JPH0812296A - Operation control device for vehicle for elevated spot working - Google Patents

Abstract

PURPOSE:To improve the reliability about the strength of a vehicle for elevated spot working, and to improve the safety of the working space by appropriately regulating the winch operation and the leveling operation in response to other conditions related therewith. CONSTITUTION:A device is provided with an inclination sensor 23 for detecting the angle of inclination of a winch post 15 to the vertical line, and a winch operation inhibiting means for inhibiting the operation of a winch post 15 in the case where the angle of inclination of the winch post 15 at the predetermined value or more is detected by the inclination sensor 23. With this structure, in the case where the angle of inclination of the winch post 15 exceeds the predetermined value, even in the case where a worker operates the winch without knowing the inclined condition of the winch post 15, since the operation of the winch 7 is inhibited by the winch operation inhibiting means, the winch 7 is not operated, and the application of the horizontal load to the winch arm by the winch hoisting load due to the inclination of the winch post 15 or the unprepared turning operation of the winch arm can be prevented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control device for an aerial work vehicle in which a winch device is mounted on a work table attached to the tip of a boom.

[0002]

2. Description of the Related Art An aerial work vehicle is basically constructed by attaching a work platform to the tip of a boom which can be raised and lowered via a vertical posture holding member. In this case, as a general rule, from the viewpoint of maintaining the work posture of the worker who has boarded on the workbench, the vertical posture holding member supporting the workbench can be raised and lowered with respect to the boom tip and the boom can be raised and lowered. The posture of the workbench is kept horizontal by controlling its posture so that the axis of the workbench always conforms to the vertical line in accordance with the state. A so-called interlocking cylinder system is known as one method of leveling operation of the workbench in such a case, that is, leveling operation. That is, the interlocking cylinder system is a first cylinder that is disposed between the boom and the swivel to which the boom is attached and that expands and contracts in accordance with the hoisting motion of the boom, the boom and the vertical posture holding member. A second cylinder arranged in the same arrangement relationship as the first cylinder between the first cylinder, the extension side oil chamber of the first cylinder, the extension side oil chamber of the second cylinder, and the first cylinder. By connecting the reduction-side oil chamber of No. 2 and the reduction-side oil chamber of the second cylinder with independent oil passages, the expansion and contraction displacement of the first cylinder due to the hoisting motion of the boom can be performed with respect to the second cylinder. It is transmitted as a telescopic displacement in the opposite direction, and the vertical posture holding member, that is,
The posture of the workbench is made to follow that of the boom, so that the floor surface of the workbench is always kept horizontal regardless of changes in the hoisting angle of the boom.

By the way, the leveling of the workbench using the communication cylinder system is subject to the fact that the relative relationship between the pair of cylinders is always kept constant, but in reality, it is gradually sealed during long-term use. The relative relationship between the two may be broken due to a cause such as a leak of hydraulic oil, and as a result, horizontal holding of the work table may be difficult. Therefore, the pressure line and the tank line are connected to the oil passages of the pair of cylinders via the leveling operation valve, and when the relative relationship between the two is broken, the leveling operation valve is operated to supply and discharge the hydraulic oil. The relative relationship between the two is properly corrected.

In addition to the above-described leveling correction operation, the leveling control valve is used when the workbench is tilted at an arbitrary angle, for example, when the work platform is not used for a long time. It is used as necessary, for example, in the case where it is greatly inclined to prevent rainwater from collecting on it.

On the other hand, an aerial work vehicle is generally equipped with a winch device for carrying in and out work equipment to and from a workbench (see FIG. 1). In this case, usually, a winch post is attached to the vertical posture maintaining member coaxially with the axis of the winch post so that the winch post can be swiveled around the axis by a drive source such as a hydraulic motor, and the winch post is attached to the winch post. Attach a winch arm equipped with,
The wire rope paid out from the winch is hung from the tip end side of the winch arm. still,
Regarding the swinging of the winch post, the driving force from a drive source such as a hydraulic motor is configured to be transmitted to the winch post side via a worm reducer, and the swing regulation is generally performed by the self-locking action of the worm reducer. Target,
In addition to this, there is also one that is driven to rotate via a spur gear or a helical gear reducer, for example.

[0006]

However, the aerial work vehicle having the winch device mounted on the workbench side has the following operational problems in relation to the winch device.

The first problem is that the pivot axis of the winch post is inclined more than a predetermined angle with respect to the vertical line (that is,
This is a problem when the load lifting work is performed using the winch in a state where the axis of the vertical posture maintaining member does not match the vertical line. That is, the conventional aerial work vehicle has a structure in which the winch can be operated independently of the inclination of the winch post. In some cases, lifting work with a winch is performed. However, if the hoisting work is performed with the winch in such a state, there is no problem if the extending direction of the winch arm is aligned with the undulating motion surface of the vertical posture maintaining member, but this is not the case. If there is not, especially when the winch arm extends with a large deviation in the direction orthogonal to the vertical movement surface of the vertical posture maintaining member, swing it forward with respect to the winch post due to the lifting load. A force that causes it will be generated. When the turning force is applied to the winch post by the lifting load, the turning of the winch post is restricted when the turning force is smaller than the self-locking force of the worm reducer, so that a lateral load acts on the winch arm. This adversely affects the strength performance of the winch arm or winch post. Further, when the turning force exceeds the self-locking force, the winch arm turns carelessly regardless of the operator's intention, or the operator cancels the turning operation to stop the turning of the winch arm. In that case, a large flow may occur without stopping at a predetermined stop position, which may result in an unfavorable state in terms of work safety.

