JP4280437B2 - Boom operation control device - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to an aerial work vehicle having a boom that can be freely operated such as ups and downs, expansion and contraction, turning, and the like. More specifically, the boom is installed to prevent overturning and to prevent interference between the boom, work platform, and vehicle body. The present invention relates to an operation control device for a boom configured to restrict operation exceeding an allowable range.
[0002]
[Prior art]
An aerial work vehicle is constructed by holding a work table horizontally held at the tip of a boom that can freely move up and down, extend and contract, and turn. In this aerial work platform, the boom can be moved up and down, expanded and contracted, turned, etc., and the work table can be moved to a desired height, but the boom is operated up and down, expanded and contracted, turned, etc. As a result, the moment acting in the direction in which the vehicle body is toppled (hereinafter referred to as “falling moment”) changes. If this overturning moment exceeds the allowable value, the stable support of the vehicle body will be reduced.Therefore, an allowable operating range is set in which the boom can operate when the overturning moment is within the allowable value. A controller is provided that regulates operation beyond that.
[0003]
Further, depending on the position and operation content of the boom, the boom and the work table may interfere with the vehicle body, and the boom and the vehicle body may be damaged due to the interference. In order to prevent such interference, an allowable operation range of the boom is set in advance, and it is also known that the operation of the boom that moves outside the allowable operation range is regulated by a controller.
[0004]
[Problems to be solved by the invention]
By the way, when the boom is operating, the boom is in a state of operating beyond the allowable operating range, and when the operation is restricted by the controller, the boom may be operated in the direction in which the operation is restricted. . For example, when working at a high altitude, if the boom is turned toward the front of the vehicle with the boom lying down to near the horizontal, the boom or workbench may interfere with the cab in the front of the aerial work vehicle. Therefore, the turning operation is restricted before the controller interferes with the cab. In a state where this regulation is performed, there is a case where it is desired to perform the turning operation in a direction approaching the cab or in the opposite direction beyond the cab, but the boom cannot be operated in this state. In order to perform this restricted turning operation, if the boom is lifted up to an allowable operating range where the boom and workbench do not interfere with the cab, the turning direction to the cab side will also be within the allowable operating range. The turning operation restriction is canceled, and the turning operation of the boom in the direction approaching the restricted cab is enabled. However, there are various states in which boom operation restriction is performed, and not only when the operation procedure for avoiding boom operation restriction can be determined relatively easily as described above, but also the procedure determination for avoiding boom operation restriction. It is often difficult. In particular, there is a problem that a worker (operator) who has little experience gets lost in this avoidance procedure determination and the work efficiency decreases.
[0005]
The present invention has been made in view of such problems, and in an aerial work vehicle, in a state where the operation of the boom is restricted by the controller, the operation restriction is avoided and the operation in the operation restriction direction is avoided. It is an object of the present invention to provide a boom operation control device that can easily recognize an operation procedure for enabling the operation.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, in the present invention, a boom in which operations such as undulation, expansion and contraction, and swiveling are freely provided on a vehicle body, and a work table that is horizontally held and attached to the tip of the boom are provided. The boom operation control device is configured to move the work table to a desired position by moving the boom up and down, expanding and contracting, and turning, and further, the operation of the boom up and down, expansion and contraction, and turning is performed by external operation. An operation means for transmitting an operation signal for performing (e.g., the telescopic lever 22a, the hoisting lever 22b, and the turning lever 22c in the embodiment) and a boom that receives the operation signal and performs operations such as hoisting, telescopic, and turning of the boom Depending on the operation of the operating actuator (for example, the telescopic cylinder 30a, the hoisting cylinder 30b, the turning motor 30c in the embodiment) and the operating means, the boom operating actuator And a controller for controlling the operation of the boom operating actuator such that the boom or the work platform moves outside the preset allowable operating range. When the operation means is further operated to operate the boom in the operation restriction direction in a state where the operation is restricted by the controller, a guide that guides an operator to an operation procedure for enabling the operation. Means (for example, display means such as the first display 31, the second display 32, and the monitor display device in the embodiment, or a voice guide device by voice ).
