JP4178005B2 - Boom mechanism operation restriction device in a work vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an operation restricting device for a boom mechanism in an aerial work vehicle.
[0002]
[Prior art]
As shown in FIG. 2, an aerial work vehicle as an application object of the present invention has a work table 4 attached to a swivel 2 mounted on a vehicle 1 so as to be capable of swiveling, via a boom mechanism 3. The mechanism 3 includes a first boom 3a that can be driven to extend and retract to the swivel base 2 and a second boom 3b that is attached to the tip of the first boom 3a so that the posture can be changed. .
[0003]
The posture change drive of the second boom 3b attached to the tip of the first boom 3a is such that the falling direction moment acting on the first boom 3a is changed by this posture change drive. In FIG. 2, the second boom 3b is shown attached to the distal end of the first boom 3a so as to be able to bend and stretch. However, the second boom 3b is, for example, attached to the distal end of the first boom 3a. It may be mounted so as to be able to be driven to rotate horizontally.
[0004]
An operator can board the work table 4, and the worker operates an operation unit (not shown) arranged on the work table 4, thereby turning the swivel table 2. By controlling the operation of the boom mechanism 3 (the raising and lowering operation of the first boom 3a, the expansion and contraction operation of the first boom 3a, and the attitude changing operation of the second boom 3b), the work table 4 can be moved to an arbitrary height and Work can be performed.
[0005]
As shown in FIG. 3, the operation restricting device for the boom mechanism used in this type of aerial work vehicle is
First boom hoisting angle detecting means 11 for detecting the hoisting angle θa of the first boom 3a, first boom length detecting means 12 for detecting the length La of the first boom 3a, and posture θb of the second boom 3b are detected. Second boom posture detection means 13, operation restriction range setting means 14 for receiving the detection signals θa, La, θb from these detection means 11 to 13 to set the action restriction range of the boom mechanism 3, and this action restriction range setting means And an operation restriction controller 15 that restricts the operation of the boom mechanism 3 that falls within the operation restriction range set by the control unit 14.
[0006]
By the way, in the conventional operation restriction device, the operation restriction range is set in the operation restriction range setting means 14 as follows.
The hoisting operation restriction range of the first boom 3a is set as a function of the length La of the first boom 3a and the attitude θb of the second boom 3b.
The expansion / contraction restriction range of the first boom 3a is set as a function of the undulation angle θb of the first boom 3a and the attitude θb of the second boom 3b.
The operation restriction range related to the posture of the second boom 3b is set to the undulation angle θa of the first boom 3a.
And as a function of the length La of the first boom 3a.
That is, in the conventional operation restriction device, the operation restriction range setting means 14 has all the operation parameters of the boom mechanism 3 (the first boom 3a undulation, the first boom 3a expansion and contraction, and the second boom 3b extension). For each of the (posture changes), the operation restriction range is set as a function of the remaining operation parameters. The operation regulation range of each operation parameter is set to the minimum necessary so that the aerial work vehicle is not toppled or damaged.
[0007]
The operation restriction controller 15 is the operation restriction range set by the action restriction range setting means 14 as described above (the hoisting action restriction range of the first boom 3a, the expansion / contraction action restriction range of the first boom 3a, and the second boom 3b). Within the range of operation restriction related to the posture), the hoisting angle θa of the first boom 3a related to the detection by the first boom hoisting angle detecting means 11, and the length of the first boom 3a related to the detection of the first boom length detecting means 12. La, when the attitude θb of the second boom 3b related to the detection by the second boom attitude detection means 13 is included, the boom related to the inclusion by cutting the operation signal from the operation unit described above, etc. The operation of the mechanism 3 is stopped.
[0008]
[Problems to be solved by the invention]
The operation restriction device for the boom mechanism in the conventional aerial work vehicle configured as described above has the operation restriction range setting means 14 in which all the operation parameters of the boom mechanism 3 (the undulation of the first boom 3a, the first boom 3a For each of the expansion and contraction and the change in the posture of the second boom 3b), an operation restriction range is set as a function of the remaining operation parameters, and the operation restriction range of each operation parameter falls or breaks the aerial work vehicle. Since it is set to the minimum necessary without any problem, there is an advantage that the range in which the work table 4 can be moved can be ensured to the maximum extent within a range in which the aerial work vehicle is not toppled or damaged. is there.
