JP5046499B2 - Control equipment for aerial work platforms - Google Patents

Description

  The present invention arranges a telescopic boom on a vehicle so as to be able to turn, undulate and extend, and to drive each swinging means to swing, undulate and extend and to swing the work table at the tip of the telescopic boom. The present invention relates to a control device for an aerial work vehicle, which is arranged and has a swing drive means for swinging and driving the work table.

This type of aerial work vehicle has a function to prevent interference between the work table and the telescopic boom as described below. In other words, the undulation angle of the telescopic boom is detected by the undulation angle detector, and the oscillating angle detector for detecting the oscillating angle of the work table is arranged so that the work table interferes with the telescopic boom by the swinging drive of the work table. The swing range of the workbench and the undulation angle of the telescopic boom that interferes with the workbench by the tilting drive of the telescopic boom are stored in the memory, and the detected value detected by both detectors and the memory stored by the memory The value is compared with a comparator. Then, as a result of comparison by the comparator, when the work table is in the swing range where it interferes with the telescopic boom, the hoisting drive of the telescopic boom is controlled so that the work table does not fall below the hoisting angle that interferes with the telescopic boom. When it is below the undulation angle that interferes with the platform, a discriminator that controls the swing drive of the work table is arranged so that the work table does not enter the swing range that interferes with the telescopic boom, and an interference prevention control function is provided. ing. (For example, see Patent Document 1)
In addition, this type of aerial work vehicle has a function of controlling the horizontal movement of the work table as described below. That is, a swinging angle sensor that is erected on the workbench and is provided with a movement operation lever that selects a direction in which the workbench is to be moved in a horizontal straight line according to the tilting direction, and detects a swinging angle of the workbench, A boom length sensor for detecting the length of the telescopic boom and a boom hoisting angle sensor for detecting the hoisting angle of the telescopic boom are provided. Further, in a plan view from the selected horizontal linear movement direction and the detected value of the swing angle sensor. The angle formed by the movement control lever and the telescopic boom is calculated, and the calculated value and the detection signal from the detection value of the boom length sensor and boom undulation angle sensor are processed, and the work table is moved in the horizontal linear direction. In addition, an arithmetic unit is provided that outputs a signal for controlling each drive means so that the workbench swings in the opposite direction at the same angle as the swing angle of the telescopic boom, and has a function of controlling the horizontal movement of the workbench. It is caused. (For example, see Patent Document 2)
Japanese Utility Model Publication No. 6-49595 (first page, FIG. 2, FIG. 3) JP-A 64-87500 (first page, FIG. 1, FIG. 3, FIG. 4)

By the way, in the case of an aerial work platform equipped with such both control functions, as shown in FIG. 8, the horizontal movement control is stopped at the position b shown in FIG. The work table cannot be moved to the position c shown in FIG. That is, with the horizontal movement control function, the operation lever of the horizontal movement operation command means on the work table can be tilted in the arrow direction from the position a in FIG. 8 and moved from the position a to the position b. When the position b is reached, the interference prevention control function operates, and the control by the horizontal movement control function is stopped in order to prevent the work table and the telescopic boom from interfering with each other.

  Therefore, in order to move the workbench from the position b shown in FIG. 8 to the position c shown by the chain line in FIG. 8, the relationship between the workbench and the telescopic boom that does not activate the interference prevention control function is corrected. It was necessary to move it by the operator, which was a troublesome work for the operator. An object of the present invention is to provide a control device for an aerial work vehicle that solves such problems.

In order to achieve the above object, a control apparatus for an aerial work vehicle according to claim 1 according to the present invention arranges a telescopic boom on a vehicle in a swingable, undulating and telescopic manner, and the telescopic boom is swung, The telescopic boom pivots on an aerial work platform in which each drive means for extending and retracting and a swinging drive means for swinging and driving the work table at the tip of the telescopic boom are arranged. Each detector of angle, undulation angle and expansion / contraction length and swing angle detector are arranged, and a horizontal movement operation command means for horizontally moving the work table is arranged, and the detection value and horizontal movement operation from each detector are arranged. In a control apparatus for an aerial work vehicle including a controller that receives a command value from the command means and outputs a control signal to each drive means to move the work table in the horizontal movement direction commanded by the horizontal movement operation command means, The controller The controller stores in advance the interference work state in which the telescopic boom and the workbench interfere with each other, and controls the control signal to the swing drive means when it receives the detection value from each detector and enters the interference work state. However, it is configured to continuously output a control signal for horizontally moving the tip of the telescopic boom to each of the other driving means.