When the operation for avoiding the restriction includes a plurality of operations, it is desirable that the guide means sequentially guides the next operation when the previous operation ends. With such a configuration, if the operation means is operated according to the guide of the guide means, it is possible to avoid the operation restriction and to operate the boom appropriately.
[0007]
When the boom operation restriction device having such a configuration is used, when an operation such as raising / lowering, extending / contracting, or turning of the boom is performed, an allowable operation range set in accordance with the position state of the boom (that is, the boom operation is controlled). For the operation in which the boom or the work platform moves outside the possible range), the controller regulates the operation of the boom when the boom reaches the boundary of the allowable operation range region. The state in which the operation is regulated by the controller is displayed by the display means, and the operator can easily determine which direction the operation is regulated by viewing this display. Further, when the operation means is operated in the operation restricted direction in the operation restricted state, an operation procedure for enabling the boom operation by avoiding the operation restriction is displayed on the display means. This can be easily recognized. And if a boom is operated according to this display means, the operation | movement regulation direction can be avoided and the operation | movement of an appropriate boom can be performed.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, FIG. 2 shows an aerial work vehicle 1 equipped with a boom operation control device according to the present invention. The aerial work vehicle 1 is capable of traveling with front and rear wheels 3a and 3b, and is configured based on a truck vehicle having a driver's cab 2a at the front. On the vehicle body 2 of the truck vehicle, there is disposed a turntable 4 which is driven by a turn motor (hydraulic motor) (not shown) so as to be able to turn horizontally. A base 5 is pivotally connected to the swivel 4 and a boom 5 is attached. The boom 5 is moved up and down by a hoisting cylinder 6. The boom 5 is configured to be extendable and retractable by a built-in telescopic cylinder 7 by combining a proximal boom 5a, an intermediate boom 5b, and a distal boom 5c in a nested manner.
[0009]
The front end boom 5c has a front end boom head 5d. The support member 8 is pivotally connected to the boom head 5d so as to be swingable up and down. The support member 8 has a vertical post portion (not shown), and swinging control of the support member 8 is performed by a leveling cylinder (not shown) disposed between the boom head 5d and the support member 8. Regardless of whether the boom 5 is raised or lowered, the support member 8 is controlled to swing so that the vertical post portion always extends vertically. In this manner, the work table 9 is attached to the vertical post portion which is always held vertically so as to be able to swing horizontally (swing freely), and the work table 9 is always held horizontally regardless of the undulation of the boom 5.
[0010]
A lifting device 10 is provided at the upper end of the support member 8. Also, outriggers 11 that are extendable downward are provided at four locations on the front, rear, left, and right of the vehicle body 2 so that when working at a high place, the vehicle body 2 can be lifted and supported as shown in the figure. It has become.
[0011]
The boom operation control device 20 provided in such an aerial work vehicle 1 will be described in detail below.
[0012]
As shown in FIG. 1, the boom operation control device 20 of the present invention includes an operation device 22, a controller 23 that receives this operation signal, and a hydraulic control valve 28 that is operated and controlled by receiving a control signal from the controller 23. And an actuator 30 that receives supply control of hydraulic pressure from the hydraulic control valve 28.