The second problem is that the above-mentioned first problem is turned upside down. However, during the lifting work by the winch, the work table is leveled, that is, the posture control operation of the vertical posture holding member is performed. Is a problem caused by. That is, in the conventional aerial work vehicle, since the winch operation and the leveling operation are completely independent from each other, the leveling operation may be performed during the winch operation. In such an operation state, unless the extension direction of the winch arm is aligned with the up-and-down motion surface of the vertical posture maintaining member, the same situation as that pointed out in the above-mentioned first problem occurs, and the winch is generated. This causes problems such as reliability of strength of arm and the like or safety of work safety.

Therefore, the present invention is intended to further enhance the reliability of the strength of the aerial work vehicle and the safety of the work place by appropriately controlling the winch operation and the leveling operation according to other conditions related thereto. It was made as an attempt to provide an operation control device for an aerial work vehicle.

[0010]

In the present invention, the following constitution is adopted as a concrete means for solving such a problem.

In the operation control device for an aerial work vehicle according to the first invention of the present application, a vertical posture holding member is movably mounted on the tip of a boom which is mounted so that the vertical posture is maintained. It is necessary to control the posture of the vertical posture holding member by a leveling device arranged between the vertical posture holding member and the boom, and to operate the leveling device by a leveling operation means so that While the posture of the vertical posture maintaining member can be changed in accordance with the above, the workbench and the winch post are attached to the vertical posture maintaining member, and the floor of the work bench is the vertical posture maintaining member. The mounting orientation is set so that it is orthogonal to the axial direction,
Further, the winch post is mounted coaxially with the axis of the vertical posture maintaining member, can be swiveled around the axis by an appropriate drive source, and is equipped with a winch arm equipped with a winch. In the work vehicle,
An inclination angle sensor that detects an inclination angle of the winch post with respect to a vertical line, and a winch operation that prohibits the operation of the winch when the inclination angle sensor detects that the inclination angle of the winch post is a predetermined value or more. It is characterized by having a prohibition means.

In the operation control device for an aerial work vehicle according to the second invention of the present application, a vertical posture holding member is movably mounted on the tip of a boom which is mounted so as to be able to rise and fall, and the axial center of the vertical posture holding member. It is necessary to control the posture of the vertical posture holding member by a leveling device arranged between the vertical posture holding member and the boom, and to operate the leveling device by a leveling operation means so that While the posture of the vertical posture maintaining member can be changed in accordance with the above, the workbench and the winch post are attached to the vertical posture maintaining member, and the floor of the work bench is the vertical posture maintaining member. The mounting orientation is set so that it is orthogonal to the axial direction,
Further, the winch post is mounted coaxially with the axis of the vertical posture maintaining member, can be swiveled around the axis by an appropriate drive source, and is equipped with a winch arm equipped with a winch. In the work vehicle,
A winch load sensor that detects that a load is applied to the winch, and a leveling operation prohibition that prohibits the leveling operation by the leveling operation means when the winch load sensor detects that a load is applied to the winch And means are provided.

[0013]

According to the present invention, the following actions and effects can be obtained by adopting such a configuration.

According to the operation control apparatus for an aerial work vehicle according to the first invention of the present application, the tilt angle of the winch post is not less than a predetermined value by the tilt angle sensor for detecting the tilt angle of the winch post with respect to the vertical line. If it is detected, the winch operation prohibiting means prohibits the operation of the winch, so that the winch does not operate even if the operator operates the winch without knowing the tilted state of the winch post. Therefore, the load of lateral load on the winch arm due to the winch lifting load, or the careless turning motion of the winch arm, which is caused when the winch operation is performed while the winch post is inclined, is prevented in advance. The effect is that the proper strength of the winch device is maintained and the safety of the winch operation is further enhanced.

According to the operation control apparatus for an aerial work vehicle according to the second aspect of the present invention, when the winch load sensor detects that a load is applied to the winch, the leveling operation prohibiting means receives it. Since the leveling operation using the leveling operation means is prohibited, even if the worker performs the leveling operation without knowing that the winch is loaded, the leveling operation is not executed and the workbench, that is, the winch. The position of the post is maintained. Therefore, a lateral load on the winch arm due to the lifting load of the winch or an inadvertent turning motion of the winch arm is prevented in advance, such as when performing the leveling operation with the winch being loaded.
The effect is that the proper strength of the winch device is maintained and the safety of the winch operation is further enhanced.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The operation control device for an aerial work vehicle according to the present invention will be specifically described below with reference to the accompanying drawings. First, referring to FIG. 1, the operation control device according to the present invention is provided. The basic configuration of the aerial work vehicle Z will be described.

In the aerial work vehicle Z of this embodiment, a boom 1 is attached to a swivel base 2 mounted on a vehicle 3 so as to be able to move up and down in a vertical direction via a pivot pin 13, and is used for raising and lowering the boom. The cylinder 10 is used to drive up and down. In addition, a vertical posture holding member 9 is movably attached to the tip of the boom 1 via a pivot pin 14, and the posture of the vertical posture holding member 9 is set between the swivel base 2 and the boom 1. Leveling cylinder 11 located at
And the vertical posture holding member 9 and the leveling cylinder 12 arranged between the boom 1 and the boom 1 are hydraulically interlocked (see FIG. 8) so that the vertical position of the boom 1 can be increased regardless of the hoisting angle of the boom 1. The axis L of the posture holding member 9 is always aligned with the vertical line (note that the pair of cylinders 11 and 12 correspond to the leveling device in the claims, but the pipe configuration thereof). For etc.,
It will be detailed later together with the leveling operation mechanism).