The control device for an aerial work vehicle according to claim 2 according to the present invention, wherein the telescopic boom is disposed on the vehicle so as to be able to turn, undulate and extend, and each driving means for turning, undulating and extending the telescopic boom, On a work platform with a workbench arranged at the tip of the telescopic boom so that it can be swung, and a swing drive means for swinging the workbench, the swivel angle, undulation angle and telescopic length of the telescopic boom And a horizontal movement operation command means for horizontally moving the work table, and receiving a detection value from each detector and a command value from the horizontal movement operation command means. In a control device for an aerial work vehicle having a controller that outputs a control signal to each of the drive means to move the work table in the horizontal movement direction commanded by the horizontal movement operation command means, the telescopic boom and the work table interfere with each other. Interference work An interference work state detection means that directly detects that the state has been reached and outputs a detection signal is arranged, and the controller sends a control signal to the swing drive means when receiving the detection signal from the interference work state detection means. The control signal for restricting and horizontally moving the tip of the telescopic boom to the other driving means is continuously output.

  According to a first aspect of the present invention, there is provided a control device for an aerial work vehicle in order to prevent the work table and the telescopic boom from interfering with each other even when the controller enters an interference work state in which the telescopic boom and the work base interfere. By simply controlling the control signal to the swing drive means, the control signal is continuously output to each of the other drive means, so even if the interference prevention control function is activated midway, horizontal movement control is performed to the target position. Can be possible. Therefore, when the interference prevention control is activated, it is not necessary to perform a troublesome operation of moving the work table again after correcting the relationship between the work table and the telescopic boom so that the control is not activated, and the operation can be easily performed. A control device for an aerial work vehicle can be provided.

  According to a second aspect of the present invention, there is provided a control device for an aerial work vehicle. When the interference work state detection unit directly detects that the telescopic boom and the workbench interfere with each other, the swing work unit detects the swing operation unit. Since the control signal is continuously output to the other driving means, the horizontal movement control to the target position can be made possible even if the interference prevention control function is activated midway. Therefore, when the interference prevention control is activated, it is not necessary to perform a troublesome operation of moving the work table again after correcting the relationship between the work table and the telescopic boom so that the control is not activated, and the operation can be easily performed. A control device for an aerial work vehicle can be provided.

Embodiments of a control apparatus for an aerial work vehicle according to the present invention will be described below with reference to FIGS. First, an aerial work vehicle according to the present invention will be described with reference to FIG. As shown in FIG. 5, a swivel base 2 is disposed on the vehicle 1 so as to be able to turn, and a turning drive means 7 (not shown) including a hydraulic motor, a speed reducer, and the like is disposed between the vehicle 1 and the swivel base 2. ing. The swivel base 2 pivotally supports the base end portion of the telescopic boom 3 so that the telescopic boom 3 can be raised and lowered. Through the post 4 to maintain Warinaku constantly vertical posture written undulating movement of the telescopic boom 3 of tip telescopic boom 3 Place the worktable 9 oscillating drivable, oil pressure between the working table 9 and the post 4 A swing drive means 8 (not shown) such as a motor or a speed reducer is disposed. In the telescopic boom 3, the intermediate boom 3b and the tip boom 3c are sequentially inserted into the base boom 3a so as to be telescopically retractable, and appropriate telescopic driving means 5 (not shown) is disposed between the booms so as to be telescopically driven. A hoisting hydraulic cylinder 6 is arranged between appropriate positions of the base boom 3a and the swivel base 2 so that the telescopic boom 3 can be driven to hoist. Further, the outrigger device 10 is disposed at the front, rear, left and right positions of the vehicle 1. The outrigger device 10 includes a slide 10a that projects laterally from the vehicle width and a jack 10b that supports the vehicle 1 on the ground.

First embodiment A first embodiment of an aerial work vehicle control apparatus according to the present invention will be described below with reference to FIG. In FIG. 1, A is a control device for an aerial work vehicle according to the present invention and is configured as follows. Reference numeral 11 denotes a horizontal movement operation command means arranged on the work table 9, which is a means for commanding the work table 9 in the intended horizontal movement direction and horizontal movement speed. The horizontal movement operation command means 11 detects the tilt direction and the tilt amount of the operation lever with a potentiometer or the like, detects the horizontal movement direction with the tilt direction, and detects the horizontal movement speed with the tilt amount.

Reference numeral 15 denotes a length detector that detects the extension / contraction length of the telescopic boom 3. Reference numeral 16 denotes an undulation angle detector that detects the undulation angle of the telescopic boom 3. Reference numeral 17 denotes a turning angle detector that detects the turning angle of the turntable 2 with respect to the vehicle 1. Reference numeral 18 denotes a swing angle detector that swings the work table 9 around the post 4.

