JP6328972B2 - Aerial work platform - Google Patents

Description

  The present invention includes a lifting and lowering movement device mounted on a traveling body that can freely travel, and a work table that is attached to the lifting and lowering movement device and is moved up and down relative to the traveling body by the lifting and lowering movement device. Related to the work vehicle.

  As such an aerial work vehicle, there is known a vehicle constructed by providing a boom that can be freely raised and lowered on a traveling body and attaching a work table for operator boarding to the tip of the boom. . For example, Patent Document 1 discloses a self-propelled high place in which a base end of a boom is attached to a swivel provided on a vehicle body (running body), and a work table is attached to the tip of the boom. A work vehicle is disclosed. In such a self-propelled aerial work vehicle, a traveling operation device and a boom operation device are provided on a work table, and the traveling body is moved and moved by operating the traveling operation device, and the boom operation device is operated. Thus, the work table can be moved up and down by raising and lowering the boom.

  For this reason, the worker who has boarded the work table can operate the travel operation device to travel and move the aerial work vehicle and operate the boom operation device to move up and down with the work table to a desired height. When working on a high place using a self-propelled aerial work platform, after moving the aerial work vehicle to the work site, the boom is raised and lowered to move the work platform to the desired height. In general, the work at a high place is performed with the traveling stopped.

JP 2000-335899 A

  By the way, the work table is moved up and down to a desired height (first desired height) and then the height work is performed, and then the work table is moved up and down to another desired height (second desired height). When working at a high place at the second desired height, the work platform is moved toward the second desired height with the work table raised to the first desired height. Sometimes. At this time, when the work table is located near the structure at the first desired height, when the vehicle is moved and moved as it is, the work table or the operator who is on the work table comes into contact with the structure. There was a problem of fear. In particular, when the traveling road surface at this time is an uneven road surface or the like, the aerial work vehicle (work table) is shaken according to the uneven traveling, and there is a high possibility that the work table and the operator who rides on the work platform will come into contact with this structure. There was a problem of becoming.

  As described above, in general, when working at high altitudes, the aerial work vehicle is not running but is stopped and the high altitude work is performed. After the high altitude work is completed, the operator operates the travel operation device. Then, the aerial work vehicle is moved toward the second desired height. In this case, when the operator finishes the work at the first desired height, the worker may pay attention to the surrounding structure and the like, but the operator may pay attention to the movement to the second desired height. May be neglected and neglect attention to surrounding structures. If the driving operation is performed without such attention, it is considered that there is a risk of contact with the structure as described above. For this reason, when the vehicle is moved to the second desired height after the work at the first desired height as described above, the operator can call attention to surrounding structures, etc. It is desirable to be able to prevent problems such as contact with surrounding structures from occurring.

  The present invention has been made in view of the above, and when traveling and moving in a state where the work table is moved up and down to a high place, the work table and an operator who rides the work table are located at a high place. It is an object of the present invention to provide an aerial work vehicle that can prevent contact with a structure existing in the vehicle.

In order to solve the above-described problem, a work vehicle according to the present invention includes a traveling body that includes a traveling drive device (for example, the traveling motor 14 and the steering cylinder 15 in the embodiment) and is capable of traveling by being driven by the traveling drive device. An elevating and moving device (for example, boom 30, turning motor 13, hoisting cylinder in the embodiment) provided on the traveling body and configured to include a work table on the distal end side and moving the work table up and down relative to the traveling body. 22, a telescopic cylinder 31), a travel operation device (for example, a travel operation lever 55 and a steering operation lever 56 in the embodiment) for driving the travel drive device to drive the travel body, and the up-and-down movement device. Is moved up and down to move the work table up and down (for example, the hoisting operation lever 51 in the embodiment, the extension An operation lever 52, a turning operation lever 53), and a travel control unit (for example, a travel control unit 72 in the embodiment) that controls the travel of the travel body by driving the travel drive device in accordance with the operation of the travel operation device. A lift operation control unit (for example, a work table movement control unit 71 in the embodiment) that controls the lift movement of the workbench by operating the lift movement device according to the operation of the lift movement operation device; When the operation of the lifting / lowering device continues for a predetermined time after operating the lifting / lowering device by operating the moving operation device and moving the work table up / down to a desired work position. , Contact feeding restricting part for performing the traveling operation even if the operation of the device is performed by regulating the driving of the traveling drive device not to perform the running of the running body running regulation control (e.g., in the embodiment Provided with that traveling regulating portion 72a).

In the above-described high-altitude work vehicle, preferably, the work platform includes a desired height movement detection unit that detects that the work table is moved up and down to the desired work position , and the travel restriction unit detects the desired height movement. The travel restriction control is performed after detecting that the work table is moved up and down to the desired work position.

  In the above aerial work vehicle, preferably, when the travel restriction control is performed by the travel restriction unit, when the predetermined release operation is performed by the lifting / lowering operation device, the travel restriction unit A restriction release unit (for example, a restriction release unit 72b in the embodiment) that releases the travel restriction control is provided.

  In the above aerial work vehicle, preferably, the lifting and lowering movement device is configured to include a boom having a base end portion attached to the traveling body and configured to freely move up and down, extend and contract, and turn, etc. The work table is attached to the tip of the boom, and the work table is configured to be moved up and down by hoisting, expanding and contracting, turning operation, etc. of the boom. The predetermined release operation is opposite to the boom operating direction in which the work table is moved up and down to the moving position immediately before the travel regulation by the travel regulation unit. The operation of operating the boom in the direction.

  In the above aerial work platform, preferably, an auxiliary moving device (for example, a swing motor 41 in the embodiment) provided at the tip of the boom and moving the work table with respect to the tip of the boom, and the auxiliary An auxiliary movement operation device (for example, the swing operation lever 54 in the embodiment) that performs an operation to operate the movement device is provided, and the operation of the auxiliary movement operation device is not included in the predetermined release operation.

In the above aerial work platform, preferably , in the state where the travel regulation control is performed by the travel regulation unit, the lifting and moving device is operated for a short time of a predetermined time or less or the work table is operated for a predetermined distance or less. When the lifting / lowering operation device is operated so as to move only a short distance, this operation is not included in the predetermined release operation.

  In the above-described aerial work vehicle, preferably, the elevating / lowering device is configured by a vertical elevating / lowering device that vertically moves the work table with respect to the traveling body, and the travel regulation unit controls the travel regulation control. When the operation of lowering the work table is performed in the state where the operation is performed, the restriction release unit is configured to release the drive restriction of the travel drive device.

  In the above-described aerial work vehicle, preferably, the restriction release unit is configured by a restriction release switch operable by an operator.

  According to the aerial work vehicle according to the present invention, after the work table is moved up and down to the desired work position, the travel is restricted by the travel restricting unit, and the traveling body travels even if the travel operation device is operated. Is not allowed to do. As a result, it is possible to prevent the work table and the operator from moving up and down in this state after the work table is moved up and down to a desired height (desired work position) for work at a high place. It is possible to prevent contact with objects.

