JPH0335238B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a safety control device for a self-propelled aerial work vehicle.

(Prior art) In recent years, self-propelled vehicles exclusively for on-site work have been developed that are equipped with equipment for working at high places on the body frame, making it easy to move around the work site by eliminating the need to extend outriggers during work. There is.

In such a self-propelled aerial work vehicle, the worker rides on a work platform attached to the tip of the boom, and from this work platform, the self-propelled vehicle travels, operations related to traveling work such as steering, boom extension and contraction, etc. It is designed to control operations related to high-altitude work, such as raising and lowering, turning, and swinging the work platform.

However, if the above-mentioned traveling work and high-place work are performed at the same time, depending on the arrangement of the valves or the load, there is a risk that only one work will be switched and controlled, which is not the worker's intention. The inertial force of the work and the inertial force of the traveling work are added together, and a large inertial force acts on the work platform, boom, etc., creating a risk of tipping over.

(Problems to be Solved by the Invention) The present invention has been made in view of the above-mentioned points, and when operating to select traveling work or high-altitude work from the operation unit, priority is given to the preceding operation, thereby preventing malfunctions. This was done to prevent this from happening.

(Means for Solving the Problem) An operation section has various operation members for operations related to work at height and operations related to traveling work, and various operation information from this operation section is input and processed, and the desired work at height is performed. A control device is provided to switch and control the electromagnetic control valve for the work and the electromagnetic control valve for the traveling work, and during high-altitude work or traveling work, priority is given to the operation information of one of the preceding operation members, and the operation information of the other operation member is given priority during that operation. It is configured so that no information is output.

(Example) Examples of the present invention will be described below with reference to the drawings.

In FIG. 1, reference numeral 1 denotes an aerial work vehicle which is a self-propelled vehicle. A swivel base 3 is rotatably mounted on a body frame 2, and the base end of a boom 4 is pivotally attached to the swivel base 3.

The boom 4 has a luffing angle controlled by a luffing cylinder (not shown) interposed between the boom 4 and the swivel base 3, and has a built-in telescopic cylinder (not shown), so that the boom 4 can be extended and retracted in multiple stages with variable length. A workbench 5 is attached to the tip of the tip boom 4a.

As is well known in the art, the workbench 5 is configured to maintain a horizontal state at all times by means of a pair of balance cylinders in response to the raising and lowering operations of the boom 4.

In addition, the swivel table 3 and the work table 5 are provided with operation parts 6 and 7, respectively, and an engine part 8 is arranged at the rear of the swivel table 3, and a counterweight 9 is attached to the lower side of the engine part 8. It is being

The above-mentioned swivel platform 3 side operation section 6 and workbench side operation section 7
Although not shown in detail, there are provided a swinging operation member for the workbench 5, a telescoping operation member for the boom 4, a raising/lowering operation member for the boom 4, a swinging operation member for the boom 4, a travel operation member for travel control, etc. ing.

The boom 4 also has a boom angle detector (potentiometer) 1 that detects the up-and-down angle of the boom 4.
0, and a boom length detector (potentiometer) 11 for detecting the extension/contraction length of the boom 4.

On the other hand, wheels 2a rotatably mounted on the vehicle body frame 2 are driven by a hydraulic motor 1 with a reduction gear for traveling.
It is designed to be driven by 2.

Further, on the side of the swivel table 3, together with the operation section 6, a hydraulic control valve 13 and these hydraulic control valves 1 are installed.
A control device 14 is installed to switch and control 3.

This hydraulic control valve 13 includes a lifting control valve for a lifting cylinder that lifts and lowers the boom 4, an extension control valve for a telescoping cylinder that extends and contracts the boom 4, and a control valve for the boom 4 (swivel base 3).
Swing control valve of the swing motor and work platform 5
an electromagnetic control valve 15 for high-altitude work consisting of a swing control valve for a swing cylinder that rotates a swing cylinder, a travel control valve for a travel motor 12 that rotates the wheels 2a, and a steering control valve for a steering cylinder that steers the wheels 2a. The traveling work electromagnetic control valve 16 is comprised of an undulating control valve, a telescopic control valve, a swing control valve, and a traveling control valve, each of which is constituted by an electromagnetic proportional control valve.

These hydraulic systems are driven by being supplied with pressure oil from a hydraulic pump driven by the engine, and the discharge amount of the hydraulic pump is determined by the engine rotation speed controlled by the engine control pulse motor 17. It is possible to increase or decrease the amount.

By the way, the control device 14 controls the hydraulic control valve 13 using a microcomputer, and includes the detectors 10 and 11, the operating sections 6 and 7, the control device 14, and the electromagnetic control valve for high-altitude work. 15, the relationship between the traveling work electromagnetic control valve 16 and the pulse motor 17 is shown in FIG.

First, the operating members other than the swing operating member of the operating section 7 and the travel operating member of the operating section 6 are provided with operating levers, and each operating lever is linked with a potentiometer and a limit switch. When the operating lever is operated, the potentiometer can output a speed signal proportional to the tilting angle of the operating lever, and the limit switch can output a switch signal that detects the tilting direction of the operating lever to the control device 14, respectively.