Reference numeral 25 denotes expansion / contraction control means for controlling the expansion / contraction drive means 5 and is constituted by an electromagnetic proportional control valve or the like. 26 is undulation control means for controlling the undulation hydraulic cylinder 6 and is constituted by an electromagnetic proportional control valve or the like. Reference numeral 27 denotes a turning control means for controlling the turning drive means 7, which is constituted by an electromagnetic proportional control valve or the like. Reference numeral 28 denotes a swing control means for controlling the swing drive means 8 and is constituted by an electromagnetic proportional control valve or the like.

A controller 20 includes a horizontal movement control unit 21, an interference work state storage unit 22, an interference work state determination unit 23, and a swing regulation unit 24. The horizontal movement control means 21 receives signals from the horizontal movement operation command means 11 and the detection means 15, 16, 17, 18 and receives the horizontal movement direction and horizontal movement speed commanded by the horizontal movement operation command means 11. Control means for outputting a control signal to each of the control means 25, 26, 27, 28 so as to move the work table 9 based on the above. Specifically, the tip of the telescopic boom 3 (post 4) is the same as the technique of Patent Document 2 referred to in the background art, based on the horizontal movement direction and the horizontal movement speed commanded by the horizontal movement operation command means 11. And the swing angle of the work table 9 is driven in the direction opposite to the turning angle of the telescopic boom 3 driven in accordance with the movement. The horizontal movement control means 21 may be based on horizontal movement control not only by the technique of Patent Document 2 but also by other methods .
As shown in FIG. 6, the interference work state storage means 22 is an interference whose relationship between the undulation angle of the telescopic boom 3 and the swing angle of the work table 9 is close to the interference state between the work table 9 and the telescopic boom 3. The working state is stored. The interference work state determination means 23 receives signals from the undulation angle detector 16, the swing angle detector 18, and the interference work state storage means 22, and the detected position of the work table 9 is stored in the interference work state storage means 22. It is determined whether or not the stored work state has been reached, and a restriction signal for restricting the swing drive control signal of the work table 9 in the direction of interference when it is determined that the work state has been reached is output.

  The swing regulating means 24 is inserted in the middle of the path for outputting the swing drive control signal from the horizontal movement control means 21 to the swing control means 28, and interferes when receiving the restriction signal from the interference work state determination means 23. This is means for regulating the swing drive control signal of the work table 9 in the direction.

The control device A for an aerial work vehicle according to the present invention configured as described above operates as follows. Now, the work platform 9 of the aerial work vehicle is positioned at the position a shown in FIG. 7, and the horizontal movement operation command means 11 is commanded to move at an appropriate speed in the direction of the arrow from the work table 9 at this position. A case where the command of the horizontal movement operation command means 11 is stopped at the position c will be described below. When the horizontal movement operation command means 11 is instructed to move in the direction of the arrow at an appropriate speed from the work table 9 at the position a, the horizontal movement control means 21 of the controller 20 includes the horizontal movement operation command means 11 and the detection means. In response to the signals from 15, 16, 17, and 18, the control means 25, 26, and so on to move the work table 9 based on the horizontal movement direction and the horizontal movement speed commanded by the horizontal movement operation command means 11. A control signal is output to 27 and 28. Accordingly , the driving means 5, 6, 7, and 8 are driven by the control means 25, 26, 27, and 28, and the work table 9 moves horizontally to the position b in FIG.

  At the position b, the interference work state determination means 23 of the controller 20 receives signals from the undulation angle detector 16, the swing angle detector 18 and the interference work state storage means 22, and the detected position of the work table 9 interferes. It is determined that the work state stored in the work state storage means 22 has been reached, and a restriction signal is output to the swing restriction means 24 so as to restrict the swing drive control signal of the work table 9 in the direction of interference. The swing regulating means 24 regulates the swing drive control signal of the work table 9 in the direction in which it receives and interferes with the restriction signal from the interference work state determining means 23. Accordingly, the swing control means 28 does not output the swing drive control signal from the horizontal movement control means 21 by the swing restriction means 24, and therefore the swing drive of the work table 9 is stopped. Interference of the telescopic boom 3 is avoided.

Meanwhile expansion control means 25, undulations control unit 26 and the turning control means 27, is because those control signals from the horizontal movement control means 21 is outputted sustained, telescopic boom 3 b position as illustrated in FIG. 7 To position c. At this time, since the swing drive of the work table 9 is stopped as described above, the work table 9 moves in the state of being close to the telescopic boom 3 as shown in FIG.

  In this way, in the conventional control device, the interference prevention controller function operates to stop at the position b in FIG. 7 and thereafter the work table 9 cannot be moved, and in order to move from the b position to the c position, the interference prevention control function is used. It was necessary to move after correcting the relationship between the workbench 9 and the telescopic boom 3 that would not operate, but even if the interference prevention control function acts on the way, it is possible to control the horizontal movement to the target position. be able to. Therefore, it is not necessary to perform a troublesome operation such as moving the work table 9 again after correcting the relationship between the work table 9 and the telescopic boom 3 so that the control function does not work when the interference prevention control function is activated. A control device for an aerial work vehicle that can be operated can be provided.