[0013]
The actuator 30 includes a telescopic cylinder 30 a that performs the telescopic operation of the boom 5, a hoisting cylinder 30 b that performs the hoisting operation of the boom 5, and a swing motor 30 c that performs the swing operation of the boom 5. It comes to work. The work table 9 is provided with an operating device 22, and as shown in FIG. 5, the operating device 22 includes an extendable lever 22a (expandable operation means), a hoisting lever 22b (raising and lowering operation means), and a turning lever 22c (turning). Operation means). When the telescopic lever 22a is operated in the front-rear direction, the telescopic operation signal is generated. When the hoisting lever 22b is operated in the left-right direction, the hoisting operation signal is operated. Is output to the hydraulic control valve 28. The hydraulic control valve 28 controls the hydraulic pump 29 based on these operation signals and controls the supply of hydraulic pressure to the corresponding actuators 30a, 30b, 30c, thereby controlling the expansion / contraction, undulation, and turning operation of the boom 5. Can be done. For example, an expansion / contraction operation signal is output to the hydraulic control valve 28 by operating the expansion / contraction lever 22a, the supply / discharge of hydraulic oil to / from the expansion / contraction cylinder 30a is controlled, and the expansion / contraction operation of the boom 5 is controlled.
[0014]
In this way, when an operator (not shown) on the work table 9 operates the operation device 22, the boom 5 is extended, retracted, and swung to move the work table 9 to a desired height. Can be made.
[0015]
On the other hand, when the boom 5 is moved up and down, extended or retracted, or turned to move the work platform 9 to a desired height, the overturning moment acting in the direction of overturning the vehicle body 2 changes, and this overturning moment is allowed. When the value is exceeded, the stable supportability of the vehicle body 2 is lowered. Further, the boom 5 and the work table 9 may interfere with the vehicle body 2 depending on the position of the boom 5 and the operation content. In order to prevent such a decrease in safety and interference, the aerial work vehicle 1 has a boom 5 in which an allowable operation range of the boom 5 is set in advance and is moved out of the allowable operation range by the controller 23. The operation of 5 is restricted.
[0016]
In order to perform such operation restriction control, the boom operation control device 20 is provided with an expansion / contraction length detector 21a for detecting the expansion / contraction length of the boom 5 and the undulation angle of the boom 5 as shown in FIG. A undulation angle detector 21b for detecting and a turning angle detector 21c for detecting the turning angle of the boom 5 are provided. Information detected by these detectors 21 a to 21 c is input to the controller 23. The controller 23 includes a position calculation unit 24, an operation restriction unit 25, and an allowable operation range memory 26a. The position calculation unit 24 calculates the position of the boom 5 based on information from the detectors 21 a to 21 c and outputs the position to the operation restriction unit 25. The operation restricting unit 25 compares the calculated position of the boom 5 with the allowable operation range of the boom 5 preset in the allowable operation range memory 26a, and when the boom 5 moves outside the allowable operation range. A restriction signal is output to the operation control unit 27 to restrict the operation of the corresponding boom 5.
[0017]
As described above, the controller 23 regulates the operation of the boom 5 that moves outside the allowable operation range, and also has a function of preventing the stability of the vehicle body 2 from being lowered and the boom 5 and the work table 9 from interfering with the vehicle body 2. Have.
[0018]
Furthermore, when the operation of the boom 5 is restricted as described above, the operation restriction unit 25 displays the contents of the operation restriction on the first display 31. As shown in FIG. 5, the first indicator 31 is composed of light emitting diodes 31 a to 31 f indicating the operating direction of the boom, and lights up the light emitting diode corresponding to the operable direction of the operation of the boom 5. The light emitting diode corresponding to the direction in which the operation of the boom 5 is regulated is turned off. For this reason, the operator can easily recognize the operating direction of the boom 5 regulated by the controller 23.
[0019]
By the way, since there are various states in which the operation of the boom 5 is restricted by the controller 23 as described above, it is often difficult to make an operation determination for avoiding the operation restriction. As shown in FIG. 1, the boom operation control device 20 according to the present invention can easily recognize an operation procedure for enabling the operation of the boom 5 that is restricted in operation as described above. In addition, a restriction avoidance condition memory 26b in which restriction avoidance conditions are set in advance and a second display 32 for displaying the contents thereof are provided. Hereinafter, an embodiment in which the boom 5 is operated while avoiding the operation restriction based on the display of the second indicator 32 will be described with reference to the drawings.
