JPH0627894U - Control device for aerial work vehicle - Google Patents

Abstract

(57) [Summary] [Purpose] To make it possible to operate the boom continuously and comfortably without exceeding the allowable posture position range. [Structure] Boom operation amount detectors 11, 12, a boom attitude calculator 21 for calculating the actual attitude position of the boom from detection values of the boom operation amount detector, and a storage means for setting and storing an allowable attitude position range of the boom. 22 and. In the work range control controller 23, the actual posture position of the boom obtained by the boom posture calculator 21 is compared with the allowable posture position range, and when the boom is operated such that the actual posture position exceeds the allowable posture position range, the boom The boom operation is regulated and controlled so that the robot moves along the limit line of the allowable posture position range. Further, when the operation of the boom is regulated by the work range regulation controller 23 in this manner, the regulation state indicating lamp 25 indicates that the regulation control is being performed.
To display.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention, in an aerial work vehicle that has a work platform at the tip of a boom that can be undulated and expanded and contracted, etc., operates the boom so that the boom does not move beyond a predetermined allowable posture position range. The present invention relates to a control device for an aerial work vehicle for regulatory control.

[0002]

[Prior art]

 In an aerial work vehicle that has a work platform on which a worker can ride at the tip of a boom that can be hoisted and retracted freely, changes in the hoisting angle and extension of the boom, i.e., changes in the posture position of the boom The moment in the falling direction applied to the vehicle body changes accordingly. For this reason, the allowable posture position range of the boom (for example, the boom tip and the allowable range of movement of the work platform due to boom ups and downs, expansion and contraction, etc.) is preset so that this moment does not exceed the specified value. It has been known from the past that when the boom's actual posture position changes due to boom operation, work range regulation is performed to regulate the boom's action so that this actual posture position does not move beyond the allowable posture position range. Has been.

[0003]

[Problems to be solved by the device]

 However, in the case where such work range restriction is performed, when the boom posture position reaches the limit line of the allowable posture position range, the boom operation is automatically restrained and stopped. For this reason, the operator does not operate the boom even though he / she is operating the boom by operating the operation lever or the like, and when the operator is unfamiliar, the operator does not operate the boom. There is a problem that it may be mistaken for an operating device to be broken. Therefore, the applicant does not stop the operation of the boom when the actual posture position of the boom reaches the limit line of the allowable posture position range when the boom is operated, and the actual posture position of the boom is not stopped. It was proposed to control the operation of the boom so that the robot moves along the limit line of the allowable posture position range.

With this configuration, the boom does not operate beyond the allowable posture position range, and the boom does not stop. However, there is a problem that when the boom is moved along the limit line of the allowable posture position range, the operation of the boom is different from the operation of the operator (that is, the operation different from the operator's intention). is there. Moreover, the operator cannot recognize the time when the operation of the boom shifts to the movement control state along the limit line of the allowable posture position range, and when the operator is operating the boom, the operation is suddenly changed. There is a problem in that the operation control of different booms will start, which may result in a strange boom operation operation.

The present invention has been made in view of such a problem. Even when a boom operation is performed such that the actual posture position of the boom exceeds the allowable posture position range, the boom posture is maintained without exceeding the allowable posture position range. The boom operation continues along the limit line, and the operator can recognize that the boom operation control along the limit line is being performed, and the boom operation operation can be performed without discomfort. It is an object of the present invention to provide a control device for an aerial work vehicle having a configuration capable of performing the above.

[0006]

[Means and Actions for Solving the Problems]

 In order to achieve such an object, in the present invention, a boom operation amount detector that detects a boom operation amount (that is, a boom hoisting angle, a telescopic amount, etc.) and a detection value of the boom operation amount detector are used. It has a boom posture calculator that calculates the actual posture position of the boom and storage means that sets and stores the allowable posture position range of the boom.The actual posture of the boom calculated by the boom posture calculator in the work range control controller. The position is compared with the allowable posture position range, and when the boom is operated such that the actual posture position exceeds the allowable posture position range, the boom operation is restricted so that the boom moves along the limit line of the allowable posture position range. It is designed to be controlled. Further, a regulation display means is provided, and when the work range regulation controller regulates the operation of the boom, the regulation display means indicates that the regulation control is being performed. Therefore, when the boom operation operation is performed, the operator can easily know whether or not the boom is operated based on the restriction control along the limit line by looking at the restriction display means. The operation operation of can be performed without a feeling of strangeness.