  In the above-described embodiment, the work table 9 can be swung around the post 4 with respect to the post 4. However, the work table 9 may interfere with the telescopic boom 3 regardless of the undulation angle of the telescopic boom 3. This can be similarly applied to an aerial work vehicle that is restricted to swing only up to the swing angle up to. In that case, the interference work state storage means 22 stores only the swing angle close to the telescopic boom 3 as the interference work state. The interference work state determination means 23 receives signals from the swing angle detector 18 and the interference work state storage means 22, and the detected work position of the work table 9 is stored in the interference work state storage means 22 ( (A swing angle close to the telescopic boom 3) is determined, and when it is determined, a regulation signal for regulating the swing drive control signal of the work table 9 in the direction of interference is output. That's fine. In this case, the same effect as described above can be obtained.

  In the above-described embodiment, the interference work state storage means 22 prevents the interference work state between the telescopic boom 3 and the workbench 9 by preventing the interference due to the relationship between the undulation angle of the telescopic boom 3 and the swing angle of the workbench 9. The interference work state close to the interference state between the work table 9 and the telescopic boom 3 is stored. The interference work state determination means 23 receives signals from the undulation angle detector 16, the swing angle detector 18 and the interference work state storage means 22, and the detected position of the work table 9 is the interference work state storage means 22. It is determined whether or not the work state stored in is stored, and when the determination is made, the control signal for controlling the swing drive control signal of the work table 9 in the direction of interference is output to the swing control means 24. It is a thing.

  As in this embodiment, the interference work state between the telescopic boom 3 and the workbench 9 is not prevented by the relationship between the undulation angle of the telescopic boom 3 and the swing angle of the workbench 9, but the telescopic boom 3 The expansion and contraction state may be taken into consideration. This case will be described below as an example of development of the above embodiment. That is, when the telescopic boom 3 is fully contracted, the work table 9 comes close to and interferes with the base boom 3a of the telescopic boom 3. Further, when the telescopic boom 3 is fully extended, the work table 9 comes close to and interferes with the tip boom 3c of the telescopic boom 3. Further, when the front boom 3c of the telescopic boom 3 is fully contracted and the intermediate boom 3b is extended from the base boom 3a, the work table 9 comes close to and interferes with the intermediate boom 3b of the telescopic boom 3.

  That is, the width of each boom of the base boom 3a, the intermediate boom 3b, and the front boom 3c is the base boom 3a is large and the front boom 3c is the smallest. Therefore, it may be considered to prevent the telescopic boom 3 from interfering with each boom.

  Accordingly, the interference work state storage means 22 interferes with the interference work state between the telescopic boom 3 and the work table 9 due to the relationship between the undulation angle of the telescopic boom 3 and the swing angle of the work base 9 and the telescopic length of the telescopic boom 3. In order to prevent the interference work state close to the interference state between the workbench 9 and the telescopic boom 3, the interference work state determination means 23 includes the undulation angle detector 16, the swing angle detector 18, and the When the signals from the detector 15 and the interference work state storage means 22 are received, it is determined whether or not the detected position of the work table 9 is in the work state stored in the interference work state storage means 22. A restriction signal for restricting the swing drive control signal of the work table 9 in the direction of interference when it is determined may be output to the swing restriction means 24.

Second embodiment Furthermore, in the above embodiment, the swing angle of the workbench 9 is detected by the swing angle detector 18, but the neck in front of the workbench 9 that interferes with the telescopic boom 3 is used. The same can be done when the swing angle is directly detected as the limit swing angle. Hereinafter, an embodiment in this case is shown in FIG. 2 as an aerial work vehicle control apparatus B according to the present invention and will be described below.

  The same reference numerals used in FIG. 2 as those in FIG. 1 are the same as those shown and described in FIG. 31 is a counterclockwise limit swing angle detector that detects the counterclockwise limit swing angle at the front position where the workbench 9 interferes with the telescopic boom 3 as shown in FIG. And a switch disposed between the work tables 9. Reference numeral 32 denotes a clockwise limit swing angle detector, which similarly detects a clockwise limit swing angle at a front position where the work table 9 interferes with the telescopic boom 3. It consists of the switch etc. which are arranged in.

  Reference numeral 30 denotes a controller which includes the horizontal movement control means 21 and the swing regulation means 33 described above. The swing regulation means 33 is inserted in the middle of the path for outputting the swing drive control signal from the horizontal movement control means 21 to the swing control means 28, and the counterclockwise limit swing angle detector 31 or the clockwise limit swing. It is means for regulating the swing drive control signal of the work table 9 in the direction of interference when receiving the regulation signal from the angle detector 32.