Further, on the support shaft portion 9a of the vertical posture holding member 9, the workbench 4 is in a state where its floor surface 4a is orthogonal to the axis L of the vertical posture holding member 9 (that is, horizontal). In the state), it is attached via the support portion 4b.
The winch device 5 is attached to the support shaft portion 9a of the vertical posture holding member 9 via a winch post 15 described later.

The winch post 15 is coaxially attached to the vertical posture holding member 9 so as to be able to swivel about its axis L, and a winch swiveling hydraulic motor 16 (see claims). It corresponds to a drive source) and is driven to rotate via a worm speed reducer (not shown). In this case, the relative relationship between the pair of cylinders 11 and 12 is set so that the axis L of the vertical posture maintaining member 9 always matches the vertical line regardless of the change in the hoisting angle of the boom 1. Has been done.

The winch device 5 is pivotally supported on the upper end of the winch post 15 so as to be hoisted up and down, and is winch-moved by a winch hoisting cylinder 8, and is fixedly arranged on the winch arm 6. The winch 7 is provided, and the wire rope paid out from the winch 7 is hung from the tip end side of the winch arm 6.

The above is the overall structure of the aerial work vehicle Z. In the aerial work vehicle Z of this embodiment, the use of the winch device 5 with the winch post 1 inclined as described above, and the winch. By prohibiting both the leveling execution under the use condition of the device 5, it is intended to maintain the proper strength of the winch device 5 and to secure the safety of the winch operation. Therefore, the aerial work vehicle of this embodiment. In Z, in addition to the basic configuration described above, a winch operation switch 21 and a leveling operation switch 22 which are manually operated by an operator, and an inclination angle sensor for detecting an inclination angle of the swing axis L of the winch post 15 with respect to a vertical line. 23 and a winch load sensor 24 for detecting whether or not the winch 7 is in a load-lifting state.
1, 22 and the output signals of the sensors 23, 24 are input to the control unit 26 as control elements, and the hydraulic control circuit 27 is controlled by the control signals output from the control unit 26 based on these control elements. There is. The operation switches 21 and 22, the sensors 23 and 24, the control unit 26, and the hydraulic control circuit 27 constitute an operation control device X that is the gist of the present invention. Hereinafter, a specific configuration of the operation control device X and its function and effect will be described based on some embodiments.

First Embodiment FIG. 2 shows the system configuration of an operation control device X according to the first embodiment of the present invention. This operation control device X
Has a hydraulic circuit configuration in which a winch hoisting up / down hydraulic motor 17 attached to the winch 7 is controlled by a manual winch hoisting up / down operation valve 31, and the operation of the winch 7 is controlled according to the inclination angle of the winch post 15. It has been banned. Specifically, between the pressure line 45 connecting the hydraulic pump 47 and the pump hoat of the winch hoisting operation valve 31 and the tank line 46 connected to the tank port of the winch hoisting operation valve 31, An unload valve 40 consisting of a two-port two-position electromagnetic switching valve is provided, and the unload valve 40 is set to the first valve position 40A when the solenoid coil 41 is demagnetized, and the hydraulic pressure is applied to the pressure line 45. To activate the winch winding up / down hydraulic motor 17, while the solenoid coil 41 is excited, the second valve position 40B is set to eliminate the hydraulic pressure in the pressure line 45 and the winch winding up / down hydraulic motor 17 is activated. The vertical hydraulic motor 17 is made inoperable.

A control signal is output from the control unit 26 to the solenoid coil 41 of the unload valve 40, and the tilt angle of the winch post 15 is input from the tilt angle sensor 23 as its control element. It has become. The operation control of the unload valve 40 based on the detection value of the tilt angle sensor 23 will be described in detail with reference to the flowchart shown in FIG.

First, after the control is started, the inclination angle (θ) of the winch post 15 is read from the inclination angle sensor 23 (step S1). Next, in step S2, it is determined whether or not the tilt angle (θ) is within a predetermined angle range, that is, θ ₁ <θ <θ ₂ , and if θ ₁ <θ <θ ₂ is not satisfied. When the load is hoisted by the winch 7 in this state with a large inclination angle, a swinging force may be generated in the winch post 15 and the above problem may occur. In this case, the solenoid coil 41 Is excited to set the unload valve 40 to the second valve position 40B (set to ON) to put the hydraulic circuit in the unload state (step S3). Therefore, in this state, even if the operator operates the winch hoisting up / down operation valve 31 without knowing that the winch post 15 is excessively inclined, the winch hoisting up / down hydraulic motor 17 does not operate, and the winch 7 does not operate. It is not possible to carry out load lifting work by using the winch 7 (actuation of the operation of the winch 7 is prohibited), and sideways to the winch arm 6 due to the winch lifting load, such as when the winch operation is performed with the winch post 15 tilted. The load or the unintentional turning motion of the winch arm 6 is prevented, the proper strength of the winch device 5 is maintained, and the safety of the winch operation is ensured.