It is a side view of the self-propelled aerial work vehicle to which the present invention is applied. It is a block diagram which shows the control system of the said aerial work vehicle. It is a flowchart which shows the content of the traveling & boom control which concerns on the 1st Example in the said aerial work vehicle. It is a flowchart which shows the content of the travel regulation control (boom operation control) in the travel & boom control which concerns on the said 1st Example. It is a flowchart which shows the content of the regulation cancellation | release control in driving | running | working & boom control which concerns on the said 1st Example. It is a table | surface which shows the correspondence of the action | operation performed immediately before the driving | running | working regulation of the said aerial work vehicle, and the action | operation for canceling | releasing driving | running | working regulation. It is a perspective view which shows a scissor link type aerial work vehicle. It is a perspective view which shows a vertical mast type aerial work vehicle. It is a table | surface which shows the correspondence of the operation | movement performed just before the driving | running | working control of the aerial work vehicle which concerns on a different example, and the operation | movement for canceling | releasing driving | running | working control. It is a flowchart which shows the control content which concerns on the modification of driving | running | working & boom control which concerns on the said 1st Example. It is a flowchart which shows the content of the travel control (boom operation control) in the control which concerns on this modification. It is a flowchart which shows the content of the traveling & boom control which concerns on 2nd Example in an aerial work vehicle. It is a flowchart which shows the content of the traveling & boom control which concerns on the 3rd Example in an aerial work vehicle.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an aerial work vehicle 1 as an example to which the present invention is applied. The aerial work vehicle 1 includes a traveling body 10 having a pair of left and right front wheels 11, 11 and rear wheels 12, 12, a revolving body 20 provided on the traveling body 10, and a foot pin 21 on an upper portion of the revolving body 20. A boom 30 is mounted so as to be swingable up and down, and a work board 40 for operator boarding is attached to the tip of the boom 30.

  In the traveling body 10, left and right rear wheels 12, 12 are connected to a rotating shaft of a traveling motor 14 (hydraulic motor) provided in the traveling body 10, and the hydraulic pressure supply to the traveling motor 14 is controlled to control the left and right By controlling the rotation of the rear wheels 12, 12, the traveling body 10 can be started, stopped, and adjusted for speed during traveling. Further, the left and right front wheels 11 are connected to a steering cylinder 15 (hydraulic cylinder) provided in the traveling body 10 via a link mechanism and a rod (not shown). The traveling body 10 can be steered by changing the direction of the front wheels 11 and 11.

  The revolving unit 20 is attached to the traveling unit 10 so as to be rotatable 360 degrees around a vertical axis, and the revolving unit 20 is hydraulically driven by driving a revolving motor 13 (hydraulic motor) provided in the traveling unit 10. It is comprised so that turning operation | movement can be carried out within a horizontal surface. The boom 30 is constructed such that a plurality of boom members are assembled in a nested manner, and the boom 30 can be expanded and contracted in the longitudinal direction by hydraulically driving an expansion / contraction cylinder 31 (hydraulic cylinder) provided in the boom 30. It is configured. Further, a hoisting cylinder 22 (hydraulic cylinder) is provided between the swing body 20 and the boom 30, and the boom 30 can be hoisted in the upper and lower surfaces by hydraulically driving the hoisting cylinder 22. It has become.

  A vertical post 32 is provided at the tip of the boom 30. The vertical post 32 is supported at the tip of the boom 30 so as to be swingable up and down, and is configured so that a substantially vertical posture is always maintained by a leveling device (not shown) regardless of the undulation angle of the boom 30. The work table 40 is rotatably attached to the vertical post 32 via a work table holding portion (bracket) 41, and a swing motor 41 (hydraulic motor) provided in the work table holding portion 41 is hydraulically operated. By being driven, the work table 40 can be swung around the vertical post 32.

  An operation box 50 is provided on the work table 40. As shown in FIG. 2, the operation box 50 includes a raising / lowering operation lever 51 that performs an operation for raising and lowering the boom 30, an expansion / contraction operation lever 52 that performs an operation for extending and retracting the boom 30, and the boom 30 (revolving body). 20) and a swing operation lever 54 for performing an operation for swinging the work table 40 are provided (collectively referred to as a boom operation lever). Here, when the hoisting operation lever 51 is tilted in the front-rear direction, an operation command signal for extending and retracting the hoisting cylinder 22 is output accordingly, and when the telescopic operation lever 52 is tilted in the front-rear direction, the telescopic cylinder 31 is accordingly operated. An operation command signal for extending / contracting is output. Further, when the turning operation lever 53 is tilted in the left-right direction, an operation command signal for rotating the turning motor 13 in the forward / reverse direction is output accordingly, and when the swinging operation lever 54 is tilted in the left-right direction, accordingly. An operation command signal for rotating the swing motor 42 in forward and reverse directions is output. Each of these operation command signals is input to the work table movement control unit 71 of the controller 70. The boom operation levers 51, 52, 53, and 54 are configured as neutral return-type operation levers that return to a neutral position that stops the operation of the corresponding actuator when the tilting operation is released.

  Further, the operation box 50 includes a travel operation lever 55 for performing an operation for starting the travel body 10 (starting, stopping, and speed adjustment operation during travel), and a steering operation for performing an operation for steering the travel body 10. And a lever 56 (these are collectively referred to as a travel operation lever). When the traveling operation lever 55 is tilted in the front-rear direction, an operation command signal for rotating the traveling motor 14 in the forward / reverse direction is output accordingly, and when the steering operation lever 56 is tilted in the left-right direction, the steering cylinder is accordingly operated. An operation command signal for extending / contracting 15 is output. Each of these operation signals is input to the travel control unit 72 of the controller 70. The traveling operation lever is also a neutral return type operation lever. The travel control unit 72 includes a travel regulation unit 72a and a regulation release unit 72b described later.

  Further, the operation box 50 is provided with an engine start switch 57 for starting the engine E provided in the traveling body 10 and an engine stop switch 58 for stopping the engine E. The operation signals of the switches 57 and 58 are input to the engine control unit 73 of the controller 70.

  As can be seen from the above description, the controller 70 includes a work table movement control unit 71, a travel control unit 72, and an engine control unit 73, and further includes a position calculation unit 74 and a storage unit 75. The engine control unit 73 starts the engine E in response to the engine start switch 57 being operated, and stops the engine E in response to the engine stop switch 58 being operated. When the engine E is started, the engine E drives the first and second hydraulic pumps P1 and P2, and the hydraulic oil is discharged from both the hydraulic pumps P1 and P2. The hydraulic oil discharged from the first hydraulic pump P1 passes through the hoisting cylinder control valve 61, the telescopic cylinder control valve 62, the swing motor control valve 63, the swing motor control valve 64, and the hoisting cylinder 22, the telescopic cylinder 31, and the swing motor. 13, supplied to the swing motor 42, respectively. The hydraulic oil discharged from the second hydraulic pump P2 is supplied to the travel motor 14 and the steering cylinder 15 via the travel motor control valve 65 and the steering cylinder control valve 66, respectively.