  The control device B for an aerial work vehicle according to the present invention configured as described above operates as follows. As in the first embodiment, the work platform 9 of the aerial work platform is now positioned at the position a shown in FIG. 7, and the horizontal movement operation command means 11 is appropriately set in the direction of the arrow from the work platform 9 at this position. A case will be described below where a command is given to move at a speed and the command of the horizontal movement operation command means 11 is stopped at the position c. When the horizontal movement operation command means 11 is instructed to move in the direction of the arrow at an appropriate speed from the work table 9 at the position a, the horizontal movement control means 21 of the controller 30 includes the horizontal movement operation command means 11 and each of the detection means. In response to the signals from 15, 16, 17, and 18, the control means 25, 26, and so on to move the work table 9 based on the horizontal movement direction and the horizontal movement speed commanded by the horizontal movement operation command means 11. A control signal is output to 27 and 28. Accordingly, the driving means 5, 6, 7, and 8 are driven by the control means 25, 26, 27, and 28, and the work table 9 moves horizontally to the position b in FIG.

swing regulations Seite stage 33 of the controller 30 in the position b receives a signal from the counterclockwise limit swing angle detector 31, outputs a swivel drive control signal from the horizontal movement control means 21 to the swinging control means 28 To regulate. Therefore, the swing control means 28 does not output the swing drive control signal from the horizontal movement control means 21 by the swing restriction means 33, and therefore the swing drive of the work table 9 is stopped. Interference of the telescopic boom 3 is avoided.

  On the other hand, the telescopic control means 25, the undulation control means 26, and the turning control means 27 are those in which the control signal is continuously output from the horizontal movement control means 21, so that the telescopic boom 3 is in the position b as shown in FIG. To position c. At this time, since the swing drive of the work table 9 is stopped as described above, the work table 9 moves in the state of being close to the telescopic boom 3 as shown in FIG.

  In this way, in the conventional control device, the interference prevention controller function operates to stop at the position b in FIG. 7 and thereafter the work table 9 cannot be moved, and in order to move from the b position to the c position, the interference prevention control function is used. It was necessary to move the work table 9 after correcting the relationship between the work platform 9 and the telescopic boom 3 so that the horizontal movement control is possible to the target position even if the interference prevention control function is activated midway. be able to. Therefore, it is not necessary to perform a troublesome operation such as moving the work table 9 again after correcting the relationship between the work table 9 and the telescopic boom 3 so that the control function does not work when the interference prevention control function is activated. A control device for an aerial work vehicle that can be operated can be provided.

Third Embodiment Next, in both the first embodiment and the second embodiment, when the position b is passed from the position a in FIG. 7 and moved to the position c, the position is temporarily stopped at the position b. Thereafter, it is not possible to select whether or not to move continuously. Therefore, when it is possible to select whether or not to temporarily stop at the position b and subsequently perform horizontal movement, or before the horizontal movement at the position a, the workbench 9 and the telescopic boom 3 are in a state of interference. FIG. 3 shows an embodiment of a case in which whether or not to move the workbench 9 in advance is shown in FIG. 3 and will be described below.

  The same reference numerals used in FIG. 3 as those in FIG. 1 are the same as those shown and described in FIG. In FIG. 3, reference numeral 41 denotes a selection switch that is normally selected as a position where release is turned OFF, and is a switch that selects whether horizontal movement is stopped at the position b or whether horizontal movement is continued thereafter. . The selection switch 41 is normally selected at a position where the release is turned OFF, and is selected as a position where the release is turned ON when the horizontal movement is continued at the position b. A controller 40 includes a horizontal movement control means 21, an interference work state storage means 22, an interference work state determination means 23, a swing restriction means 24, a boom related restriction means 42, and a boom related restriction release means 44. is doing.

The boom-related restricting means 42 is inserted in the middle of the control signal path output from the horizontal movement control means 21 to the expansion / contraction control means 25, the undulation control means 26, and the turning control means 27, and is restricted from the interference work state determination means 23. When the signal is received, it is a means for restricting the output of the control output signal from the horizontal movement control means 21 to each control means 25, 26, 27. Reference numeral 44 denotes a boom related restriction canceling means. When a selection signal selected at a position where the selection switch 41 is turned on is received, a restriction signal is output from the interference work state determining means 23 to the boom related restricting means 42. It is a means to prevent it. That is, at this time, since the restriction signal from the interference operational state determination means 23 by the boom-related regulation release means 44 is not output to the boom-related regulating means 42, the tip of the telescopic boom 3 (workbench 9) b It is possible to move horizontally from the position continuously.