On the other hand, in step S2, θ ₁ <θ <
When it is determined to be θ _2, it is determined that the winch post 15 has no inclination or the influence thereof is negligible. Therefore, in this case, the solenoid coil 41 is demagnetized and the unload valve is demagnetized. 40 is set to the first valve position 40A (OFF setting), and the hydraulic circuit is set to the on-load state.
Therefore, in this state, by operating the winch hoisting up / down operation valve 31, the winch hoisting up / down hydraulic motor 17 can be operated to perform load lifting work by the winch 7.

In this embodiment, the control unit 26 and the unload valve 40 constitute the winch operation prohibiting means in the claims.

Second Embodiment FIG. 4 shows an operation control device X according to a second embodiment of the present invention. In the operation control device X of this embodiment, in contrast to the operation control device X of the first embodiment, in which the winch winding up / down operation valve 31 is a manual type, it is an electromagnetic operation type. In response to this, a winch operation switch 21 for operating the winch winding up / down operation valve 31 is additionally provided. still,
The other constituent elements are the same as those in the first embodiment, and therefore the description thereof is incorporated by the reference numerals corresponding to FIG.

The control in the operation control device X of this embodiment is as shown in the flowchart of FIG. That is, after the control is started, the inclination angle (θ) of the winch post 15 is read from the inclination angle sensor 23 (step S1), and in step S2, it is determined whether or not the inclination angle (θ) is within a predetermined angle range. If θ ₁ <θ <θ ₂ is not satisfied, the solenoid coil 41 is excited to set the unload valve 40 to the second valve position 40B (set to ON) to bring the hydraulic circuit into the unload state (step S3). Therefore, in this state, even if the operator operates the winch operation switch 21 without knowing that the winch post 15 is excessively inclined, the winch up / down operation valve 31 is actuated and the winch up / down operation valve 31 is operated. The hydraulic motor 17 does not operate and load hoisting work by the winch 7 is prohibited, which prevents a lateral load from being applied to the winch arm 6 by the winch hoisting load or an inadvertent swiveling operation of the winch arm 6. Thus, the proper strength of the winch device 5 is maintained and the safety of the winch operation is ensured.

On the other hand, in step S2, θ ₁ <θ <
When it is determined to be θ ₂ , the solenoid coil 41 is demagnetized, the unload valve 40 is set to the first valve position 40A (OFF setting), and the hydraulic circuit is set to the on-load state. Therefore, in this state, by operating the winch operating switch 21 (step S5), the winch winding up / down operating valve 31 operates in an appropriate direction, and the load lifting work by the winch 7 becomes possible (step S6). ).

In this embodiment, the control unit 26 and the unload valve 40 constitute the winch operation inhibiting means in the claims.

Third Embodiment FIG. 6 shows an operation control device X according to a third embodiment of the present invention. The operation control device X of this embodiment is the same as the operation control device X of the first and second embodiments.
By providing an unload valve 40 in the hydraulic circuit and controlling the operation of the unload valve 40 in accordance with the inclination angle of the winch post 15, the use of the winch 7 when the winch post 15 is excessively inclined is prohibited. In contrast to this, the unload valve 4 is used in this embodiment.
When the tilt angle sensor 23 detects an excessive tilt of the winch post 15 without providing 0, the control unit 26 controls the winch winding up / down operation valve 31 side even if the winch operation switch 21 is operated. The signal is not output and the use of the winch 7 when the winch post 15 is excessively inclined is prohibited. That is, winch 7
The operation prohibition is achieved by electrical means.

The control of the operation controller X of this embodiment is shown in FIG.
It is as shown in the flowchart in FIG. That is, after the control is started, the inclination angle (θ) of the winch post 15 is read from the inclination angle sensor 23 (step S1), and in step S2, it is determined whether or not the inclination angle (θ) is within a predetermined angle range. If θ ₁ <θ <θ ₂ is not satisfied, the control signal from the control unit 26 to the winch winding up / down operation valve 31 is cut (step S3). Therefore, in this state, even if the operator operates the winch operation switch 21 without knowing that the winch post 15 is excessively inclined, the winch winding up / down operation valve 31 does not operate and the load by the winch 7 is increased. Lifting work is prohibited. This prevents a lateral load from being applied to the winch arm 6 due to the winch lifting load, or an inadvertent turning motion of the winch arm 6 to be prevented in advance, so that the proper strength of the winch device 5 can be maintained and the winch operation can be improved. The safety is ensured.

On the other hand, in step S2, θ ₁ <θ <
When it is determined to be θ ₂ , the control unit 26
Is set in a state in which a control signal can be output from the winch winding up / down operation valve 31 (step S4). Therefore, in this state, by operating the winch operating switch 21 (step S5), the winch winding up / down operating valve 31 is operated.
Is operated in an appropriate direction, and the load lifting work by the winch 7 is possible (step S6).

In this embodiment, the control unit 26 constitutes the winch operation inhibiting means in the claims.

Fourth Embodiment FIG. 8 shows an operation control device X according to a fourth embodiment of the present invention. The operation control device X of this embodiment uses the winch 7 instead of the operation of the above-described embodiments, in which the operation of the winch 7 is prohibited when the winch post 15 is excessively inclined. The leveling operation with inclination of the winch post 15 is prohibited when the winch post 15 is lifted by the hoisting load of the winch 7 as in the above-mentioned embodiments. It is intended to prevent the unintentional turning force from being applied to the winch device 5 in advance to ensure the proper strength of the winch device 5 and the safety of the winch operation. Hereinafter, the operation control device X of this embodiment will be described together with the hydraulic circuit configuration.