  The work table movement control unit 71 electromagnetically drives the control valves 61 to 64 in accordance with each operation command signal output by the operation of the boom operation levers 51 to 54. 31, the swing motor 13 and the swing motor 42 are supplied with hydraulic oil from the first hydraulic pump P1, and each actuator operates according to the operation of the corresponding boom operation lever.

  The travel control unit 72 electromagnetically drives the control valves 65 and 66 in accordance with each operation command signal output by the operation of the travel operation lever 55 and the steering operation lever 56, and thereby the travel motor 14, the steering. The hydraulic oil from the second hydraulic pump P2 is supplied to the cylinder 15 so that the traveling motor 14 and the steering cylinder 15 operate according to the operation of the corresponding operation lever. Therefore, the worker M who has boarded the work table 40 can freely travel and move the traveling body 10 by operating the travel operation lever 55 and the steering operation lever 56, and the boom 30 can be operated by operating the operation levers 51 to 54. It is possible to move to a desired height by moving up and down, expanding and contracting, turning, or swinging the work table 40 to perform work at a height.

  As described above, the travel control unit 72 includes the travel regulation unit 72a and the regulation release unit 72b. The travel control unit 72 exchanges signals with the work table movement control unit 71, and based on the operation signal input to the work table movement control unit 71, restricts the travel by the travel control unit 72 under predetermined conditions, Control to release this restriction is performed. Details of this control will be described later.

  As shown in FIG. 1, the boom 30 is provided with a hoisting angle detector 81 for detecting the hoisting angle of the boom 30 and a length detector 82 for detecting the length of the boom 30. A turning angle detector 83 for detecting a turning angle of the boom 30 (the turning body 20) with respect to the traveling body 10 is provided in the vicinity of the turning motor 13 in FIG. Information on the undulation angle, length, and turning angle of the boom 30 detected by the detectors 81 to 83 is input to the position calculation unit 74 of the controller 70 (see FIG. 2).

  The position calculation unit 74 calculates the position of the work table 40 (the tip of the boom 30) with respect to the traveling body 10 based on the input information on the undulation angle, length, and turning angle of the boom 30. The storage unit 75 of the controller 70 stores in advance data on the work table 40 allowable movement region, that is, the movement region of the work table 40 in which the work table 40 can be moved up and down within a range in which the traveling body 10 does not fall. The work table movement control unit 71 compares the position of the work table 40 calculated by the position calculation unit 74 with the data of the allowable movement area stored in the storage unit 75 and causes the work table 40 to deviate from the allowable movement area. Such operation command signals from the respective operation levers are invalidated.

  Hereinafter, a general procedure (operation) in the case of performing an aerial work using such a self-propelled aerial work vehicle 1 will be described. An operator who has boarded the work table 40 operates the traveling operation lever 55 and the steering operation lever 56 to travel the aerial work vehicle 1 toward the work site. This traveling movement is generally performed in a state where the boom 30 is lowered and the work table 40 is lowered to ensure traveling stability. When traveling to the work site, the aerial work vehicle 1 is moved to the work position and stopped. The boom operation levers 51 to 54 are appropriately operated in a state where the aerial work vehicle 1 is stopped at the work position in this way, and the boom 30 is moved up and down, expanded and contracted, or turned, or attached to the tip of the boom 30. The work table 40 is swung to move it up and down to a desired height (this position is referred to as a first desired height). When the work table 40 is moved up and down to the first desired height, the operator who has boarded the work table 40 is moved up and down to the first desired height together with the work table 40, so that the first desired height is reached. It is possible to work at a high place. When working at a high place, the operation of the boom 30 is stopped and the work table 40 is kept stationary at the first desired high place. In addition, the traveling of the aerial work vehicle 1 is also kept stopped.

  In general, work at a high place is not limited to one place, and work at a plurality of high places is required. As such an example, after performing work at the first desired height, the work table 40 is moved to a second desired height different from the first desired height to perform the height work. The case will be described below. When the work platform 40 is moved from the first desired height to the second desired height, there are many cases that cannot be dealt with only by operating the boom 30 or the like. It is necessary to change the work position by moving the work table 40. At this time, from the viewpoint of work efficiency, the work table 40 is often moved and moved as it is without lowering the work table 40 unless there is a particular problem. The work table 40 is temporarily lowered and moved to the next work position by reducing the boom 30, raising and lowering (falling down), etc., and raising and lowering (raising) the boom 30 is performed to move the work table 40 to the second position. If it is moved to a desired height, the running stability is good, and it is possible to reliably avoid the contact between the structure and the work table (operator) during running, thereby ensuring the running safety. However, since the operation of the boom 30 is required many times, there is a problem that the work efficiency is low. Therefore, considering the work efficiency, it is possible to select traveling without moving the work table 40 as it is. Many.

  As described above, after the high work at the first desired high place, the high work vehicle 1 is moved and moved without lowering the work table 40 to perform the high work at the second desired high place. In this case, when the height positional relationship between the first desired height and the second desired height is substantially the same, the work table 40 is moved to the second desired height only by traveling. Work efficiency is high. Even if the height position relationship is different between the first desired height and the second desired height, after the work vehicle 1 is moved and stopped, the boom 30 is increased by the difference in height position relationship. Since it is only necessary to adjust by operating, the work efficiency is good.

  As described above, it is convenient and efficient if the aerial work vehicle 1 travels and moves to the second desired high place after the high place work at the first desired high place. However, since the work table 40 generally located at the first desired height is close to the structure to be worked, etc., as described above, the work table 40 or the work table 40 is used when performing this traveling movement. There was a possibility that the worker who boarded and the work target structure would contact each other. In particular, when the traveling road surface at this time is an uneven road surface or the like, the aerial work vehicle 1 (work table 40) is shaken in accordance with the uneven traveling, and the work table 40 or an operator riding on the work platform 40 comes into contact with this structure. There is a problem that the fear is high.

  For this reason, when the aerial work vehicle 1 according to the present embodiment travels and moves while the work table 40 is positioned at a desired height, the work table 40 and the worker who rides on the work platform 40 can be The structure which can prevent beforehand contacting with the structure which exists in a position is provided. Specifically, the aerial work vehicle 1 is moved to the work position and stopped and held, and the work table 40 is moved to the first desired height by the operation control of the boom 30, and the work at the high place is started here. Sometimes, after a predetermined time has elapsed from the start of work, the travel regulation unit 72a performs control to regulate travel. In the state where the travel regulation control is performed in this way, it is impossible to travel even if the aerial work vehicle 1 tries to travel and move as it is. That is, even if the travel operation lever 55 and the steering operation lever 56 are operated in order to finish the height work at the first desired height and move to the work at the second desired height, the travel restriction unit 72a travels. The motor 14 and the steering cylinder 15 are not operated (the operation of the control valves 65 and 65 is restricted so as not to operate them). However, if the operator performs a predetermined operation on the boom control lever in this state (an operation to perform a specific boom operation, which will be described later, an operation referred to as a regulation release operation), the regulation release unit 72b is activated, and the travel regulation unit The regulation by 72a is released, and the travel operation is permitted.By performing this predetermined operation, the work table 40 or the operator who has boarded it and the structure are in contact with each other even if the travel movement is performed thereafter. This control (running & boom control) will be described in detail below.

