected by the first boom length detection means 23 reaches a predetermined length related to the memory. The operation control signal instructing is output.
[0033]
(Procedure 4)
Subsequently, the swivel base 2 is driven to turn until the first boom 3a is substantially orthogonal to the front-rear direction of the vehicle 1, and the turning member 3c is positioned above the roadside fence.
[0034]
In the controller 27, the first boom 3 a stores the turning angle of the turntable 2 that is substantially orthogonal to the longitudinal direction of the vehicle 1. After the completion of the above (Procedure 3), the controller 27 instructs the turntable operation control means 11 to turn operation until the turn angle detected by the turntable turn angle detecting means 21 becomes the turn angle related to this memory. The operation control signal is output.
[0035]
(Procedure 5)
Next, the turning member 3c is driven to turn so that the second boom 3d and the third boom 3e in a horizontal state are substantially parallel to the road shoulder fence on the outer side above the road shoulder fence.
[0036]
In the preceding (procedure 4), the first boom 3a is turning so as to be substantially orthogonal to the front-rear direction of the vehicle 1 and the vehicle 1 is stopped along the roadside fence. The turning angle (relative turning angle with respect to the first boom 3a) of the turning member 3c that makes the boom 3d and the third boom 3e substantially parallel to the road shoulder fence is about 90 degrees. This value is stored in the controller 27. The controller 27 instructs the turning member operation control means 14 to perform the turning operation until the turning angle detected by the turning member turning angle detecting means 24 becomes the turning angle related to the memory after the completion of the above (procedure 4). An operation control signal is output.
[0037]
(Procedure 6)
Next, the second boom 3d is driven to fall so that the second boom 3d assumes a vertical lying posture.
[0038]
After the completion of the above (procedure 5), the controller 27 performs the second boom raising / lowering operation until a signal indicating that the second boom 3d is in the vertical lying posture is input from the second boom raising / lowering angle detection means 25. An operation control signal for instructing the control unit 15 to perform the lodging operation is output.
[0039]
The automatic extension device for a bridge inspection vehicle configured as described above moves the bridge inspection vehicle to the bridge to be inspected, extends the outriggers 9, 9,. The boom mechanism 3 can be automatically extended only by operating the above (procedure 1) to (procedure 6).
[0040]
After the automatic extension by the automatic extension device, that is, after the above (Procedure 6) is completed, the operator operates the operation input units 11a to 19a as necessary to turn the turntable 2 The operation of each operation element of the boom mechanism 3, the raising / lowering operation of the tip boom 6, and the swinging operation of the arm 8 (swinging operation of the work table 4) are used together to arbitrarily adjust the position of the work table 4. Bridge inspection work.
[0041]
In addition, the above (procedure 1) to (procedure 6) in the automatic extension device of the bridge inspection vehicle according to the present invention may be any one in which these procedures are executed in that order. A swiveling operation of the swivel base 2, an operation of each operation element of the boom mechanism 3, a hoisting operation of the tip boom 6, or a swinging operation of the arm 8 may be interposed, and such a thing is also included in the present invention. It is included.
[0042]
Further, in FIG. 1, the individual control controller 20 and the controller 27 that is a component of the automatic inspection device of the bridge inspection vehicle of the present invention are separately illustrated, but the individual control controller 20 and the controller 27 are illustrated. Of course, it may be constituted by a single unit having both functions.
[0043]
In the above description, the automatic extension has been described. However, in the case of the retracting operation, the second boom 3d is automatically extended from the vertical lying posture (the posture when the automatic extension is completed by (Procedure 6)). By performing the procedure from (Procedure 6) to (Procedure 1) in the reverse order to the case, automatic storage can be easily performed.
[0044]
【The invention's effect】
The automatic extension device for a bridge inspection vehicle according to the present invention constructed and operated as described above does not force the operator to perform complicated operations as in the prior art, only by operating the automatic extension command means, and the bridge inspection vehicle. By avoiding mutual interference between vehicle components and interference between the boom mechanism and the shoulder fence, the boom mechanism of the bridge inspection vehicle can be extended from the retracted position to the posture during the bridge inspection.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram of an automatic extension device for a bridge inspection vehicle according to the present invention.
FIG. 2 is a side view showing a boom mechanism retracted posture of a bridge inspection vehicle to which the present invention is applied.
FIG. 3 is a plan view of the same.
FIG. 4 is an explanatory diagram of the bridge inspection vehicle shown in FIGS. 2 and 3 at the time of bridge inspection work.