As shown in FIG. 8, the pair of leveling cylinders 11 and 12 are provided between the boom 1 and the swivel base 2 and between the boom 1 and the vertical posture holding member 9 as described above (see FIG. 1). And the cylinders for leveling 1 are arranged with the same relative relationship between them.
The reduction-side oil chambers 1 and 12 are communicated with each other through the reduction-side communication oil passage 48, and the extension-side oil chambers are communicated with each other through the extension-side communication oil passage 49. When expanded and contracted, the leveling cylinder 12 expands and contracts in the opposite direction in conjunction with this, and the work table 4 is always held horizontally via the vertical posture holding member 9. In addition, when the workbench 4 is required to take a posture that is largely inclined from the horizontal state, or it is necessary to correct the fact that the workbench 4 has collapsed in the horizontal posture due to leakage of hydraulic oil during long-term use. In order to cope with the case, the reduction-side communication oil passage 48 and the extension-side communication oil passage 49 are provided.
A pressure line 45 is provided through a leveling operation valve 34 (corresponding to the leveling operation means in the claims).
And the tank line 46 can be selectively connected. Therefore, by operating the leveling operation valve 34 to supply the hydraulic oil to the leveling cylinders 11 and 12, the relative relationship between the boom 1 and the swivel base 2 and the boom 1 and the vertical posture holding member 9 are arbitrarily set. The work table 4 can be tilted from the horizontal state, and the non-horizontal state can be returned to the horizontal state by changing the relative relationship between the horizontal state and the horizontal state.

Further, in such a hydraulic circuit configuration, when the winch 7 is being used, the leveling cylinders 11 and 12 are inadvertently operated to tilt the winch post 15 together with the vertical line holding member 9 so that the pivot axis ( That is, when the axis L of the vertical posture holding member 9 is tilted more than a predetermined angle from the vertical line, the hoisting load of the winch 7 causes an inadvertent turning force to act on the winch post 15, and the lateral force is applied to the winch device. 5 has an unfavorable effect on the strength performance and is not preferable in terms of work safety. Therefore, when the winch 7 is used, the leveling operation using the leveling cylinders 11 and 12 is prohibited.

As a concrete means for this, first, on the hydraulic circuit side, the pressure line 45 and the tank line 4 are connected.
An unloading valve 40 is arranged between 6 and 6 to keep the hydraulic circuit in an unloading state while the winch 7 is in use. The control unit 26, which outputs control signals to the unload valve 40 and the leveling operation valve 34, receives signals from the leveling operation switch 22 and the winch load sensor 24, respectively.

In this embodiment, the control unit 26 and the unloading valve 40 constitute the leveling operation inhibiting means in the claims, and the operation control device is composed of the leveling operation inhibiting means and the winch load sensor 24. X is configured.

Next, the actual control of the operation control device X of this embodiment will be described with reference to FIG. 9. After the control is started, first, the output of the winch load sensor 24 is read in step S1, and further in step S2. Based on the output from the winch load sensor 24, it is determined whether or not the winch 7 is currently in the load lifting state.

If the winch load is present, that is, if it is determined that the winch 7 is in use, the solenoid coil 41 is excited to prohibit the operation of the leveling cylinders 11 and 12, and the unload valve 40 is activated. Is set to the second valve position 40B (ON setting), and the hydraulic circuit is brought into the unload state (step S3). Therefore, in this state, even if the operator operates the leveling operation switch 22 without knowing that the winch is in use, the leveling cylinders 11 and 12 are operated even if the leveling operation valve 34 is operated. It does not work, which prohibits the leveling operation.

On the other hand, in step S2, the winch 7
When it is determined that is not used, the solenoid coil 41 is demagnetized, the unload valve 40 is set to the first valve position 40A (OFF setting), and the hydraulic circuit is turned on (step S4). . Therefore, in this state, when the leveling operation switch 22 is operated (step S5), hydraulic oil is supplied to the leveling cylinders 11 and 12 via the leveling operation valve 34, and the leveling operation is executed. This is the case (step S6).

Fifth Embodiment FIG. 10 shows an operation control device X according to a fifth embodiment of the present invention. The operation control device X of this embodiment is
In the fourth embodiment, the leveling operation is prohibited by unloading the hydraulic circuit with the unload valve 40, whereas the leveling operation is performed without using the unload valve 40. Operation valve 3
This is achieved by an electric means of cutting off the output of the control signal to No. 4. Therefore, the configuration is such that the unload valve 40 in FIG. 8 is removed, and when a signal indicating that the winch 7 is in use is input from the winch load sensor 24, for example, leveling is performed. Even if the operation switch 22 is operated, the control unit 26 does not output the control signal to the leveling operation valve 34.

In this embodiment, the control unit 26 constitutes the leveling operation inhibiting means in the claims.

Next, the actual control of the operation control device X will be described with reference to the flow chart shown in FIG.
After the control is started, first, in step S1, the output of the winch load sensor 24 is read, and in step S2, based on the output from the winch load sensor 24, it is determined whether or not the winch 7 is currently in the load lifting state.

Here, when the winch load is present, that is, when it is determined that the winch 7 is in use, the control unit 26 controls the leveling operation valve 34 to prohibit the operation of the leveling cylinders 11 and 12. The signal output is cut off (step S3). Therefore, in this state, even if the operator operates the leveling operation switch 22 without knowing that the winch is being used, a control signal is not output to the leveling operation valve 34, so that the leveling cylinder 1 is operated.
No. 1 and 12 do not operate, so that the leveling operation is prohibited.