  First, traveling & boom control according to the first embodiment will be described. First, with reference to the flow of FIG. 3, the entire travel and boom control by the work table movement control unit 71 and the travel control unit 72, including travel restriction control by the travel restriction unit 72 a and restriction release control by the restriction release unit 72 b. explain. This flow is repeated in a predetermined control cycle (for example, 10 ms depending on the CPU capability).

  In this travel and boom operation control (step S10), it is first determined whether or not travel restriction control by the travel restriction unit 72a is being performed (step S11). This travel regulation is performed after the work at a high place is started, and is not set at the time of the first travel movement. Therefore, the process normally proceeds to step S12 to determine whether or not there is a travel operation. That is, it is determined whether or not there is an operation of the travel operation lever 55 and the steering operation lever 56. When this operation is not performed, the process returns from the return step to step S11 and waits for a traveling operation.

  When the operation lever for traveling is being operated, the process proceeds to step S13. Based on this operation, forward / reverse traveling and steering travel control are performed, and the aerial work vehicle travels and moves in response to the operation. In step S14, it is determined whether or not the travel is stopped. As long as the travel is continued, the process returns to step S13 and the travel control according to the travel operation is continued. At this time, a restriction start determination timer, which will be described later, continues to be reset (step S15). As a result, when the operator who has boarded the work table 40 operates the traveling operation lever 55 and the steering operation lever 56, the aerial work vehicle 1 can travel according to the operation, and the movement to the working position can be performed. It can be carried out.

  When the travel is stopped, the process proceeds from step S14 to step S20, and interrupt control based on the travel regulation flow is performed. The contents of the travel restriction control (step S20) are shown in FIG. 4, and the control contents will be described with reference to FIG.

  Here, it is first determined whether or not a boom operation has been performed (step S21). That is, in a state where the aerial work vehicle 1 travels to the work position and stops as described above, the operator operates the boom so as to move the work table 40 to the desired height (first desired height). The levers 51 to 54 are operated, and it is detected whether or not this boom operation operation has been performed. When this operation is not performed, the control by the interruption flow (step S20) is finished, and the process returns from the return step to the traveling and boom operation control (step S10).

  On the other hand, when the operation for operating the boom is performed, the process proceeds to step S22, and the boom operation based on this boom operation (operations such as raising, retracting, extending, turning, and swinging the boom 30) is performed. Thereby, the operator who has boarded the work table 40 can move the work table 40 to the first desired height by operating the boom operation levers 51 to 54. While the boom operation is performed in this manner, the restriction start determination timer is continuously reset in step S23.

  In this way, when the work table 40 reaches the first desired height, the worker stops the boom operation, and performs the work at a high position with the work table 40 stopped and held at this position. At this time, it is determined in step S24 whether or not the operation of the boom 30 is stopped, and the elapsed time measurement by the restriction start determination timer reset in step S23 is started after the boom operation is stopped. . Whether the time measured by the restriction start determination timer, that is, the time during which the operation of the boom 30 is stopped and the work table 40 is stationary at the first desired height exceeds a predetermined time (referred to as restriction determination time). Whether or not is determined in step S25. Until the time measured by the restriction start determination timer reaches the restriction determination time, the control in the interrupt flow is finished in step S25, and the process returns to the traveling and boom operation control (step S10).

  When the time measured by the restriction start determination timer reaches the restriction determination time, the process proceeds to step S26 and the travel restriction control is started. As described above, this travel restriction control is a control performed by the travel restriction unit 72a. Even if the travel operation lever 55 and the steering operation lever 56 are operated, the travel motor 14 and the steering cylinder 15 are not operated, and the high place. This is control that prevents the work vehicle 1 from running. When the travel restriction control is performed in step S26, when the flow returns to the travel and boom operation control (step S10) in FIG. 3 from this interruption flow, the flow moves from step S11 to the restriction release flow in step S30. Control according to the flow is performed.

  The restriction release control flow in step S30 is shown in FIG. 5, and this control will be described with reference to this. Step S31 is described in duplicate with step S11. However, if travel regulation is performed, the process proceeds to step S32 and travel regulation control is continued. In step S33, whether or not a specific boom operation (or a predetermined release operation) has been performed (the predetermined release operation is an operation for releasing the travel restriction by performing the specific boom operation, and a specific operation example. It is determined whether or not (described later) has been performed. If the specific boom operation is not performed, the process returns from the return step to the travel and boom control (step S10) while performing the travel restriction control. On the other hand, when the specific boom operation (or the predetermined release operation) is performed, the process proceeds from step S33 to step S34, and the travel restriction is released. As a result, when returning from the interruption flow to the travel and boom operation control (step S10), the process proceeds from step S11 to step S12, and the control after step S12 described above becomes possible.

  As can be understood from the above description, after the work place 40 is moved to the first desired height and the work at the height is started, the travel regulation is started when a predetermined time (regulation judgment time) elapses. Even if the operation (operation of the traveling operation lever 55 and the steering operation lever 56) is performed, the aerial work vehicle 1 cannot travel. In this state, when it is intended to move the aerial work vehicle 1 in order to complete the aerial work at the first desired height and perform the aerial work at the second desired height, first in step S33 A predetermined release operation for causing the determined specific boom operation is performed. Then, since the travel restriction is released as described above, the aerial work vehicle 1 can be caused to travel if a travel operation (operation of the travel operation lever 55 and the steering operation lever 56) is performed thereafter. Then, the aerial work vehicle 1 travels to a work position corresponding to the second desired height, a boom operation is added as necessary, and the work table 40 is moved to the second desired height. It is possible to perform work at a desired height in 2 places.

  Based on the control shown in the flow of FIG. 3 to FIG. 5 described above, when the height work at the first desired height is performed by the height work vehicle 1 from the height work at the second desired height. The general operation and operation will be described below in accordance with the general procedure for performing the above-described work at a high place.

  As described above, the operator who has boarded the work table 40 operates the boom operation levers 51 to 54 and the travel operation levers 55 and 56 to travel and move the aerial work vehicle toward the work site. At this time, travel regulation is not performed, and the control is performed by steps S11 to S13 in FIG. When traveling to the work site, the aerial work vehicle 1 is moved to the work position and stopped. This is detected in step S14, and control based on the travel regulation flow in step S20 (FIG. 4) becomes possible.