  The control device C for an aerial work vehicle according to the present invention configured as described above operates as follows. As in the first embodiment, the work platform 9 of the aerial work platform is now positioned at the position a shown in FIG. 7, and the horizontal movement operation command means 11 is appropriately set in the direction of the arrow from the work platform 9 at this position. A case will be described below where a command is given to move at a speed and the command of the horizontal movement operation command means 11 is stopped at the position c. It is assumed that the selection switch 41 is selected at a position where release is turned off.

When the horizontal movement operation command means 11 is instructed to move in the direction of the arrow at an appropriate speed from the work table 9 at the position a, the horizontal movement control means 21 of the controller 40 includes the horizontal movement operation command means 11 and the detection means. In response to the signals from 15, 16, 17, and 18, the control means 25, 26, and so on to move the work table 9 based on the horizontal movement direction and the horizontal movement speed commanded by the horizontal movement operation command means 11. A control signal is output to 27 and 28. Accordingly , the driving means 5, 6, 7, 8 are driven by the control means 25, 26, 27, 28, and the work table 9 moves horizontally to the position b in FIG.

  At the position b, the interference work state determination means 23 of the controller 40 receives signals from the undulation angle detector 16, the swing angle detector 18 and the interference work state storage means 22, and the detected position of the work table 9 interferes. It is determined that the work state stored in the work state storage means 22 has been reached, and a restriction signal for restricting the swing drive control signal of the work table 9 in the direction of interference is output to the swing restriction means 24. The swing regulating means 24 regulates the swing drive control signal of the work table 9 in the direction in which it receives and interferes with the restriction signal from the interference work state determining means 23. Accordingly, the swing control means 28 does not output the swing drive control signal from the horizontal movement control means 21 by the swing restriction means 24, and therefore the swing drive of the work table 9 is stopped. Interference of the telescopic boom 3 is avoided.

  On the other hand, when the workbench 9 is located at the position b, since the selection switch 41 is selected to a position where the release is turned OFF, the boom related restriction release means 44 sends the restriction signal from the interference work state determination means 23 to the boom related restriction means. Output to 42. Therefore, the control signal from the horizontal movement control means 21 is regulated by the boom related regulation means 42 and is not output to the expansion / contraction control means 25, the undulation control means 26, and the turning control means 27, but the horizontal movement (work platform) of the expansion / contraction boom 3 is not performed. 9) is stopped and stopped.

  That is, when the work table 9 is located at the position b, the work table 9 stops the horizontal movement by the telescopic boom 3 and the swing drive accompanying the horizontal movement. Here, in order to move the work table 9 from the position b to the position c, the selection switch 41 is selected to a position where the release is turned on while the command of the horizontal movement operation command means 11 is maintained.

  Then, the boom related restriction release means 44 receives the selection signal for turning on the release from the selection switch 41, and prevents the restriction signal from the interference work state determination means 23 from being output to the boom related restriction means 42. . Therefore, the control signal from the horizontal movement control means 21 is not regulated by the boom-related regulation means 42 but is output to the expansion / contraction control means 25, the undulation control means 26, and the turning control means 27, and the horizontal movement (work) The horizontal movement of the table 9 is resumed, and the work table 9 is moved horizontally from the position b to the position c. At this time, the swing drive of the work table 9 is still regulated by the swing regulation means 24.

  As described above, in the third embodiment, normal horizontal movement control is performed on the work table 9 from the position a to the position b. When the work table 9 is positioned at the position b, the horizontal movement is temporarily stopped and whether the horizontal movement is continued or not. It is possible to select the selection switch 41 by an operator.

  As an example of development in the first embodiment, the interference work state may be considered not only the relationship between the undulation angle of the telescopic boom 3 and the swing angle of the workbench 9 but also the telescopic state of the telescopic boom 3. In this case, as described as an example of development of the first embodiment, it is obvious that the embodiment can be implemented in the same manner, and therefore detailed description thereof is omitted here.

Alternatively, the selection switch 41 may be selected at a position where the release is turned ON when the work table 9 is located at the position a (before moving horizontally). In this case, the control signal from the horizontal movement control means 21 at the position b is not restricted by the boom related restriction means 42 and is output to the expansion / contraction control means 25, the undulation control means 26, and the turning control means 27. That is, it is desirable to make keep decided to horizontal movement control from a position shown in FIG. 7 to position c from the beginning.

Fourth embodiment Further, the case of applying the third embodiment to the aerial work vehicle described in the second embodiment is shown in FIG. 4 and will be described below. That is, the position “b” is passed from the “a” position to the aerial work vehicle that is restricted so that the work table 9 can swing only to the swing angle up to the range where the work platform 9 interferes with the telescopic boom 3 regardless of the undulation angle of the telescopic boom 3. When moving to the c position, the work table is temporarily stopped at the b position so that it can be selected whether the horizontal movement is to be continued thereafter, or before the horizontal movement at the a position. A description will be given of the control device D for an aerial work vehicle in the case of selecting whether to stop the movement of 9 or to move to the position c.