[0007]

【Example】

 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. An example of an aerial work vehicle having a control device according to the present invention is shown in FIG. This aerial work vehicle has a swivel base 2 which can be swiveled on a vehicle body 1, and a telescopic boom 3 is attached to the swivel base 2 so as to be capable of hoisting. The telescopic boom 3 is composed of a telescopically (expandable) telescopic base boom 3a, an intermediate boom 3b, and a tip boom 3c. The base boom 3a is pivotally supported on the swivel 2 via a support shaft 2a. It is undulated and can be undulated. The telescopic boom 3 is telescopically operated by an internal telescopic cylinder (not shown) and is hoisted by an undulating cylinder 4 provided between the swivel base 2 and the base end boom 3a. .

A support member 6 is attached to the tip of the tip boom 3c so as to be pivotally supported by a pin 3d so as to be vertically swingable. The support member 6 has a vertical post 6a, and a pair of brackets 7a of a workbench 7 are rotatably attached to the vertical post 6a. As a result, the workbench 7 is supported by the support member 6 so as to be horizontally rotatable.

Since an operator rides on the work table 7, the work table 7 is always held horizontally regardless of the ups and downs of the boom 3. For this reason, a leveling device including an upper leveling cylinder 5a and a lower leveling cylinder 5b is attached to this aerial work vehicle. The upper leveling cylinder 5a is arranged between the tip boom 3c and the support member 6, and the lower leveling cylinder 5b is arranged between the swivel base 2 and the base boom 3a. The bottom-side oil chambers and the rod-side oil chambers of both of these leveling cylinders 5a and 5b are communicated with each other, and a swinging operation opposite to the hoisting operation of the telescopic boom 3 is applied to the support member 6 and the posture of the workbench 7 Is always held horizontally. Outriggers 9 are attached to the front, rear, left and right of the vehicle body 1 to support the vehicle body 1 by extending during work.

The workbench 7 is provided with an operation lever 8 and the like operated by a worker boarding the workbench, and an operation control device 20 that controls the operation of the telescopic boom 3 according to the operation of the operation lever 8. Has been done. In addition, on the front surface of the operation control device 20, a regulation state display lamp 25 is attached so as to inform a worker on board the presence or absence of work range regulation. Further, in this aerial work vehicle, a hoisting angle sensor 11 for detecting the hoisting angle of the telescopic boom 3, a boom length sensor 12 for detecting the extension amount of the telescopic boom 3, and an outrigger 9 overhanging to the side of the vehicle body. An outrigger tension sensor 15 for detecting the amount and a turning angle sensor 16 for detecting the turning angle of the swivel base 2 are attached.

The control device 20 according to the present invention is mounted on the aerial work vehicle constructed as described above, and the control device 20 will be described with reference to FIG. In the control device 20, the detection signals of the hoisting angle sensor 11 and the boom length sensor 12 are input to the boom posture calculator 21, where the actual posture position of the telescopic boom 3 is calculated. Then, a signal indicating the calculated actual posture position is output to the work range regulation controller 23.

On the other hand, the detection signals of the outrigger stretch width sensor 15 and the turning angle sensor 16 are input to the memory 22 in which the allowable posture position range of the telescopic boom 3 is set and stored. The allowable posture position range is the range of movement of the boom's actual posture position so that the fall direction moment applied to the vehicle body will be a safe value below a prescribed value. Depending on the tension of the outrigger 9 and the direction of the swivel base 2, The posture position range is different. For this reason, a plurality of allowable posture position ranges are set and stored in the memory 22 according to the tension width of the outrigger 9 and the turning angle of the swivel base 2. As described above, the outrigger tension width sensor 15 and the turning angle sensor are stored. When the detection signal is input from 16, the permissible posture position range corresponding to the outrigger stretch width and the direction of the swivel base 2 at this time is read out, and this is output to the work range regulation controller 23.