  The boom operation levers 51 to 54 are appropriately operated while the work platform 1 is stopped at the work position, and the boom is raised, retracted, swung, or the work table 40 attached to the tip of the boom is swung. The work table 40 is moved up and down to the first desired height by operating (steps S21 and S22). Although not shown in the flow of FIG. 4, the operation content and history of the boom 30 by the operation of the boom operation lever that moves the work table up and down are stored in the storage unit 75, and this stored operation is described later. The contents of the operation of the boom 30 performed last when the work table 40 is moved up and down to the first desired height are understood from the contents. Further, the position information of the work table 40 detected by the position detection unit 74 is also stored in the storage unit 75.

  When the work table 40 is moved up and down to the first desired height, the worker who has boarded the work table 40 can now perform work at the height. At the time of working at this height, the operation of the boom 30 is stopped and the work table 40 is held stationary at the first desired height, and the elapsed time since the operation of the boom 30 was stopped in this way, That is, the time during which a work at a high place is possible is measured by the restriction start determination timer, and it is determined whether or not this elapsed time has passed the restriction determination time (steps S24 and S25). Then, when the regulation determination time has elapsed, the travel regulation control by the travel regulation unit 72a is started. As a result, when the work table 40 is moved to the first desired height and is held stationary, that is, the height work at the first desired height is enabled, a predetermined time ( When the regulation judgment time) elapses, even if the travel operation lever 55 and the steering operation lever 56 are operated, the travel motor 14 and the steering cylinder 15 are not operated, and the aerial work vehicle 1 cannot travel.

  The regulation determination time is set to an appropriate value according to the type of the aerial work vehicle 1. If the boom operation is performed between the time when the boom operation is stopped and the time when the regulation determination time elapses, the regulation start judgment timer is reset (step S23). The elapsed time measurement by the start determination timer is started. Similarly, the restriction start determination timer is also reset when an operation for driving the aerial work vehicle 1 (operation of the traveling operation lever 55 and the steering operation lever 56) is performed before the restriction determination time elapses (step S1). S15). Thus, even after the aerial work vehicle 1 travels to the work position and stops, the operation work of the aerial work vehicle 1 can be performed and the work position can be adjusted until the regulation judgment time elapses. ing.

  The determination that the boom operation is stopped, that is, the elapsed time measurement by the restriction start determination timer is not applied to an operation in which the boom 30 is inched and the worktable 40 is finely adjusted. The inching operation is to make the fine adjustment of the work table position by operating the operation levers 51 to 54 for a very short time, and even if the operation to move the work table 40 slightly is performed, The elapsed time measurement by the restriction start determination timer is continued without interruption. However, it goes without saying that when this operation is performed, the restriction start determination timer may be reset and time measurement may be performed again.

  There is a case where a sub boom or an arm is provided at the tip of the boom 30 or the work table 40 is configured to be vertically movable (this is a configuration corresponding to an auxiliary movement device defined in claims). Even if these operations are performed, the elapsed time measurement by the restriction start determination timer may be continued without interruption. The swinging operation of the work table 40 may be handled in the same manner. It goes without saying that when these operations are performed, the restriction start determination timer may be reset and time measurement may be performed again.

  Next, the operation of the boom 30 is stopped and the work table 40 is held stationary at the first desired height, and the height work is performed. Describes a case where the work place 40 is moved to another second desired high place to perform the high place work. Here, when the travel restriction control by the travel restriction unit 72a is started at this time, only the extension operation of the boom 30 or the like is required to move the work table 40 from the first desired height to the second desired height. In this case, it is not possible to cope with this, and a case where the work position needs to be changed by traveling the aerial work vehicle 1 is considered. Further, from the viewpoint of work efficiency, a case will be described in which the work table 40 is moved and moved without being lowered.

  At this time, since the travel regulation by the travel regulation unit 72a is performed, the travel motor 14 and the steering cylinder 15 do not operate even if the travel operation lever 55 and the steering operation lever 56 are operated in this state, and the aerial work vehicle 1 is It cannot be run. This is because, as described above, the work table 40 at the first desired height is close to the structure or the like to be worked on, so that if the work table 40 is run as it is, the work table 40 or the operator boarded here and the structure In view of the possibility of contact with an object, as shown in step S33 and step S34, when a specific boom operation is performed (or when a boom operation for performing the specific boom operation is performed) ), The travel restriction is released by the restriction release part 72b. The “specific boom operation” defined in step S33 is, for example, an operation of the boom 30 that separates the work table 40 from the work target structure, which will be described in detail below. When the specific boom operation is performed in this manner and the work table 40 is separated from the work target structure, the work table 40 or the operator who has boarded the work table and the structure are in contact with each other even when the aerial work vehicle 1 travels. Can be prevented and safety can be improved.

  The boom operation (this is referred to as “predetermined release operation”) for performing the specific boom operation will be described in detail below. First, as a first example, with the aerial work vehicle 1 stopped at the work position, the boom 30 is swung and raised and lowered, and then the boom 30 is extended to move the work table 40 to the first position. Assume that the robot is moved up and down to a desired height. That is, the case where the last operation of the raising / lowering movement to the first desired height is an operation of extending the boom 30 is assumed. A case is considered in which the work table 40 is held stationary at the first desired height, the height work is performed beyond the regulation determination time, and the height work is completed in a state where the travel regulation is activated. . In this case, the operation for operating the boom 30 in the direction opposite to the last boom operation when the work table 40 is moved up and down to the first desired height is the predetermined release operation. Since this last boom operation is an extension operation of the boom 30, the operation in the opposite direction, that is, the operation of reducing the boom 30 is a predetermined release operation. When this predetermined release operation is performed for a predetermined time or longer, in step S33 It is determined that the predetermined operation has been performed, and the process proceeds to step S34 to cancel the travel restriction. In this way, it is determined that the predetermined release operation is performed for a predetermined time or more because the work table 40 is reduced by a predetermined amount or more and is sufficiently separated from the work target structure or the like (this is referred to as a contact avoidance position). This is to prevent contact between the work table 40 or the operator boarding the work place and the structure even if the aerial work vehicle 1 travels from this state.

  As described above, the travel restriction is released by performing a predetermined release operation that is an operation opposite to the last operation of the boom 30 in which the work table 40 is positioned at the first desired height. ing. As described above, the operation history of the boom 30 is configured to be stored in the storage unit 75 in the controller 70. The last operation of the boom 30 is read from this operation history, and whether or not the opposite operation has been performed. The travel restriction is canceled based on the judgment. The predetermined time (the operation time of the predetermined operation necessary to determine that the predetermined operation has been performed in step S33) depends on the type of the actuator, the operating capability of the actuator, the hoisting angle of the boom 30, and the like. It is set for each turning operation. Instead of the configuration in which the travel restriction is canceled based on the input time of the operation command signal time (the operation time of the operation lever), the travel restriction may be canceled based on the actual movement distance of the work table 40.