[0009]
However, in this type of aerial work vehicle, the second boom is moved after the work table 4 is brought close to the work object by the swivel operation of the swivel base 2 and the undulation and expansion / contraction operation of the first boom 3a. It is usual to perform a work at a high place by finely adjusting the approach state by the posture change operation of 3b. However, in the conventional operation restriction device, the posture change operation of the second boom 3b is the operation restriction target. Therefore, there may be a case where fine adjustment of the approach state of the work table 4 to the work object due to the posture changing operation of the second boom 3b cannot be performed at the time of working at a high place, and in this case, the first boom is not suitable for fine adjustment. There is a problem that it is necessary to finely adjust the approaching state of the work table 4 with respect to the work object only by the undulation operation and the expansion / contraction operation of 3a, so that an efficient work at a high place cannot be performed.
[0010]
In order to deal with this problem, the first boom raising / lowering operation restriction range as a function of only the length of the first boom 3a and the first boom 3a are not set without setting the operation restriction range related to the posture of the second boom 3b. The first boom expansion / contraction operation restriction range as a function of only the undulation angle is set, and the undulation angle or length of the first boom 3a attempts to enter the first boom undulation operation restriction range or the first boom expansion / contraction action restriction range. It is conceivable to restrict only the operation of the first boom 3a.
[0011]
In such a case, since the posture changing operation of the second boom 3b is not restricted at all, fine adjustment of the work table 4 position by the posture changing operation of the second boom 3b is always possible at the time of working at a high place. Is solved.
[0012]
However, in this case, on the assumption that the second boom 3b is in a posture in which the first boom 3a overturning moment acting on the first boom 3a from the second boom 3b is maximum, Since it is necessary to set the operable range of the first boom 3a so as not to be damaged, the operation restriction range of the first boom 3a becomes larger than necessary in terms of the fall or damage of the aerial work vehicle. There is a problem that the operable range is limited more than necessary. The problem that the operable range of the first boom 3a is restricted more than necessary is more serious when the undulation angle θa of the first boom 3a is at a low angle (the operable range of the first boom 3a is greatly limited). ) This is because when the undulation angle θa of the first boom 3a is in a low angle region, the horizontal distance to the tip of the first boom 3a is relatively large, and the second boom 3b disposed at the tip of the first boom 3a This is because the influence of the falling direction moment acting on the first boom 3a on the overturn or breakage increases.
[0013]
According to the present invention, in this type of aerial work vehicle, it is usual to work at a high place with the first boom 3a exceeding a low undulation angle (a state where the first boom 3a is raised). In view of this, when the first boom 3a exceeds a predetermined low undulation angle, the first boom as a function of only the length La of the first boom 3a is set without setting the operation restriction range related to the posture of the second boom 3b. The hoisting operation restriction range and the first boom expansion / contraction action restriction range as a function of only the hoisting angle θa of the first boom 3a are set. When the first boom 3a is below a predetermined low undulation angle, the first boom undulation operation restriction range as a function of the length La of the first boom 3a and the attitude θb of the second boom 3b; The undulation angle θa of the first boom 3a Beauty and first boom telescopic operation regulation range as a function of posture θb of the second boom 3b, according to the posture of the second boom 3b as a function of the length La of the derricking angle θa and the first boom 3a of the first boom 3a An operation restriction range is set, thereby providing an operation restriction device in which the restriction on the operable range of the first boom 3a is reduced .
[0014]
[Means for Solving the Problems]
In order to achieve the above object, an operation restricting device for a boom mechanism in an aerial work vehicle according to the present invention is configured as follows.
[0015]
A work table 4 is attached via a boom mechanism 3 to a swivel base 2 mounted on the vehicle 1 so as to be capable of swivel driving. The boom mechanism 3 is attached to the swivel base 2 so as to be movable up and down. One boom 3a and a second boom 3b that is attached to the tip of the first boom 3a so as to be capable of changing the posture so as to change the falling direction moment acting on the first boom 3a by the posture changing drive. An operation restriction device for a boom mechanism 3 used for an aerial work vehicle,
First boom hoisting angle detecting means 11 for detecting the hoisting angle θa of the first boom 3a, first boom length detecting means 12 for detecting the length La of the first boom 3a, and posture θb of the second boom 3b are detected. The second boom posture detection means 13, the operation restriction range setting means 14 for setting the operation restriction range of the boom mechanism 3 by receiving detection signals from these detection means 11 to 13, and the action restriction range setting means 14. An operation restriction controller 15 for restricting the operation of the boom mechanism 3 that falls within the operation restriction range;
When the first boom 3a exceeds a predetermined low undulation angle, the operation restriction range setting means 14 does not set the operation restriction range related to the posture of the second boom 3b, but only the length La of the first boom 3a. The first boom hoisting operation restriction range as a function of the first boom 3a and the first boom telescopic action restriction range as a function of only the hoisting angle θa of the first boom 3a are set, and the first boom 3a is below a predetermined low hoisting angle. Sometimes, as a function of the first boom hoisting operation restriction range as a function of the length La of the first boom 3a and the posture θb of the second boom 3b, and the hoisting angle θa of the first boom 3a and the posture θb of the second boom 3b. The first boom expansion / contraction operation restriction range and the operation restriction range relating to the posture of the second boom 3b as a function of the undulation angle θa of the first boom 3a and the length La of the first boom 3a are set. The operation control apparatus of the boom mechanism in an aerial work vehicle characterized by the above-mentioned.
