JPH0411686B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present inventor relates to a control device for a bridge inspection vehicle used for maintenance and inspection of elevated roads and the like.

With the development of automobile-only roads and expressways, the number of elevated roads has increased. On these elevated roads, noise insulating walls are installed along the road and on the sides at locations where it is necessary to prevent noise from residents living nearby. In addition, protective fences are often installed on the ground below elevated roads to prevent unauthorized access.
These sound insulation walls and protective fences make inspection work on elevated road bridges difficult. For example, when inspecting a bridge from an elevated road, if the sound insulating wall is high, it may not be possible to move the inspection platform of the inspection vehicle to a desired position beyond the sound insulating wall. Even if it is possible, it requires a lot of man-hours and requires a very troublesome operation, which poses a safety problem and does not allow quick work. Furthermore, when working beyond a protective wall from a surface road, it is often impossible to do so without severely obstructing traffic on the surface road.

These problems are caused by the operating mechanism of the inspection table in conventional inspection vehicles, and in order to solve this problem, the applicant has developed a system that allows the necessary inspection work to be carried out even when the above-mentioned sound insulation walls and protective fences are installed. We have previously applied for a utility model registration for a ``bridge inspection vehicle'' that can quickly carry out inspections. As shown in one embodiment in FIG. 1, this inspection vehicle is equipped with a swivel platform 2 provided on a vehicle body 1 and a lifting boom 3 that can be raised and lowered and extended and retracted, and a saddle attached to the tip of the boom 3 so as to pivot in a vertical plane. 4, a vertical boom 5 is attached to the saddle 4 so as to be reciprocally driven in the longitudinal direction, an inspection walkway 6 is attached to one end of the vertical boom 5 so as to be rotatable and pivotable, and the saddles 4 are operatively connected to each other. Fluid pressure cylinder 7 for delivery
The double cylinder mechanism of the refraction fluid pressure cylinder 8 enables the refraction cylinder to be driven at a large pivot angle. That is, when moving, the elevating boom 3, the vertical boom 5, and the inspection walkway 6 are folded parallel to each other and stored on the vehicle body 1, as shown in FIG. During inspection work, the booms 3 and 5 and the walkway 6 are operated as shown in Figure 1 for inspections from above the elevated road, and as shown in Figure 3 for inspections from the surface road. 6 or the inspection stand 9 provided thereon.
This eliminates the hindrance to work caused by the sound insulating wall F1 and the protective fence F2.

The purpose of the present invention is to provide a control device for a bridge inspection vehicle as described above, and more specifically, it is an object of the present invention to provide a control device for a bridge inspection vehicle as described above. It is an object of the present invention to provide a control technology for quickly controlling the movement of a walkway or an inspection table to a desired position.

To this end, the present invention provides a swivel base that is rotatably provided on the vehicle body, an extendable elevating boom that is pivotally supported on the swivel base so that it can be elevated, a vertical boom that is pivotally connected to the tip of the elevating boom, and that can be driven reciprocally. A control device for a bridge inspection vehicle comprising an inspection walkway provided at one end of the vertical boom so as to be pivotable and turnable,
at least the swing angle and elevation angle of the elevation boom;
A detection unit for recognizing the pivot angle of the vertical boom with respect to the vertical boom and the rotation angle of the walkway around the vertical boom, and permission/prohibition of operation and interlocking of each member based on a predetermined correlation between them. The present invention is characterized in that it is configured to include a determination unit that performs the determination.

The invention will now be described with reference to the accompanying drawings.
First, the mechanism will be explained in detail with reference to the inspection vehicle shown in FIG. 1 as an embodiment of the inspection vehicle controlled by the control device of the present invention, and with reference to FIG. 4 in more detail.
Although the swivel table 2 is not shown, it can be driven horizontally through 360 degrees by a hydraulic drive device via a gear system. The elevating boom 3 consists of a proximal boom 3A and a distal boom 3B, and the distal boom 3B is slidably housed within the proximal boom 3A and is extendable and retractable by a suitable hydraulic drive device (not shown), and is driven by hydraulic pressure. The cylinder 10 can be used for up-and-down driving. The saddle 4 is pivotally attached to the tip of the tip boom 3B by a pivot shaft 11. The piston rod 7A of the delivery fluid pressure cylinder 7, whose one end is pivotally connected to the tip boom 3B by the pivot shaft 12, is connected to the bending fluid pressure cylinder 8 by the pivot shaft 1.
3, and the bending hydraulic cylinder 8 has its piston rod 8A pivotally connected to the saddle 4 via a pivot shaft 14.
A guide link 15 pivotally connects between 1 and 13 to form a link mechanism for pivotally driving the saddle 4 around the pivot shaft 11. The saddle 4 is a hollow member, into which a vertical boom 5 is slidably inserted, and the vertical boom 5 is reciprocated by a hydraulic drive motor 16. A support structure 17 is provided at the lower end of the vertical boom 5 so as to be rotatable around its axis.
The inspection walkway 6 is pivotally connected to the support structure 17 via a pivot shaft 18 and is pivotally driven by a hydraulic cylinder 19. That is, the inspection walkway 6 is rotated by rotating the support structure 17 by a suitable drive device (not shown), and the walkway 6 is moved by the vertical boom 5 by a hydraulic cylinder 19.
It is designed so that it can be folded parallel to the The inspection walkway 6 includes a base end walkway 6A and a tip end walkway 6B that is slidable in the expansion and contraction direction along the base end walkway 6A.
The inspection table 9 can be raised and lowered above the tip walkway 6B.
is installed. Although not shown, these sliding drives and lifting/lowering drives are performed by a suitable fluid pressure drive mechanism. Further, an appropriate number of outriggers 20 driven by a fluid pressure drive device are provided on the sides of the vehicle body 1 to prevent the vehicle body from overturning when the booms, walkways, etc. are extended and contracted, and the vehicle body is rotated.