  Therefore, in the case of the first example, the operator tilts the telescopic operation lever 52 in the direction in which the boom 30 is contracted and operates the boom 30 to contract, and moves the work table 40 up and down to the contact avoidance position. As a result, the travel restriction is canceled and the travel movement becomes possible. As a result, since the work table 40 is positioned at the contact avoidance position, the traveling movement is performed when moving from the high work at the first desired height to the high work at the second desired height. The contact between the structure and the worker (workbench) can be effectively prevented.

  Another example of the predetermined release operation for releasing the travel restriction (operation for performing the specific boom operation in step S33) will be described. FIG. 6 shows the relationship between the last boom operation content when moving the work platform 40 to the first desired height and the specific boom operation (predetermined release operation) for canceling the travel restriction correspondingly. Show. In this figure, the last boom operation is described in the left column 100, and the boom operation (predetermined release operation) for canceling the travel restriction is described in the right column 200. This means that the travel restriction is canceled by the operation of “◯”, and the travel restriction is not canceled by the operation of “×”. That is, the boom operation marked with “◯” is the specific boom operation, and the boom operation for performing this operation is the predetermined release operation. The above example corresponds to the case where the last boom operation is “extension (undulation 45 degrees or more) 102” shown in the second row. In this case, in addition to the boom 30 reduction operation, the raising and lowering operation and the interlocking (vertical down) operation (the operation of lowering the work table 40 in the vertical direction by combining the downward raising and lowering) are also predetermined release operations. These also make it possible to cancel the travel restriction.

  In the following, the predetermined release operation for each of the last actuation operations shown in the left column 100 will be described in order. As shown in the first row, when the last operation operation is stretching (ups and downs 45 degrees or less) 101, the last operation operation when moving the work table 40 to a desired height is a state where the ups and downs angle is 45 degrees or less. This is the case of the operation operation to be extended by. This is, for example, an operation operation used when the work table 40 is moved up and down on the outside of the vehicle body to approach a structure (for example, a wall surface) located on the outside of the vehicle body. In this case, the raising and lowering operation, turning (both left and right) operation, horizontal contraction operation (operation of horizontally moving the work table 40 by combination of hoisting, expansion and contraction, turning, etc.) The operation of moving to (1) is also a predetermined release operation.

  The contraction 103 shown in the third row is an operation for reducing the boom 30 and is not an operation for bringing the work table 40 close to a structure located outside the vehicle body or a structure located above (for example, the ceiling). Not subject to regulation. In FIG. 6, “−” marks are used to indicate that the vehicle is not subject to travel regulation.

  The raising and lowering 104 shown in the fourth row is an operation for raising and lowering the boom 30 upward, and is used, for example, when the work table 40 is moved up and down to approach the structure located above. At this time, the boom contraction operation, the undulation lowering operation, and the vertical lowering operation (operation for moving the work table 40 vertically downward by a combination of undulation and expansion / contraction) are predetermined release operations. In the following, regarding the predetermined release operation, those indicated by the circles are the predetermined release operations, but since it can be clearly understood from FIG. 6, only the last operation operation will be briefly described.

  The fifth row of undulations (undulations 70 degrees or less) 105 is an operation for raising the undulations downward and setting the undulation angle to 70 degrees or less. It is used when approaching a structure that is located. The undulation (undulation 70 degrees or more) 106 in the sixth row is an operation for raising the undulation downward to make the undulation angle 70 degrees or more. For example, the work table 40 is moved up and down to the outside of the vehicle body and positioned outside the vehicle body. It is used when approaching a structure to be made.

  The turning right 107 in the seventh row is an operation for turning to the right side, and is used, for example, when the work table 40 is turned to the right side to approach a structure located on the right side. The turn left 108 in the eighth row is an action of turning leftward, and is used, for example, when the work table 40 is turned to the left and brought closer to the structure located on the left. The ninth row interlocking (vertical top) 109 is an operation performed by combining upward undulation and expansion and contraction. For example, when the work table 40 is moved up and down in the vertical direction to approach the structure located above. Used for The tenth row interlocking (below vertical) 110 is an operation for moving the work table 40 vertically downward by combining undulation and expansion and contraction, and in the operation of bringing the work table 40 close to a structure located outside or above the vehicle body. It is not subject to travel restrictions.

  The 11th row interlocking (horizontal extension) (undulation 70 degrees or less) 111 is an operation of moving the work table 40 horizontally by a combination of undulation, expansion and contraction, turning, etc., and an operation in which the undulation angle becomes 70 degrees or less. This is used when the work table 40 is moved to the outside of the vehicle body and brought close to a structure located outside the vehicle body. The interlocking (horizontal extension) (undulation 70 degrees or more) 112 in the twelfth row is an operation in which the undulation angle becomes 70 degrees or more by the same horizontal movement of the work table 40. For example, the work table 40 is moved to the outside of the vehicle body. It is used when moving it closer to a structure located outside the vehicle body. Interlocking (horizontal contraction) 113 in the 13th row is an operation of moving the work table 40 horizontally by a combination of undulation, expansion and contraction, turning, and the like, and an operation operation of moving the work table 40 inward of the vehicle body. Since it is not an operation of bringing the work table 40 close to the structure located above or below, it is not subject to travel regulation.

  The 14th row interlock (horizontal right) 114 is an operation of horizontally moving the work table 40 by a combination of undulation, expansion and contraction, turning, and the like, and an operation of operating the work table 40 in the horizontal right direction. It is used when moving to the right side to bring it closer to the structure located on the right side. Interlocking (horizontal left) 115 in the 15th row is an operation of moving the work table 40 horizontally by a combination of undulation, expansion and contraction, turning, and the like, and an operation of operating the work table 40 in the horizontal left direction. This is used when moving to the left side to bring it closer to the structure located on the left side.

  The 16th row swing (left and right) 116 is an operation of swinging the work table 40 around the vertical post 32, and is excluded from the target of the last boom operation and travel restriction release operation. The jib (up and down) 117 in the 14th row is an operation for moving the work table 40 up and down by the jib, but is excluded from the targets of the last boom operation and travel restriction release operation. The jib is a device (for example, a bending boom) provided at the tip of the boom 30 to swing the work table 40 up and down, and corresponds to an auxiliary moving device defined in the claims.

  In the above-described embodiment, the configuration in which the regulation determination time is measured after the boom 30 is suspended, expanded, contracted, and turned is described. However, for example, the regulation determination time is measured only after the boom 30 is stopped from extending. It is good also as composition to do. This is because when the boom 30 is operated and the work table 40 is moved up and down to a desired height, the boom 30 is finally extended to position the work table 40 at the desired height.

  In the above-described embodiment, the operation for operating the boom 30 has been described as the predetermined release operation. However, instead of this configuration, a button and a switch for releasing the travel restriction are provided, and the travel restriction is released when the button is pressed. You may do it. In this case, it is necessary for the worker to press the travel restriction release button after starting the high altitude work, which can alert the worker, and the operator travels on the high work vehicle 1 while paying attention to the surroundings. Therefore, safety can be ensured.