The control device 14 includes a workbench 5 side operation section 7, a swivel platform 3 side operation section 6, a boom angle detector 10 as a first detector, a boom length detector 11 as a second detector, and a device for high-place work. Solenoid control valve 15, travel work solenoid control valve 16, and engine control pulse motor 1
7, and performs calculation processing based on various operation information from both operation parts 6 and 7, boom angle information from the boom angle detector 10, and boom length information from the boom length detector 11. However, the electromagnetic control valves 15 and 16 and the pulse motor 17 are controlled according to the results.

As shown in FIG. 3, the control device 14 basically includes a CPU 21, a memory 22 that stores a predetermined program, and a parallel interface 2.
3, 24, an analog-to-digital conversion interface 25, and a digital-to-analog conversion interface 26. However, both operation parts 6,
Of the various operation information from 7, digital information (switch signal) is input to the parallel interface 23, but analog information is input to both detectors 10 and 11.
Analog-to-digital conversion interface 25 with boom angle and boom length information
It is now entered into . In addition, the parallel interface 24 is connected to the solenoid control valve 1 for high-altitude work.
5. The digital-to-analog conversion interface 26 outputs outputs to the electromagnetic control valve 16 for traveling work and the pulse motor 17, and to the electromagnetic control valve 15 for working at heights and the electromagnetic control valve 16 for traveling work, respectively.

Next, regarding the processing flow of the device 14,
This will be explained along with FIG.

First, in block 31, various types of operation information are input from the operation section 7 on the workbench 5 side, and in block 32, from the operation section 6 on the swivel table 3 side. Next, in block 33, it is determined whether the above-mentioned various operation information first selects high-altitude work or traveling work (priority determining means). As a result, while one task is being selected, the other task is interrupted.

Then, in block 34, it is determined which of the following () to) the above-mentioned various types of operation information correspond to (operation information determining means).

) If a single operation related to work at height is required, such as swinging operation of the work platform 5, telescoping operation of the boom 4, rotation operation of the boom 4 (swivel platform 3), or raising and lowering operation of the boom 4, If multiple operations related to work at height are requested: ) If the operation information is travel information or steering information; In the above case, block 35 sets valve information for performing a predetermined operation related to work at height. Then, in block 36, the electromagnetic control valve 15 (electromagnetic control valve control means) corresponding to the predetermined operation related to high-place work is controlled to perform a predetermined operation.

In the above case, it is necessary to increase the output by performing calculations in the same way as in block 35 in block 37, controlling the electromagnetic control valve 15 in block 36 (electromagnetic control valve control means), and performing multiple operations. From this, calculate the required flow rate and set the engine speed to the corresponding required speed.
Block 38 controls the pulse motor 17 (engine control means).

), block 39 obtains boom angle information from the boom angle detector 10, block 40 obtains boom length information from the boom length detector 11, and block 41 obtains information about the work platform 5 based on both of the above information. Calculate the current position (boom position calculation means),
Based on the current position, a block 42 determines whether the mode is high speed mode or low speed mode, and blocks 36 and 38 control the solenoid control valve 16 and pulse motor 17 in the high speed mode, and in the low speed mode. The block 36 controls only the electromagnetic control valve 16, respectively.

In addition, in this embodiment, the boom angle detector 1
0 and the signals from the boom length detector 11. However, a limit switch for detecting the fully retracted state of the boom 4 and a limit switch for detecting the substantially horizontal state of the boom 4 are separately provided, and these limit switches The driving conditions may be determined by inputting a signal to the control device 14.

(Effects) As described above, in the present invention, traveling work is regulated while high-place work is selected, and high-place work is regulated while traveling work is selected. This ensures that only one of the tasks is performed, ensuring the safety of the worker.

[Brief explanation of drawings]

The drawings illustrate embodiments of the invention.
2 is a side view of the self-propelled aerial work vehicle, FIG. 2 is an explanatory diagram of input and output of the control device, FIG. 3 is a configuration diagram of the control device, and FIG. 4 is a block diagram showing the flow of processing. 1...Self-propelled aerial work vehicle, 3...Swivel platform, 5...
...Workbench, 6,7...Operation unit, 10...Boom angle detector, 11...Boom length detector, 12...
Traveling motor, 14...control device, 15...electromagnetic control valve for high-place work, 16...electromagnetic control valve for traveling work, 17...pulse motor for engine control.

Claims (1)

[Scope of Claims] 1. A vehicle body frame; wheels rotatably attached to the front, rear, left, and right sides of the vehicle body frame; a travel motor attached to at least one of the front and rear wheels of the wheels; and the vehicle body frame. A self-propelled aerial work vehicle comprising: an aerial work device that is rotatably mounted on a telescopic boom equipped with a workbench at its tip and pivoted so that it can be raised and lowered; An operation unit having various operation members for controlling work-related operations; and various operation information from the operation unit is input and processed, and the desired electromagnetic control valve for high-altitude work and the electromagnetic control valve for traveling work are switched and controlled. and a control device that, when one of the operating members for high-altitude work or traveling work is selectively operated, gives priority to the operating information of the preceding operating member, and during that operation, the control device gives priority to the operating information of the other operating member. Priority determination means to prevent output,
A safety control device for a self-propelled aerial work vehicle, characterized by comprising an operation information discrimination means and an electromagnetic control valve control means.