On the other hand, in step S2, the winch 7
When it is determined that is not used, the control unit 26 enables the control signal to the leveling operation valve 34 (step S4). Therefore,
In this state, when the leveling operation switch 22 is operated (step S5), a control signal is output to the leveling operation valve 34, and the leveling cylinders 11 and 12 are operated to perform the leveling operation. (Step S6).

Sixth Embodiment FIG. 12 shows an operation control device X according to a sixth embodiment of the present invention. The operation control device X of this embodiment is
When the winch post 15 is excessively inclined, a winch operation prohibiting means for prohibiting the use of the winch 7 and a leveling operation prohibiting means for prohibiting the leveling operation when the winch 7 is used are juxtaposed with each other. In association therewith, the initial purpose, that is, as in each of the above-described embodiments, the winch post 15 is moved by the lifting load of the winch 7.
It is intended to prevent the unintentional turning force from acting on the winch device in advance to ensure the proper strength of the winch device 5 and the safety of the winch operation.

First, the specific structure will be described with reference to FIG. 12. In FIG. 12, reference numeral 17 is a winch winding up / down hydraulic motor, 8 is a winch hoisting / lowering cylinder, and 16 is a winch turning hydraulic motor. 11 and 12 are leveling cylinders, and each of these actuators has a winch winding up / down operation valve 31, a winch up / down operation valve 33, and a winch swivel for controlling the operation thereof. An operation valve 32 and a leveling operation valve 34 are attached. Further, the pressure line 45 and the tank line 46 are branched into two paths of the actuators 17, 8 and 16 on the winch side and the leveling cylinders 11 and 12, respectively, and the pressure line upstream side and the tank line from this branch point. An unload valve 40 is provided between the downstream side and the downstream side.

On the other hand, the control unit 26 includes a winch operating switch 21 and a leveling operating switch 22.
Signals are respectively input from the tilt angle sensor 23 and the winch load sensor 24, and based on these input signals, the control unit 26 outputs the operation valves 31 to 3 described above.
4 and the unload valve 40, control signals are output respectively.

Next, the actual control of the operation control apparatus X of this embodiment will be described with reference to the flow chart shown in FIG. 13. After the control is started, first, at step S1, the inclination angle (θ) of the winch post 15 and the winch. The presence or absence of load is detected and read. Next, in step S2, it is determined whether or not the winch operation switch 21 has been operated. Here, the winch operation switch 21
Is operated (set to ON), it is determined in step S3 whether the inclination angle (θ) of the winch post 15 is within a predetermined range. If θ ₁ <θ <θ ₂ is not satisfied, that is, if the tilt angle of the winch post 15 is equal to or greater than a predetermined value and the winch 7 is used, it is expected that an unintentional turning force acts on the winch post 15 due to the lifting load. If so, the unload valve 40 is set to the second position in step S6.
The valve position is set to 40B (set to ON), and the hydraulic circuit is brought into the unloading state. Therefore, in this state, even if the winch operating switch 21 is operated, none of the winch winding up / down hydraulic motor 17, the winch hoisting cylinder 8, and the winch turning hydraulic motor 16 are operated, which ensures the winch operation. Will be banned.

On the other hand, in step S3, θ
_{If 1} <θ <θ _2, that is, if it is determined that the angle of inclination of the winch post 15 is within a predetermined value and its influence can be ignored, the unload valve 40 is set to the first position in step S4. The valve position is set (OFF setting) to put the hydraulic circuit in the on-load state and the control unit 26
From the control signal to the leveling operation valve 34 is cut off. Therefore, in this state, the winch 7 can be used (step S5), but the leveling operation by operating the leveling cylinders 11 and 12 is prohibited. Therefore, even if the operator mistakenly operates the leveling operation switch 22 while using the winch 7, the leveling cylinders 11 and 12 do not operate, and the winch post 15 is unprepared due to execution of the leveling operation during use of the winch. Therefore, it is possible to reliably prevent a large turning force from being applied.

On the other hand, if it is determined in step S2 that the winch operation switch 21 has not been operated, it is further determined in step S7 whether the leveling operation switch 22 has been operated. Then, when the leveling operation switch 22 is not operated,
Although it returns without any special control, when it is determined that the leveling operation switch 22 is operated, it is further determined in step S8 whether or not the winch 7 is currently in the load lifting state, If it is in the suspended state, the unload valve 40 is set to the second valve position 40B (set to ON) to bring the hydraulic circuit into the unload state (step S9). Therefore, in this state, the leveling operation by operating the leveling cylinders 11 and 12 is prohibited. When the winch operation switch 21 is not operated but there is a winch load, the operation of the winch operation switch 21 is released and the neutral position is set, for example, while the load is being hung on the winch 7. It is in a state of being. Even in such a case, when the leveling operation is performed, the winch post 15 tilts and an inadvertent turning force acts, and it is necessary to prevent this.

On the other hand, if it is determined in step S8 that there is no winch load, the unload valve 40 is set to the first valve position (OFF setting), and the hydraulic circuit is turned on. , Operation valves 31, 32, 33 on the winch 7 side from the control unit 26
The output of the control signal to is cut (step S10).
Therefore, in this state, the leveling operation can be performed by operating the leveling operation switch 22 (step S1).
In addition to 1), even if the operator mistakenly operates the winch operation switch 21, the operation valves 3
1, 32 and 33 do not operate, and the simultaneous progress of the leveling operation and the winch operation is prevented.