[0020]
As described above, when the operation of the boom 5 is regulated by the controller 23, the boom 5 remains regulated even if the operation device 22 is operated so that the boom 5 is actuated in the actuation regulation direction. . However, when the operation device 22 is operated, an operation signal is transmitted to the controller 23. Even when the operation device 22 is operated so as to operate the boom 5 in the operation-restricted direction, this operation is performed. The signal is transmitted to the controller 23. In response to this, the operation control unit 27 operates the operation restriction unit 25 when it is determined that an operation signal that is the same direction of operation of the boom 5 as the direction in which the operation restriction is performed is input. The operation restricting unit 25 operates the position device of the predetermined boom 5 to which the position of the boom 5 detected by the detectors 21a to 21c belongs and the operation device 22 from the restriction avoidance condition memory 26b of the controller 23. An option for which a direction is set is selected, an operation procedure for enabling operation in a preset operation regulation direction is read, and the content is output to the second display 32.
[0021]
As shown in FIG. 5, the second indicator 32 includes light emitting diodes 32 a to 32 f and displays an operation direction for avoiding the operation restriction of the boom 5 by lighting. When there are a plurality of operations for avoiding the regulation, when the corresponding light emitting diodes 32a to 32f are sequentially turned on and the completion of the operation by the previous display is detected from the information from each of the detectors 21a to 21c, the next operation is performed. The light emitting diodes 32a to 32f indicating the contents are turned on and turned off when the operation is completed.
[0022]
The operation device 22, the first display 31, and the second display 32 are collectively provided on the operation & display panel 33 of the workbench 9 as shown in FIG.
[0023]
In the boom operation control device 20 configured as described above, the operator displays the operation procedure for avoiding the operation of the boom 5, which is regulated by the controller 23, on the second display 32, so that the operator can operate the operation procedure. Can be easily recognized. Furthermore, if the operation device 22 is operated according to the display on the second indicator 32, the operation of the boom 5 can be appropriately performed while avoiding the operation restriction.
[0024]
Here, a specific example in which the turning operation is performed while avoiding the operation restriction from the state where the boom 5 is laid down will be described with reference to FIGS. 3 and 4.
[0025]
3 and 4, the boom 5 of the aerial work vehicle 1 falls down by a predetermined undulation angle (θ1) higher than the upper end of the operator cab 2a in the vicinity of the horizontal position, and When the tip of the boom 5 and the work platform 9 are outside the permissible operating range θ2 to θ2 ′ (range where the swivel 4 is sandwiched) that does not interfere with the cab 2a, the operation of the boom 5 is possible in all directions. The light emitting diodes 31a to 31f of the first display are all lit.
[0026]
From this position A, when the operator operates the turning lever 22c to cause the boom 5 to turn right in the direction of the cab 2a (arrow direction), the boom 5 is positioned on the turning allowable operating range boundary θ2. When B is reached, the work table 9 and the tip of the boom 5 interfere with the cab 2a, so the controller 23 regulates the right-turning operation of the boom 5 that moves beyond θ2 that is the boundary of the allowable operation range. . At this time, the light-emitting diode 31a of the first display 31 is turned off, indicating that the operator is restricted from turning right.
[0027]
In order to avoid the operation restriction and to turn the boom 5 to the right, the boom 5 is moved from the position B to the position C where the tip of the boom 5 and the work platform 9 do not interfere with the cab 2a (see FIG. 3). The condition is that the lifting operation is performed. When the turning lever 22c is operated in the right turning direction in which turning is restricted, the boom operation control device 20 according to the present invention performs the raising operation of the boom 5 which is a restriction avoidance condition at this time. The display is performed by lighting the 32 light emitting diodes 32e (see FIG. 5). For this reason, the operator can easily recognize the regulation avoidance condition by looking at the display on the second display 32.