  Note that when the regulation determination time has passed after the boom 30 is stopped and the work table 40 is held stationary, the travel regulation is started, and this may be turned on or displayed on the display screen. Similarly, it may be displayed on the display screen what the predetermined canceling operation for canceling the travel restriction is, so that the operator can understand it.

  In the first embodiment described above, an example in which the present invention is applied to a boom type aerial work vehicle has been described. However, the present invention can be applied to, for example, a scissor link type aerial work vehicle (FIG. 7) or a mast type high work vehicle. The present invention is also applicable to a work vehicle (FIG. 8). FIG. 9 shows the relationship between the last lifting operation and the lifting operation for canceling the travel restriction for the scissor link type or mast type high work platform. In FIG. 9, “upper” means the raising operation of the work table, and “lower” means the lowering operation of the work table. The last lifting operation is described in the left column, and a predetermined canceling operation for canceling the travel restriction is described in the right column. The contents of “◯”, “×”, and “−” shown in FIG. 9 are the same as those in FIG. As can be seen from FIG. 9, when the last lifting operation is “down”, it is not subject to travel regulation. On the other hand, when the last raising / lowering operation is “up”, the travel restriction is canceled by “down” (lowering operation), but the travel restriction is not released by “up” (upward operation).

  A modified example of the traveling and boom operation control according to the first embodiment shown in FIGS. 3 to 5 will be described below with reference to the flowcharts shown in FIGS. 10 and 11. In the following, steps having the same contents as those in FIGS. 3 and 4 described above are denoted by the same reference numerals and description thereof is omitted. Further, the restriction release control flow performed in this modification is the same as the restriction release control flow shown in FIG.

  First, steps different from those in FIGS. 3 and 4 will be described. In the traveling and boom operation control according to this modification, when it is determined that traveling is continued in step S14 shown in FIG. 10, the traveling completion flag and the boom completion flag are set to 0 (step S41). When it is determined that traveling is stopped, control for setting the traveling completion flag to 1 is performed (step S42). In the control shown in FIG. 3, the time measurement from the time when it is determined that the travel is stopped is started and the process proceeds to the travel regulation flow. In the control according to this modification, the travel completion flag is set to 1. In this state, the travel regulation flow is started.

  Further, in step S24 shown in FIG. 11, when it is determined that the operation of the boom 30 is continued, the boom completion flag is set to 0 (step S51), and on the other hand, it is determined that the operation of the boom 30 is stopped. In this case, it is determined whether or not the boom completion flag is 1 (step S52). If it is determined in step S52 that the boom completion flag is 1, the process proceeds to step S25. If it is determined that the boom completion flag is not 1, the process proceeds to step S53, where the boom completion flag is set to 1 and regulation is started. Reset the judgment timer. In the control shown in FIG. 4, the time after the operation of the boom 30 is stopped is measured and compared with the regulation determination time. However, in the control according to this modification, the travel completion flag and the boom completion are performed. The time since both of the flags are set to 1 is measured and compared with the regulation determination time.

  In the control shown in FIG. 3 and FIG. 4, when the travel operation lever is operated after the boom 30 is operated and before the measurement time reaches the regulation determination time, the operation is completed after the operation is completed. When the measurement time reaches the regulation determination time, the travel regulation is set. In the control according to the modification shown in FIGS. 10 and 11, if the operation lever for traveling is operated after the boom 30 is operated and before the regulation determination time is reached, “1” is set. Both the travel completion flag and the boom completion flag are changed to 0 in step S41. Then, although the travel completion flag is set to 1 by the travel stop, the boom completion flag remains 0, so when the work place 40 is positioned at a desired height by traveling and the work at a high place is started as it is, Travel regulations are not set.

  Next, traveling and boom operation control according to the second embodiment will be described below with reference to the flow shown in FIG. In the following description, the same or similar control as in the first embodiment is simplified.

  In this travel and boom operation control (step S60), it is first determined whether or not there is a travel operation (step S61). When there is a travel operation, it is determined whether or not travel regulation is in progress (step S62). When it is not under regulation, travel operation control is performed so that the operation is in accordance with the travel operation (step S63). When the travel is being restricted, the process proceeds to step S70. When it is determined in step S61 that there is no travel operation, the process proceeds to step S64, where it is determined whether or not it is the time when the travel operation control is switched to the stop control, and when the time is switched, the process proceeds to step S65. Start counting by the regulation start judgment timer. From step S64 and step S65, the process proceeds to step S70.

  In step S70, it is determined whether or not there is a boom operation. If there is a boom operation, a boom operation corresponding to the operation is performed (step S71). When it is determined whether or not the travel is being restricted (step S72) and whether or not the specific boom is being operated (step S73), the travel is not restricted and the specific boom is not operating. Or, when the travel is restricted but the specific boom is not activated, the flow returns from the return step to the beginning of the flow (step S60). On the other hand, when the travel restriction is being performed and the specific boom operation is being performed, the process proceeds to step S74 to cancel the travel restriction, and then returns to the beginning of the flow (step S60).

  When it is determined in step S70 that there is no boom operation, the process proceeds to step S80, and it is determined whether or not it is the time when the boom operation is switched to the operation stop. When it is time to switch, the process proceeds to step S81 to reset the restriction start determination timer and start counting again. Thereby, when the boom operation is performed in a state where the regulation start determination timer is counted from step S65 due to the stop of traveling, the boom operation associated with the boom operation is performed, and when the boom operation is stopped, the step is performed. In S81, the restriction start determination timer is reset, and counting by the restriction start determination timer is started again. It is determined whether or not the count time by the regulation start judgment timer has reached the regulation judgment time (step S82), and when the regulation judgment time is reached, the process proceeds to step S83 to perform control for regulating the traveling of the aerial work vehicle. Is called.

  By performing this control, after the work platform 40 is moved to the first desired height and the work at the height is started, the travel regulation is started when a predetermined time (regulation judgment time) elapses. Even if (the operation of the travel operation lever 55 and the steering operation lever 56) is performed, the aerial work vehicle 1 cannot travel. In this state, any operation for the boom operation is permitted, and the boom operation corresponding to the boom operation is performed. In this state, when the work at the first desired height is finished and the work vehicle 1 is to be moved to perform the work at the second desired height, the specific boom operation is performed. A predetermined release operation is performed. Then, since the travel restriction is released, the aerial work vehicle 1 can be traveled by performing a travel operation (operation of the travel operation lever 55 and the steering operation lever 56) thereafter.

  Next, travel and boom operation control according to the third embodiment will be described below with reference to the flow shown in FIG. In the following description, the same or similar control as in the first and second embodiments is briefly described.