In this embodiment, the unload valve 40 and the control unit 26 both correspond to the winch operation inhibiting means and the leveling operation inhibiting means, respectively.

Seventh Embodiment FIG. 14 shows an operation control device X according to the seventh embodiment of the present invention. The operation control device X of this embodiment is
In the sixth embodiment, the winch operation and the leveling operation are prohibited by both the hydraulic control by the unload valve 40 and the output cut of the control signal from the control unit 26. Both are achieved by cutting the output of the control signal from the control unit 26. Therefore, in terms of configuration, as shown in FIG. 14, FIG.
2, the unload valve 40 is removed.

The actual control of the operation control device X of this embodiment will be described below with reference to the flow chart shown in FIG. 15. After the control is started, first, in step S1, the inclination angle (θ) of the winch post 15 and the winch load. The presence or absence of is detected and this is read. Next, in step S2, it is determined whether or not the winch operation switch 21 has been operated. Here, the winch operation switch 21 is operated (ON
If set), it is determined in step S3 whether the inclination angle (θ) of the winch post 15 is within a predetermined range. When θ ₁ <θ <θ ₂ is not satisfied, that is, when the tilt angle of the winch post 15 is equal to or greater than a predetermined value, the winch 7
When it is assumed that an inadvertent turning force acts on the winch post 15 due to the hoisting load, the control signal from the control unit 26 to the operation valves 31, 32, 33 on the winch 7 side is sent in step S6. The output is cut and the control signal is allowed to be output from the control unit 26 to the leveling operation valve 34. Therefore, in this state, even if the winch operating switch 21 is operated, none of the winch winding up / down hydraulic motor 17, the winch hoisting cylinder 8, and the winch turning hydraulic motor 16 operate, thereby ensuring the winch operation. Although not shown in the flow chart, for example, when the leveling operation switch 22 is operated to correct the tilt angle of the winch post 15, the leveling cylinders 11 and 12 are activated and the leveling correction is not performed. It will be possible.

On the other hand, in step S3, θ
_{If 1} <θ <θ _2, that is, if it is determined that the inclination angle of the winch post 15 is within a predetermined value and its influence can be ignored, then in step S4, the control unit 26 moves to the winch 7 side. Each operation valve 31, 3
The control signal output from the control unit 26 to the leveling operation valve 34 is cut while the output of the control signal from the control units 2 and 33 is permitted. Therefore, in this state, the winch 7 can be used (step S5), but the leveling operation by operating the leveling cylinders 11 and 12 is prohibited. Therefore, even if the operator mistakenly operates the leveling operation switch 22 while using the winch 7, the leveling cylinders 11 and 12 do not operate, and the winch post 15 is unprepared due to execution of the leveling operation during use of the winch. Therefore, it is possible to reliably prevent a large turning force from being applied.

On the other hand, when it is determined in step S2 that the winch operation switch 21 is not operated, it is further determined in step S7 whether the leveling operation switch 22 is operated. Then, when the leveling operation switch 22 is not operated,
Although it returns without performing any special control, if it is determined that the leveling operation switch 22 is operated, it is further determined in step S8 whether or not the winch 7 is currently in the load lifting state.

When the winch 7 is in a load-lifted state, the control signal output from the control unit 26 to the leveling operation valve 34 is cut off, and at the same time, each operation valve 31, on the winch 7 side from the control unit 26, The output of the control signal to 32 and 33 is permitted. Therefore, in this state, the leveling cylinder 1
Although the leveling operation by operating 1 and 12 is prohibited, the winch 7 can be operated. Therefore, when the winch operation switch 21 is not operated as described above but there is a winch load, for example, the operation of the winch operation switch 21 is released while the load is being hung on the winch 7 and the winch operation switch 21 is set to the neutral position. Although not shown in the flow chart because it is in the state of being, for example, the winch operation switch 21 is operated to first lower the hoisting load to the ground,
After that, it becomes possible to execute the leveling operation.

On the other hand, when it is determined in step S8 that there is no winch load, the control unit 26 permits the output of the control signal to the leveling operation valve 34, and the control unit 2
The output of the control signal from 6 to each operation valve 31, 32, 33 on the winch 7 side is cut. Therefore, in this state, the leveling operation can be performed by operating the leveling operation switch 22 (step S11), and
Even if the operator mistakenly operates the winch operation switch 21, the operation valves 31, 32, 33 are not operated, and the simultaneous progress of the leveling operation and the winch operation is prevented.

In each of the above-mentioned embodiments, the interlocking cylinder system comprising the pair of interlocking cylinders 11 and 12 is adopted as the leveling device, but the present invention is not limited to this, and for example, A cylinder provided between the tip of the boom 1 and the vertical posture holding member 9 and a tilt angle detection sensor that outputs a signal corresponding to the amount of tilt of the vertical posture holding member 9 with respect to the vertical line constitute a leveling device. Needless to say, the present invention can also be applied to a configuration in which the cylinder is operated based on the output of the sensor.

Further, although the hydraulic motor 16 is adopted as the drive source for turning the winch post 15 in the above embodiment, the present invention is not limited to this, and various other drive sources, for example, It goes without saying that a hydraulic cylinder or the like can be adopted.