[0016]
[Action]
According to the operation restricting device of the present invention configured as described above, the raising and lowering posture of the first boom 3a frequently used at the time of working at a high place in this kind of aerial work vehicle, that is, the first boom 3a has a predetermined low rising and falling angle. When the position of the second boom 3b is exceeded, efficient fine adjustment of the position of the work table 4 using the posture change operation of the second boom 3b is always possible, and efficient work at high places can be performed. When 3a is below a predetermined low undulation angle, the operation restriction range of the first boom 3a can be made as small as possible (the operable range is as large as possible).
[0017]
【Example】
Hereinafter, an embodiment of the operation regulating device of the present invention will be described with reference to FIG. The operation restricting device of the present invention differs from the conventional operation restricting device shown in FIG. 3 only in the configuration and operation of the operation restricting range setting means 14. Descriptions other than the description of the configuration and operation of the means 14 are those of the conventional operation regulating device shown in FIG. 3 and described above.
[0018]
The operation restriction range setting means 14 in the operation restriction device of the present invention operates when the first boom 3a exceeds a predetermined low undulation angle and when the first boom 3a is below a predetermined low undulation angle. The setting of the operation restriction range in the restriction range setting means 14 is different.
Hereinafter, the setting of the operation restriction range in working inhibition range setting means 14 will be described with reference to FIG.
[0019]
The operation restriction range setting unit 14 includes a determination unit 14a and a determination unit 14a that determine whether the undulation angle θa of the first boom 3a input from the first boom undulation angle detection unit 11 exceeds a predetermined low undulation angle region. When the first boom 3a is determined to exceed a predetermined low undulation angle, the first operation restriction range setting unit 14b that is activated by a signal from the determination unit 14a and the determination unit 14a are connected to the first boom 3a. A second operation restriction range setting unit 14c that operates with a signal from the determination unit 14a when it is determined that the angle is equal to or less than a predetermined low undulation angle is included.
[0020]
When the first operation restriction range setting unit 14b receives a signal indicating that the first boom 3a exceeds a predetermined low undulation angle from the determination unit 14a, the length from the first boom length detection unit 12 is received. Using the La signal and the hoisting angle θa signal from the first boom hoisting angle detection means 11, the first boom hoisting operation restriction range as a function of only the length La of the first boom 3a and the hoisting angle of the first boom 3a A first boom expansion / contraction operation restriction range as a function of only θa is set. The first boom hoisting operation restriction range and the first boom expansion / contraction action restriction range set in this way are set to a range in which safety can be ensured regardless of the posture of the second boom 3b. The operation restriction range related to the posture of the second boom 3b is not set.
[0021]
When the second operation restriction range setting unit 14c receives a signal indicating that the first boom 3a is below a predetermined low undulation angle from the determination unit 14a, the length La from the first boom length detection unit 12 is received. The length La of the first boom 3a and the attitude of the second boom 3b using the signal, the raising / lowering angle θa signal from the first boom raising / lowering angle detection means 11 and the attitude θb signal from the second boom attitude detection means 13 The first boom hoisting operation restriction range as a function of θb, the first boom telescopic action restriction range as a function of the hoisting angle θa of the first boom 3a and the attitude θb of the second boom 3b, and the hoisting angle of the first boom 3b An operation restriction range relating to the posture of the second boom 3b as a function of θa and the length La of the first boom 3a is set.
[0022]
The operation restriction range related to the setting of the first operation restriction range setting unit 14 b or the second operation restriction range setting unit 14 c in the operation restriction range setting unit 14 is input to the operation restriction controller 15.
The operation restriction controller 15 restricts the operation of the boom mechanism 3 that enters the operation restriction range related to the input.