In this bridge inspection vehicle, an appropriate number of known detection means such as encoders and limit switches are provided for each member or its drive device in order to detect and recognize the driving state of each driven member. For example, in order to detect the turning angle of the turning table 2, an encoder (indicated by reference numeral 21 in FIG. 4) is used.
It is equipped with Regarding the elevating boom 3, there is a limit switch (not shown) for detecting the operating stroke of the rod of the hydraulic cylinder 10 step by step to detect the elevating angle, and a limit switch (not shown) for detecting the extension/retraction state of the tip boom 3B. Tip boom 3B
A plurality of limit switches (not shown) are provided which are set in stages by the movement of the limit switches. Similarly, the pivot angle of the saddle 4, the elevation state of the vertical boom 5,
Detection means such as limit switches and encoders are provided so that the rotation angle of the support structure 17, the pivoting and expansion/contraction states of the inspection walkway 6, the operating state of the outriggers 20, etc. can be detected and recognized within the required range of conditions. There is. Here, the range of conditions is
For example, when detecting the extension/contraction state of the elevating boom 3, a plurality of extension stages are determined in advance, and the desired degree of detection is determined such that it is sufficient to detect which of those stages is in order to recognize the extension/retraction state. It means. Since these detection means are well known, their explanation is omitted.

The control device of the present invention includes a detection section 30 and a discrimination section 40, as indicated by the reference numeral 100 in the block diagram of FIG. The detection unit 30 has a function of inputting the detection signals of the above-mentioned detection means S1, S2, etc. for detecting the operating state of each member, so as to be able to recognize the sequential operating state of each member. be. For this purpose, for example, the discriminator 4 may be constructed with a suitable memory circuit, and
It is configured to give data regarding each member to the discrimination unit 40 in response to a command from 0. The determining unit 40 has a function of determining permission/prohibition of operation of each member. For this purpose, for example, it is configured to include a discriminating circuit that sets predetermined operating conditions for the operation of each member in relation to each other, and when an operation command is input by an operator from the operation panel 50, the operation is different from that of other members. Determining whether or not permission is given in relation to the operating state of the member. If the operation is determined to be permitted, the required fluid pressure drive device D
1, D2, . . . so that hydraulic pressure is supplied from the hydraulic pump 60 to the respective valve devices V1, V.
2. A required switching operation signal is output to . With this, for example, the outrigger 20
While the detection unit 30 detects a state in which the boom 3 and the walkway 6 are not properly set based on a signal from the detection means, the operation of extending the elevating boom 3 and the walkway 6 in the lateral direction is prohibited to prevent rollover. I am doing it. The contents of such operating conditions can be set in a variety of ways, and can be easily configured in various ways, such as by employing a microcomputer to configure a device that combines the detection section 30 and the discrimination section 40, so a detailed description thereof will not be given.

To explain the general operational control of the bridge inspection vehicle 1 by such a control device, during inspection work, as shown in FIG. and the support structure 17 with the walkway 6 folded in parallel.
Have the child lift the side of the child. Next, as shown in Figures 7-8, the vertical boom 5 and the
are raised integrally to a vertical position, and the rear aisle 6 is then pivoted to a horizontal position as shown in FIG. In this state, the vertical boom 5 is lowered and the worker gets on the walkway 6. As shown in Figure 3, when inspecting from the ground road, the first
Preparation is completed by horizontally turning the walkway 6 to the state shown in Figure 0 and raising the vertical boom 5 and inspection table 9 to the required height position. Furthermore, as shown in Fig. 1, during inspection work from an elevated road, the entire walkway 6 is maintained by rotating the elevating boom 3 from the state shown in Fig. 9 to the state shown in Fig. 11 while maintaining the walkway 6 in a parallel state. It protrudes to the side of the road, then lowers the vertical boom 5 to bring the walkway 6 to the required height, and then lowers the walkway 6.
Complete preparations by turning horizontally below the elevated road. At this time, if there is a sound insulating plate F1 or a protective fence F2, the walkway 6 is raised to a required height position in order to climb over it and turn the walkway 6. As shown in FIG. 5, these operations are performed by giving operation commands for each member to the control device through the operation panel 50, and as described above, the operations are performed only when the conditions set by the discriminator 40 are satisfied. Safety is guaranteed by