  The reference numerals used in FIG. 4 that are the same as those in FIG. 2 are the same as those shown and described in FIG. In FIG. 4, 51 is a selection switch, which is normally selected as a position where the release is turned OFF, and is a switch for selecting whether to stop horizontal movement at the b position or to continue horizontal movement thereafter. . The selection switch 51 is normally selected at a position where release is turned OFF, and is selected as a position where release is turned ON when horizontal movement is continued at position b. Reference numeral 50 denotes a controller, which includes a horizontal movement control means 21, a swinging restriction means 33, a boom related restriction means 52, and a boom related restriction release means 54.

Boom regulations means 52, expansion control means 25 from the horizontal movement control means 21 is interposed midway control signal path output undulations control unit 26, and the turning control means 27, Hidarikai Ri limit Sakaikubi swing angle detection Upon receiving a restriction signal from the vessel 31 or the right times Ri limit Sakaikubi swing angle detector 32, as a unit that restricts the output of the control output signal from the horizontal movement control means 21 to the control means 25, 26, 27 is there. Reference numeral 54 denotes boom-related restriction release means, which receives a selection signal selected at a position where the selection switch 51 turns on release, and counterclockwise limit swing angle detector 31 or clockwise limit swing angle detector 32. Is a means for preventing the restriction signal from being output to the boom-related restriction means 52. That is, the boom-related restriction release means 54 prevents the restriction signal from the counterclockwise limit swing angle detector 31 or the clockwise limit swing angle detector 32 from being output to the boom-related restriction means 52, and the horizontal movement control is performed. The control output signal from the means 21 is outputted to the control means 25, 26, 27 without being blocked by the boom-related regulating means 52, and the work table 9 is continuously moved at the position b and horizontally moved.

The control apparatus D for an aerial work vehicle according to the present invention configured as described above operates as follows. Similarly to the second embodiment, the work platform 9 of the aerial work platform is now positioned at the position a shown in FIG. 7, and the horizontal movement operation command means 11 is appropriately set in the direction of the arrow from the work platform 9 at this position. A case will be described below where a command is given to move at a speed and the command of the horizontal movement operation command means 11 is stopped at the position c. The selection switch 5 1 is assumed to select a position to OFF to release.

When the horizontal movement operation command means 11 is instructed to move in the direction of the arrow at an appropriate speed from the work table 9 at the position a, the horizontal movement control means 21 of the controller 50 includes the horizontal movement operation command means 11 and the detection means. In response to the signals from 15, 16, 17, and 18, the control means 25, 26, and so on to move the work table 9 based on the horizontal movement direction and the horizontal movement speed commanded by the horizontal movement operation command means 11. A control signal is output to 27 and 28. Accordingly , the driving means 5, 6, 7, and 8 are driven by the control means 25, 26, 27, and 28, and the work table 9 moves horizontally to the position b in FIG.

  A regulation signal for regulating the swing drive control signal of the work table 9 in the direction in which the regulation signal interferes from the counterclockwise limit swing angle detector 31 at the position b is output to the swing regulation means 33. The swing regulation means 33 regulates the swing drive control signal of the work table 9 in the interfering direction output from the horizontal movement control means 21. Therefore, the swing control means 28 does not output the swing drive control signal from the horizontal movement control means 21 by the swing restriction means 33, and therefore the swing drive of the work table 9 is stopped. Interference of the telescopic boom 3 is avoided.

On the other hand because the selection switch 5 1 when the platform 9 is located at position b is selected in a position to OFF to release, restriction signal from counterclockwise limit swing angle detector 31 is a boom-related regulation release means 54 To the boom-related regulating means 52. Therefore, the control signal from the horizontal movement control means 21 is regulated by the boom-related regulation means 52 and is not output to the expansion / contraction control means 25, the undulation control means 26, and the turning control means 27, but the horizontal movement of the telescopic boom 3 (workbench) 9) is stopped and stopped.

  That is, when the work table 9 is located at the position b, the work table 9 stops the horizontal movement by the telescopic boom 3 and the swing drive accompanying the horizontal movement. Here, in order to move the workbench 9 from the position b to the position c, the selection switch 51 is selected to a position where the release is turned on while maintaining the command of the horizontal movement operation command means 11.

  Then, the boom related restriction release means 54 receives the selection signal for turning on the release from the selection switch 51, and the restriction signal from the counterclockwise limit swing angle detector 31 is output to the boom related restriction means 52. To regulate. Therefore, the control signal from the horizontal movement control means 21 is not regulated by the boom related regulation release means 52 but is output to the expansion / contraction control means 25, the undulation control means 26, and the turning control means 27, and the horizontal movement ( The horizontal movement of the work table 9 is resumed, and the work table 9 is moved horizontally from the position b to the position c. At this time, the swing drive of the work table 9 is still regulated by the swing regulation means 33.