[0023]
In the above description, the second boom 3b has been described as not expanding and contracting, but it is needless to say that the second boom 3b can also be applied to one that expands and contracts. In this case, the second operation restriction range setting unit 14c may set the operation restriction range by using the posture θb signal from the second boom posture detection means 13 as a signal in consideration of the length signal of the second boom 3b. However, if the length signal need not be taken into account even in the second boom 3b that expands and contracts, the configuration as described at the beginning may be used.
[0024]
【The invention's effect】
According to the operation restricting device of the present invention configured as described above, the raising and lowering posture of the first boom 3a frequently used at the time of working at a high place in this kind of aerial work vehicle, that is, the first boom 3a has a predetermined low up and down angle When the position of the second boom 3b is exceeded, efficient fine adjustment of the position of the work table 4 using the posture change operation of the second boom 3b is always possible, and efficient work at high places can be performed. When 3a is below a predetermined low undulation angle, the operation restriction range of the first boom 3a can be made as small as possible (the operable range is as large as possible).
[0025]
The hoisting drive actuator of the first boom 3a is composed of a hoisting hydraulic cylinder located between the first boom 3a and the swivel base 2 located on the stomach side of the first boom 3a. The aerial work vehicle (the aerial work vehicle in FIG. 2 is arranged so that the hoisting force moment arm acting on the first boom 3a from the hoisting hydraulic cylinder becomes smaller at the lower hoisting angle of the first boom. In the state where the posture of the second boom 3b is changed so that the falling direction moment acting on the first boom from the second boom 3b is maximized, the output of the hoisting hydraulic cylinder is When the operation restricting device of the present invention is employed in an aerial work platform that is insufficient, the low boom angle of the first boom 3a by the hydraulic cylinder for hoisting is changed by changing the posture of the second boom 3b. There is an additional effect of increasing the operating range of the in.
[Brief description of the drawings]
FIG. 1 is an explanatory view of an operation restricting device for a boom mechanism in an aerial work vehicle according to the present invention.
FIG. 2 is an explanatory diagram of an aerial work vehicle as an application target of the operation restriction device of the present invention.
FIG. 3 is an explanatory diagram of an operation restricting device for a boom mechanism in a conventional aerial work vehicle.
[Explanation of symbols]
1; vehicle, 2; swivel, 3; boom mechanism, 3a; first boom,
3b; second boom, 4; workbench, 11; first boom hoisting angle detecting means,
12; first boom length detection means; 13; second boom posture detection means;
14; Operation restriction range setting means, 14a;
14b; first operation restriction range setting section; 14c; second operation restriction range setting section;
15; operation regulation controller;
θa: first boom undulation angle, La: first boom length,
θb: posture of the second boom,

Claims (1)

A work table 4 is attached via a boom mechanism 3 to a swivel base 2 mounted on the vehicle 1 so as to be capable of swivel driving. The boom mechanism 3 is attached to the swivel base 2 so as to be movable up and down. One boom 3a and a second boom 3b that is attached to the tip of the first boom 3a so as to be capable of changing the posture so as to change the falling direction moment acting on the first boom 3a by the posture changing drive. An operation restriction device for a boom mechanism 3 used for an aerial work vehicle,
First boom hoisting angle detecting means 11 for detecting the hoisting angle θa of the first boom 3a, first boom length detecting means 12 for detecting the length La of the first boom 3a, and posture θb of the second boom 3b are detected. The second boom posture detection means 13, the operation restriction range setting means 14 for setting the operation restriction range of the boom mechanism 3 by receiving detection signals from these detection means 11 to 13, and the action restriction range setting means 14. An operation restriction controller 15 for restricting the operation of the boom mechanism 3 that falls within the operation restriction range;
When the first boom 3a exceeds a predetermined low undulation angle, the operation restriction range setting means 14 does not set the operation restriction range related to the posture of the second boom 3b, but only the length La of the first boom 3a. The first boom hoisting operation restriction range as a function of the first boom 3a and the first boom telescopic action restriction range as a function of only the hoisting angle θa of the first boom 3a are set, and the first boom 3a is below a predetermined low hoisting angle. Sometimes, as a function of the first boom hoisting operation restriction range as a function of the length La of the first boom 3a and the posture θb of the second boom 3b, and the hoisting angle θa of the first boom 3a and the posture θb of the second boom 3b. The first boom expansion / contraction operation restriction range and the operation restriction range relating to the posture of the second boom 3b as a function of the undulation angle θa of the first boom 3a and the length La of the first boom 3a are set. The operation control apparatus of the boom mechanism in an aerial work vehicle characterized by the above-mentioned.

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