[Explanation of symbols]
1; vehicle, 2; swivel, 3; boom mechanism, 3a; first boom,
3a1; longitudinal axis of the first boom 3a; 3b; first posture maintaining member;
3c; turning member, 3c1; turning axis of the turning member 3c, 3d; second boom,
3d1; the longitudinal axis of the second boom 3d; 3e; the third boom;
3e1; longitudinal axis of the third boom 3e, 4; workbench,
5; posture maintaining member leveling means; 6; tip boom; 7; second posture maintaining member;
8; arm, 9, 9,... Outrigger, 9a, 9a,...;
10: Boom steady rest, 11: Turntable operation control means,
12; first boom hoisting operation control means; 13; first boom telescopic operation control means;
14; turning member operation control means; 15; second boom hoisting operation control means;
16; third boom bending / extension operation control means; 17; third boom extension / contraction operation control means;
18; tip boom hoisting operation control means; 19; arm swing operation control means;
11a to 19a; operation input unit, 20; controller for individual control,
21; swivel turn angle detection means; 22; first boom undulation angle detection means;
23; first boom length detecting means; 24; turning member turning angle detecting means;
25; second boom hoisting angle detecting means; 26; automatic overhang command means;
27; controller,

Claims

A work table 4 is attached to a swivel 2 mounted on a vehicle 1 so as to be able to swivel through a boom mechanism 3.
The boom mechanism 3 is
-A telescopic first boom 3a attached to the swivel base 2 so that it can be raised and lowered.
A first posture maintaining member 3b attached to the tip of the first boom 3a so that the ground posture can be maintained constant;
A revolving member 3c attached to the lower side of the first posture maintaining member 3b so as to be able to revolve horizontally;
A second boom 3d having a base end portion attached to the swivel member 3c so as to be able to rise and fall between a vertically downward lying position and a substantially horizontal raising position;
A third boom 3e having the work table 4 attached to the tip thereof, the base end portion of the second boom 3d being bent and extended between the folding position and the extended position along the second boom 3d. Consists of a telescopic third boom 3e attached to the tip part so that it can bend and stretch,
In the retracted posture of the boom mechanism 3, the second and third booms 3d and 3e are folded in a substantially stacked manner on the lower side of the first boom 3a that has been reduced so as to fall along the traveling direction of the vehicle 1, and The automatic used for a bridge inspection vehicle configured such that the distal end portion of the 2 boom 3d or the proximal end portion of the third boom 3e is placed on the boom steady rest 10 disposed at an appropriate position of the swivel base 2. An overhanging device,
A swivel turn angle detection means 21 for detecting the turn angle of the swivel 2 ;
First boom hoisting angle detecting means 22 for detecting the hoisting angle of the first boom 3a,
First boom length detection means 23 for detecting the length of the first boom 3a,
A turning member turning angle detecting means 24 for detecting the turning angle of the turning member 3c;
Second boom hoisting angle detecting means 25 for detecting the hoisting angle of the second boom 3d,
Automatic extension command means 26 for outputting an automatic extension signal that instructs automatic extension of the boom mechanism 3 in the retracted position to the working position;
・ Receiving signals from the detection means 21 to 25 and the automatic overhang command means 26, the swivel base operation control means 11 for controlling the swivel action of the swivel base 2 and the undulation action of the first boom 3a are controlled. First boom raising / lowering operation control means 12, first boom extension / contraction operation control means 13 for controlling the extension / contraction operation of the first boom 3a, turning member operation control means 14 for controlling the turning operation of the turning member 3c, and second A controller 27 for outputting an operation control signal to the second boom hoisting operation control means 15 for controlling the hoisting operation of the boom 3d.
When the controller 27 receives the automatic extension signal from the automatic extension command means 26, the controller 27 performs the following procedure, turns the first boom 3a until it is substantially perpendicular to the longitudinal direction of the vehicle 1, and sets a predetermined undulation angle. A third boom extending along the second boom 3d and the second boom 3d in a vertically lying posture while having a predetermined length and a plane including the second boom 3d and the third boom 3e being substantially parallel to the longitudinal direction of the vehicle 1 An automatic extension device for a bridge inspection vehicle, characterized in that an operation command signal for setting the posture to 3e is output to each of the operation control means 11-15.
(Procedure 1) The first boom 3a is within the range of the first boom 3a elevation angle where the second boom 3d maintained in a substantially horizontal posture with the first boom 3a does not interfere, and at least the second boom 3d. Is lifted up to a predetermined angle at which the distal end portion or the proximal end portion of the third boom 3e is detached from the boom steady rest 10.
(Procedure 2) Next, the turning member 3c is rotated at a predetermined turning angle so that the first boom 3a can be lifted and raised in the next step 3 without interference between the first boom 3a and the second and third booms 3d and 3e. Drive to turn.
(Procedure 3) Next, the first boom 3a is raised until the turning member 3 is positioned above the roadside fence by the turning drive of the turntable 2 in the next procedure 4 until a predetermined undulation angle and a predetermined length are reached. Drive back and extend.
(Procedure 4) Next, the swivel base 2 is driven to turn until the first boom 3a is substantially orthogonal to the front-rear direction of the vehicle 1, and the turning member 3c is positioned above the roadside fence.
(Procedure 5) Next, the turning member 3c is driven to turn so that the second boom 3d and the third boom 3e in the horizontal state are substantially parallel to the front-rear direction of the vehicle 1 on the outer side above the road shoulder fence.
(Procedure 6) Next, the second boom 3d is driven to fall so that the second boom 3d assumes a vertical lying posture.