[0028]
In accordance with this display, the operator raises and lowers the boom 5, and when the tip of the boom 5 reaches the position C, the left turning operation of the boom 5 is not restricted, and the light emitting diode 32e of the second display 32 is turned off. Instead, since the light emitting diode 31a of the first display 31 is turned on, the operator can recognize that the boom 5 can be turned right, and the boom 5 can be turned right.
[0029]
According to such a boom operation restriction device 20, when the operation device 22 is operated so as to activate the boom 5 in the direction restricted by the controller 23, a preset restriction avoidance condition is displayed on the second indicator. 32, the operator can easily and appropriately operate the boom 5 in the operation restricting direction without performing the operation restricting without making difficult various condition determinations.
[0030]
It should be noted that the contents of restriction of the operation of the boom 5 by the controller displayed on the first display 31 and the operation procedure for enabling the operation of the boom 5 in the operation restriction direction displayed on the second display 32 are voiced. You may provide the audio | voice guide apparatus to perform, or the monitor display apparatus performed by a monitor display. Further, by combining these with the operation & display panel 33 as appropriate, usability can be further improved.
[0031]
Further, in the above-described aerial work vehicle 1, when operation restriction is performed by the controller 23, the first display 31 indicating the restriction content and the second display 32 indicating the restriction avoidance condition are different display means. Although it is displayed, in the present invention, it is not always necessary to configure the first display unit 31 and the second display unit 32 separately, indicating whether the regulation content is shown or conditions for avoiding the regulation. If the operator can distinguish the contents, the first display 31 and the second display 32 may be configured together.
[0032]
【The invention's effect】
As described above, according to the boom operation control device of the present invention, the operator can display the operation procedure for avoiding the operation of the boom, which is regulated by the controller, on the guide means such as the display means. Can be easily recognized, thus improving work efficiency. Further, if the operation means is operated in accordance with the guide of the guide means such as the display of the display means, the operation of the boom can be appropriately performed while avoiding the operation restriction.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a boom operation control apparatus according to the present invention.
FIG. 2 is a perspective view of an aerial work platform equipped with the boom operation control device.
FIG. 3 is a side view of an aerial work vehicle equipped with the boom operation control device, and is a conceptual diagram showing an allowable operation range (above θ1) of the boom hoisting angle.
FIG. 4 is a plan view of an aerial work vehicle equipped with the boom operation control device, and is a conceptual diagram showing an allowable operation range of a boom turning angle (θ2 to θ2 ′, with a turntable being sandwiched). .
FIG. 5 is a diagram illustrating a configuration of an operation & display panel.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Aerial work vehicle 5 Boom 9 Work table 20 Boom operation control device 22 Operation device 23 Controller 30 Actuator 31 First display (display means)
32 Second display (display means)

Claims (3)

The vehicle body is provided with a boom that can freely move up and down, extend and retract, and turn, and a work table that is horizontally held and attached to the tip of the boom. An operation control device for the boom in an aerial work vehicle that moves the workbench to a desired position,
An operating means that is externally operated to transmit an operation signal for performing operations such as raising and lowering, extending and contracting, and turning of the boom;
A boom operating actuator that receives the operation signal and performs operations such as raising and lowering, extending and contracting, and turning of the boom;
In response to the operation of the operating means, the boom operating actuator performs control to operate the boom, and the boom operating actuator operates so that the boom or the work table moves outside a preset allowable operating range. In a boom operation control device having a controller that performs control to regulate
When the operation means is further operated to operate the boom in the operation regulation direction in a state where the operation is regulated by the controller, the boom can be operated in the operation regulation direction. Therefore, a boom operation control device comprising: guide means for guiding an operation procedure for avoiding restrictions to an operator. 2. The boom operation control device according to claim 1, wherein when the operation for avoiding the restriction includes a plurality of operations, the guide means sequentially guides the next operation when the previous operation is completed. The operation of the boom according to claim 1 or 2, wherein the guide means is a display means for displaying an operation procedure of the operating device including a monitor display, or a voice guide device for performing an operating procedure of the operating device by voice. Control device.

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