An operation signal from the operation lever 8 is input to the work range regulation controller 23, and normally boom operation control means 30 (for example, boom operation) is operated so as to operate the telescopic boom 3 in response to the operation signal. Control valve). However, the work range regulation controller 23 determines whether or not the actual posture position of the extension boom 3 sent from the boom actual posture calculator 21 is within the allowable posture position range sent from the memory 22, When the actual posture position reaches the limit line of the allowable posture position range, and when an operation signal that exceeds the limit line is input from the operation lever 8, the boom operation restriction is started and the actual posture position is set to the limit line. The operation of the boom operation control means 30 is controlled so as to move along. Further, when the boom operation restriction is started in this way, the restriction state display lamp 25 is turned on to inform the operator that the boom operation restriction is being performed.

For example, as shown in FIG. 3, when the tip pin 3d of the telescopic boom 3 is within the allowable posture position range (the range on the diagonal line side) surrounded by the limit lines L1 and L2, the operation lever 8 is operated. Accordingly, the telescopic boom 3 is operated as it is. In this example, the posture position of the extension boom 3 is shown based on the position of the tip pin 3d. For example, when the operation lever 8 is operated in this state to raise and lower the telescopic boom 3, the tip pin 3d (actual position) reaches the position above the limit line L2 (the position indicated by point A). The telescopic boom 3 is raised and lowered as it is.

However, if the hoisting and lowering operation continues as it is, the tip pin 3d moves beyond the limit line L2 to the outside of the allowable posture position range, so that the boom range regulation control by the work range regulation controller 23 starts and the tip pin 3d starts. The operation control of the telescopic boom 3 is performed so that 3d moves along the limit line L2. As a result, the operating lever 8 is merely operated to perform the hoisting and lowering operation, but the hoisting and lowering operation of the telescopic boom 3 and the boom length reducing operation are performed, and the tip pin 3d is moved along the limit line L2. The telescopic boom 3 is controlled so as to move downward (that is, to move from the point A to the point A ').

As can be seen from this, although the operator operates the operation lever 8 so as to perform the hoisting and lowering operation, in the boom operation restricted state, the telescopic boom 3 moves along with the hoisting and lowering operation. Perform reduction operation. If the operator operates the lever without noticing that the boom operation control has been started, the operation is uncomfortable. For this reason, in this device, when the boom operation restriction is being performed in this way, the restriction state display lamp 25 is turned on, and the operator sees this and performs control based on the boom operation restriction. You can recognize that there is no such discomfort.

[0017]

[Effect of device]

 As described above, according to the present invention, in the work range control controller, the actual posture position of the boom obtained by the boom posture calculator is compared with the allowable posture position range, and the actual posture position is set to the allowable posture position range. When the boom is operated beyond the limit, the boom operation is regulated so that the boom moves along the limit line of the allowable posture position range, and the work range regulation controller controls the boom. When the boom operation is performed, the operator can perform the regulation control along the limit line because the regulation display means indicates that the regulation control is being performed. Whether or not the boom is being operated based on the regulation display means can be easily known, and the operation of the boom can be performed without discomfort.

[Brief description of drawings]

FIG. 1 is a front view showing an aerial work vehicle equipped with a control device according to the present invention.

FIG. 2 is a block diagram showing a configuration of this control device.

FIG. 3 is a graph showing an allowable posture position range of a boom and an actual posture position.

[Explanation of symbols]

 2 swivel base 3 telescopic boom 7 workbench 8 operating lever 11 hoisting angle sensor 12 boom length sensor

Claims (1)

[Scope of utility model registration request] 1. A control device for an aerial work vehicle having a boom capable of undulating, expanding and contracting, etc. on a vehicle body, and having a work platform at the tip of the boom, wherein the hoisting angle and expansion and contraction of the boom are A boom operation amount detector that detects the amount of boom operation such as the amount of movement, a boom posture calculator that calculates the actual posture position of the boom from the detection value of this boom operation amount detector, and an allowable posture position range of the boom are set. The stored storage means and the actual posture position of the boom obtained by the boom posture calculator are compared with the allowable posture position range set and stored in the storage means, and the actual posture position exceeds the allowable posture position range. When the boom is operated as described above, a work range regulation controller that regulates and controls the operation of the boom so that the boom moves along the limit line of the allowable posture position range, and the work range regulation controller. When the operation of the boom by regulation controller is regulated controlled, aerial work platforms of the control device characterized by comprising a regulating display means for displaying is being regulated control.