  As described above, in the fourth embodiment, normal horizontal movement control is performed on the work table 9 from the position a to the position b. When the work table 9 is positioned at the position b, the horizontal movement is temporarily stopped and whether or not the horizontal movement is continued. It is possible to select the selection switch 51 by an operator.

  Alternatively, the selection switch 51 may be selected at a position where the release is turned ON when the work table 9 is located at the position a (before moving horizontally). In this case, the control signal from the horizontal movement control means 21 at the position b is not restricted by the boom related restriction release means 54 and is output to the expansion / contraction control means 25, the undulation control means 26, and the turning control means 27. That is, it is determined from the beginning that the horizontal movement control is to be performed from the position a to the position c shown in FIG.

  In this way, in the conventional control device, the interference prevention controller function operates to stop at the position b in FIG. 7 and thereafter the work table 9 cannot be moved, and in order to move from the b position to the c position, the interference prevention control function is used. However, in any of the above embodiments, even if the interference prevention control function is activated in the middle, the target position is required. Horizontal movement control can be made possible. Therefore, it is not necessary to perform a troublesome operation such as moving the work table 9 again after correcting the relationship between the work table 9 and the telescopic boom 3 so that the control function does not work when the interference prevention control function is activated. A control device for an aerial work vehicle that can be operated can be provided.

It is explanatory drawing explaining 1st Embodiment of the control apparatus of an aerial work vehicle which concerns on this invention. It is explanatory drawing explaining 2nd Embodiment of the control apparatus of an aerial work vehicle which concerns on this invention. It is explanatory drawing explaining 3rd Embodiment of the control apparatus of an aerial work vehicle which concerns on this invention. It is explanatory drawing explaining 4th Embodiment of the control apparatus of an aerial work vehicle which concerns on this invention. It is explanatory drawing explaining the aerial work vehicle which concerns on this invention. It is explanatory drawing explaining the aerial work vehicle which concerns on this invention, and is explanatory drawing explaining the state which an expansion-contraction boom and a work bench interfere. It is explanatory drawing explaining the case where a horizontal movement control of a worktable is carried out with the control apparatus of an aerial work vehicle which concerns on this invention. It is explanatory drawing explaining the case where horizontal movement control of the worktable is performed with the control apparatus of the conventional aerial work vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle 3 Telescopic boom 9 Worktable 11 Horizontal movement operation command means 15 Length detector 16 Undulating angle detector 17 Turning angle detector 18 Swing angle detector 20 Controller 30 Controller 40 Controller 50 Controller

Claims (2)

The telescopic boom is arranged on the vehicle so that it can be swung, undulated and extended, and each of the driving means for rotating, raising and lowering and extending and retracting the telescopic boom, and the work table is arranged at the tip of the telescopic boom so as to be able to swing. A work platform with a swing angle detector, a swing angle detector, a swing angle detector, a swing angle detector, and a swing angle detector. The horizontal movement operation command means for horizontally moving is arranged, and the work table is moved in the horizontal movement direction commanded by the horizontal movement operation command means in response to the detection value from each detector and the command value from the horizontal movement operation command means. Therefore, in a control device for an aerial work vehicle including a controller that outputs a control signal to each of the driving means,
The controller stores in advance an interference working state in which the telescopic boom and the workbench interfere with each other, and restricts a control signal to the swing drive means when the detected operation value is received from each detector and the interference working state is entered. A control device for an aerial work vehicle, characterized in that a control signal for horizontally moving the tip of the telescopic boom is continuously output to each of the other driving means.
The telescopic boom is arranged on the vehicle so that it can be swung, raised and lowered, and each of the driving means for turning, raising and lowering the telescopic boom, and a work table is arranged at the tip of the telescopic boom so as to be able to swing. A work platform with a swing angle detector, a swing angle detector, a swing angle detector, a swing angle detector, and a swing angle detector. The horizontal movement operation command means for horizontally moving is arranged, and the work table is moved in the horizontal movement direction commanded by the horizontal movement operation command means in response to the detection value from each detector and the command value from the horizontal movement operation command means. Therefore, in a control device for an aerial work vehicle including a controller that outputs a control signal to each of the driving means,
An interference work state detection unit that directly detects that the telescopic boom and the workbench interfere with each other and outputs a detection signal is disposed, and the controller receives a detection signal from the interference work state detection unit A control device for an aerial work vehicle characterized in that a control signal for sometimes swinging the swing drive means is controlled and a control signal for horizontally moving the tip of the telescopic boom is continuously output to the other drive means. .

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