  In this traveling and boom operation control (step S100), it is first determined whether or not there is a traveling operation (step S101). When there is a travel operation, it is determined whether or not travel regulation is in progress (step S102). When it is not under regulation, travel operation control is performed so that the operation is in accordance with the travel operation (step S103) and a travel completion flag is set. “0 (zero)” is set, and the boom completion flag is set to “0 (zero)”. When the travel is being restricted, the process proceeds to step S110. When it is determined in step S101 that there is no traveling operation, the process proceeds to step S105, where it is determined whether or not it is the time when the traveling operation control is switched to the stop control, and when it is the time that the switching is performed, the process proceeds to step S106. Set the travel completion flag to “1”. From step S104 and step S106, the process proceeds to step S110.

  In step S110, it is determined whether or not there is a boom operation. If there is a boom operation, a boom operation corresponding to the operation is performed (step S111). Then, when it is determined whether or not the travel is being restricted (step S112) and whether or not the specific boom operation is being performed (step S113), the travel is not restricted and the specific boom is not operating. Or, when the travel is restricted but the specific boom operation is not performed, the process proceeds to step S116, the boom completion flag is set to “0”, and then the process returns from the return step to the beginning of the flow (step S100). On the other hand, when the travel is being restricted and the specific boom operation is being performed, the process proceeds to step S114 to cancel the travel restriction, the process proceeds to step S115 and the travel completion flag is set to “0”, and then the flow starts from the return step (step S100). Return to).

  When it is determined in step S110 that there is no boom operation, the process proceeds to step S120, and it is determined whether or not it is the time when the boom operation is switched to the operation stop. When it is time to switch, the process proceeds to step S121, the boom completion flag is set to “1”, the process proceeds to step S122, and the timer count by the restriction start determination timer is started. Thereafter, it is determined whether or not the travel completion flag is “1” in step S123, whether or not the boom completion flag is “1” is determined in step S124, and regulation is started in step S125. It is determined whether or not the count value by the determination timer has reached the regulation determination time.

  As a result, the travel completion flag is “1” (that is, the travel operation is not performed), the boom completion flag is “1” (that is, the boom operation is not performed), and the regulation start determination timer When the count value has reached the regulation determination time, the traveling of the aerial work vehicle is regulated (step S126).

  Also by performing this control, as in the case of the second embodiment, after the work place 40 is moved to the first desired height and the height work is started, a predetermined time (regulation judgment time) elapses. After the travel regulation is started, the aerial work vehicle 1 cannot travel even if a travel operation (operation of the travel operation lever 55 and the steering operation lever 56) is performed. In this state, any operation for the boom operation is permitted, and the boom operation corresponding to the boom operation is performed. In this state, when the work at the first desired height is completed and the work vehicle 1 is to be moved to perform the work at the second desired height, the specific boom operation is performed. A predetermined release operation is performed to perform Then, since the travel restriction is released, the aerial work vehicle 1 can be traveled by performing a travel operation (operation of the travel operation lever 55 and the steering operation lever 56) thereafter.

DESCRIPTION OF SYMBOLS 1 High-altitude work vehicle 10 Traveling body 13 Turning motor (lifting / lowering operation means)
14 Traveling motor (traveling drive means)
15 Steering cylinder (travel drive means)
22 Hoisting cylinder (lifting and moving means)
30 Boom (lifting and moving device)
31 Telescopic cylinder (lifting and moving means)
40 Worktable 51 Undulating operation lever (lifting / moving operation means)
52 Telescopic operation lever (lifting / moving operation means)
53 Turning control lever (lifting / moving operation means)
54 Swing operation lever (auxiliary movement operation means)
55 Travel control lever (travel control means)
56 Steering lever (traveling operation means)
71 Work table movement control unit (lifting control device)
72 Travel control unit (travel control device)
72a Travel restriction part (travel restriction means)
72b Restriction release part (regulation release means)

Claims (8)

A travel body comprising a travel drive device and capable of traveling by being driven by the travel drive device;
An up-and-down moving device that is provided on the traveling body and includes a workbench on the tip side, and moves the working table up and down relative to the traveling body;
A travel operation device for driving the travel drive device to drive the travel body;
A lifting / lowering operation device for operating the lifting / lowering device to move the work table up and down;
A travel control unit that drives the travel drive device according to an operation of the travel operation device to perform travel control of the traveling body;
An aerial work vehicle configured to include an elevating operation control unit that operates the elevating / moving device according to an operation of the elevating / moving operation device to perform elevating movement control of the work table,
The operation of the lifting / lowering device continued for a predetermined time after the lifting / lowering device was operated by operating the lifting / lowering operation device to move the work table up / down to a desired work position . A travel restriction unit that performs a travel restriction control that restricts driving of the travel drive device and prevents the travel of the travel body even when the travel operation device is operated. Work vehicle. A desired height movement detection unit that detects that the work table has been moved up and down to the desired work position , and the travel restriction unit is moved to the desired work position by the desired height movement detection unit. The aerial work vehicle according to claim 1 , wherein the travel restriction control is performed after detecting that the vehicle has been moved up and down. A restriction release unit for releasing the travel restriction control by the travel restriction unit when a predetermined release operation is performed by the lifting / lowering operation device when the travel restriction control is being performed by the travel restriction unit; The aerial work vehicle according to claim 1 , further comprising an aerial work vehicle. The elevating / lowering device is configured to include a boom having a base end portion attached to the traveling body and configured to freely move up and down, extend and contract, swivel operation, and the like, and the work table is attached to a tip of the boom, The work table is configured to be moved up and down by boom raising / lowering, extending / contracting, turning operation, etc., and the lifting / lowering operation device is configured to perform operations for performing boom raising / lowering, extending / contracting, turning operation, etc. And
The predetermined release operation is an operation of operating the boom in a direction opposite to an operating direction of the boom that has moved the work table up and down to a movement position immediately before the travel restriction by the travel restriction unit is performed. The aerial work vehicle according to claim 3 . An auxiliary movement device that is provided at the tip of the boom and moves the work table with respect to the tip of the boom; and an auxiliary movement operation device that operates to operate the auxiliary movement device;
The aerial work vehicle according to claim 4 , wherein an operation operation of the auxiliary movement operation device is not included in the predetermined release operation. In the state in which the travel regulation control is performed by the travel regulation unit, the lifting / lowering operation is performed so that the lifting / lowering device is operated for a short time of a predetermined time or less or the work table is moved by a short distance of a predetermined distance or less. The aerial work vehicle according to any one of claims 3 to 5 , wherein when the device is operated, the operation is not included in the predetermined release operation. The lifting and lowering moving device is constituted by a vertical lifting and lowering moving device that vertically moves the work table with respect to the traveling body,
In a state where the travel regulation control is performed by the travel regulation unit, when an operation of lowering the work table is performed, the regulation release unit is configured to cancel the drive regulation of the travel drive device. The aerial work vehicle according to claim 3 . The aerial work vehicle according to claim 3 , wherein the restriction release unit includes a restriction release switch operable by an operator.

Images