Further, in each of the above-described embodiments, in an aerial work vehicle equipped with a winch device, it is a problem to be solved to prevent an inadvertent turning motion due to the inclination of the winch post. In addition to this, for example, in the case of an aerial work vehicle having a structure in which the workbench rotates, if the leveling operation is performed when a load is present on the workbench, the same as in the case of the winch device is proposed. Although a problem may occur, even in such a case, the structure of each of the above embodiments can be sufficiently dealt with.

Further, although each of the above-described embodiments is directed to an aerial work vehicle equipped with a workbench, it is needless to say that it can be applied to work vehicles equipped with various attachments such as a tree felling device instead of the workbench. Is.

[Brief description of drawings]

FIG. 1 is a side view of a main part of an aerial work vehicle to which an operation control device according to the present invention is applied.

FIG. 2 is a hydraulic circuit diagram of the operation control device according to the first embodiment of the present invention.

FIG. 3 is a control flowchart in the operation control device shown in FIG.

FIG. 4 is a hydraulic circuit diagram of an operation control device according to a second embodiment of the present invention.

5 is a control flowchart in the operation control device shown in FIG.

FIG. 6 is a hydraulic circuit diagram of an operation control device according to a third embodiment of the present invention.

7 is a control flowchart in the operation control device shown in FIG.

FIG. 8 is a hydraulic circuit diagram of an operation control device according to a fourth embodiment of the present invention.

9 is a control flowchart in the operation control device shown in FIG.

FIG. 10 is a hydraulic circuit diagram of an operation control device according to a fifth embodiment of the present invention.

11 is a control flowchart in the operation control device shown in FIG.

FIG. 12 is a hydraulic circuit diagram of an operation control device according to a sixth embodiment of the present invention.

13 is a control flowchart in the operation control device shown in FIG.

FIG. 14 is a hydraulic circuit diagram of an operation control device according to a seventh embodiment of the present invention.

15 is a control flowchart in the operation control device shown in FIG.

[Explanation of symbols]

1 is a boom, 2 is a swivel, 3 is a vehicle, 4 is a workbench, 5 is a winch device, 6 is a winch arm, 7 is a winch, 8
Is a winch hoisting cylinder, 9 is a vertical posture holding member, 1
0 is a boom hoisting cylinder, 11 and 12 are leveling cylinders, 13 and 14 are pivot pins, 15 is a winch post, 16 is a winch turning hydraulic motor, 17 is a winch hoisting up / down hydraulic motor, and 21 is a winch operating switch. , 22 is a leveling operation switch, 23 is a tilt angle sensor, 24 is a winch load sensor, 26 is a control unit, 27 is a hydraulic control circuit, 31 is a winch winding up / down operation valve, 32 is a winch turning operation valve, and 33 is a winch. An undulation operation valve, 34 is a leveling operation valve, 40 is an unload valve, 41 is a solenoid coil, 45 is a pressure line, 46 is a tank line, 47 is a hydraulic pump, and Z is an aerial work vehicle.

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Hirofumi Nakagaki 2-1-82 Watanabe-dori, Chuo-ku, Fukuoka-shi, Fukuoka Within Kyushu Electric Power Co., Inc. (72) Nobuaki Nasu 2-dori Watanabe, Chuo-ku, Fukuoka-shi, Fukuoka 1-82 Within Kyushu Electric Power Co., Inc.

Claims (2)

[Claims] 1. A vertical posture holding member is movably attached to the tip of a boom that is attached so that it can be raised and lowered, and the posture of the vertical posture holding member is adjusted so that the axis of the vertical posture holding member always matches the vertical line. The posture of the vertical posture holding member can be changed as needed by controlling the leveling device arranged between the vertical posture holding member and the boom and operating the leveling device by the leveling operation means. On the other hand, a workbench and a winch post are attached to the vertical posture maintaining member, and the mounting posture is set so that the floor surface of the work bench is orthogonal to the axial direction of the vertical posture maintaining member. The winch post is mounted coaxially with the axis of the vertical posture maintaining member and can be swiveled around the axis by an appropriate drive source. In an aerial work vehicle equipped with a winch arm equipped with a winch, a tilt angle sensor for detecting a tilt angle of the winch post with respect to a vertical line, and a tilt angle sensor for determining the tilt angle of the winch post to a predetermined value. An operation control device for an aerial work vehicle, comprising: winch operation prohibiting means for prohibiting the operation of the winch when the above is detected. 2. A vertical posture holding member is movably attached to the tip of a boom that is attached so that it can be raised and lowered, and the posture of the vertical posture holding member is adjusted so that the axis of the vertical posture holding member always matches the vertical line. Controlled by a leveling device arranged between the vertical posture holding member and the boom,
By operating the leveling device by the leveling operation means, the posture of the vertical posture maintaining member can be changed as necessary, while the worktable and the winch post are attached to the vertical posture maintaining member, and The workbench is set such that its floor surface is orthogonal to the axial direction of the vertical posture maintaining member, and the winch post is mounted coaxially with the axis of the vertical posture maintaining member. A winch load sensor that detects that a load is applied to the winch in an aerial work vehicle that can be swivel driven about the axis by an appropriate drive source and that is equipped with a winch arm having a winch. The leveling operation means when the winch load sensor detects that a load is applied to the winch Aerial of operation control apparatus characterized by comprising a leveling actuation inhibiting means for inhibiting the leveling operation with.