Here, to explain the operation control that is a feature of the present invention, first, as shown in FIG. 12, when changing the elevation angle of the elevating boom 3 (after the state shown in FIG. 9), the vertical boom 5 is always The pivot angle of the saddle 4 can be automatically controlled so as to maintain the same position. Such interlocking is performed by the control device 100.
It is controlled in For this purpose, the control device 100 controls the energization of the sending-out fluid pressure cylinder 7 and the bending fluid pressure cylinder 8 in conjunction with the energization command of the fluid pressure cylinder 10 that drives the elevating boom 3. The angle α of the elevating boom 3 from the horizontal and the angle β of the vertical boom 5 with respect to the elevating boom 3 are calculated based on feedback signals from the hydraulic cylinder 10 in relation to the energization of the hydraulic cylinder 10. The vertical boom 5 is provided with an appropriate calculation function to control the biasing of the booms 7 and 8 so that the vertical boom 5 is always positioned vertically. Since such arithmetic processing can be easily performed by a microcomputer, a description thereof will be omitted. Also,
As shown in FIG. 13, when the elevating boom 3 turns when the entire walkway 6 projects laterally from the elevated road, the turning angle θ of the elevating boom 3 and the turning angle δ of the walkway 6 are always maintained the same. The turning operation of the walkway 6 can be linked so that the This control is also performed by the control device 100 based on appropriate arithmetic processing.
This is done by

These interlocking controls can be performed by the operator giving interlocking commands from the operation panel, or by determining the discriminating unit 4 in advance so that the interlocking operations will be performed automatically under certain work conditions.
By setting the condition to 0, it can be configured to be executed. Further, it is preferable that the interlocking control can be canceled as necessary.

As explained above, the control device according to the present invention allows the vertical boom and the walkway 6 to be moved by simply commanding the elevating and swiveling operations of the elevating boom 3.
Since these can be linked together, it is possible to improve safety by simplifying operations and speeding up work. In addition, these interlocking conditions reduce the number of man-hours required to move the walkway to a desired position, minimize the area occupied by the work, and minimize the effects of obstacles and other traffic obstructions. It produces an effect.

[Brief explanation of drawings]

FIG. 1 is a rear view showing one operating mode of a bridge inspection vehicle equipped with a control device according to the present invention. FIG. 2 is a side view showing the running state of the bridge inspection vehicle shown in FIG. 1. FIG. 3 is a front view showing another mode of operation. Figure 4 is a side view showing the detailed structure of the bridge inspection vehicle. FIG. 5 is a block diagram showing one embodiment of the control device according to the present invention. FIG. 6 to FIG. 13 are side views, top views, or rear views at each stage to show the operating process. 1...Main body, 2...Swivel base, 3...Elevation boom, 4...Saddle, 5...Vertical boom, 6...Inspection walkway, 7...Fluid pressure cylinder for sending out,
8...Fluid pressure cylinder for refraction, 10...Fluid pressure cylinder, 15...Guide link, 16...Fluid pressure drive motor, 17...Support structure, 19...
...Fluid pressure cylinder, 20... Outrigger, 2
1...Encoder, 30...Detection section, 40...Discrimination section, 50...Operation panel, 60...Hydraulic pump, 1
00...Control device, D1, D2...Fluid pressure drive device, S1, S2...Detection means, V1, V2...Valve device.

Claims (1)

[Claims] 1. A swivel base that is rotatably provided on the vehicle body, an extendable elevating boom that is pivotably supported on the swivel base so that it can be elevated;
A reciprocating vertical boom pivotally connected to the tip of the elevating boom, an inspection walkway provided at one end of the elevating boom so as to be pivotable and turnable, and at least a swing angle and an elevating angle of the elevating boom. , a detection unit for recognizing the pivot angle of the vertical boom with respect to the elevating boom and the rotation angle of the walkway around the vertical boom; In a control device for a bridge inspection vehicle, the control device includes a determination unit that allows/prohibits the operation of each member and performs interlocking based on a predetermined correlation,
The control device has an arithmetic processing function based on the elevation angle and the pivot angle of the vertical boom in order to interlock the vertical boom so that it always maintains a vertical state regardless of the elevation angle of the elevation boom; It has an arithmetic processing function based on the elevation angle and the rotation angle of the walkway in order to interlock the walkway so that it always maintains a state parallel to the longitudinal direction of the vehicle body regardless of the swing angle of the elevation boom. A control device for a bridge inspection vehicle, characterized in that it is configured as follows.