JP4388738B2 - Boom operation control device for aerial work platforms - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a boom operation control device for an aerial work vehicle configured to have a workbench at a tip end portion of a telescopic boom provided so as to be freely undulated and telescopic.
[0002]
[Prior art]
The telescopic boom type aerial work vehicle is a vehicle in which an operator's boarding work platform is configured to be movable by an extendable boom that can be moved up and down on a traveling body. Or it is used for work in various high places, such as wall painting work of a ship. The boom operation control device provided in such an aerial work vehicle allows the boom to move up and down and extend and retract (and sometimes turn in some cases) only under the condition that the traveling body does not fall due to the falling moment. In general, a safety device that regulates the boom operation that deviates from such a condition is incorporated, thereby ensuring work safety.
[0003]
There are roughly two types of such safety device configurations. One is to sequentially calculate the overturning moment acting on the traveling body and compare it with a predetermined allowable moment, so that the overturning moment exceeds the allowable moment. It regulates the operation of the boom (moment regulation). The other is to compare the detected position of the tip of the boom (or the position of the work table) with a predetermined allowable work range, and to operate the boom so that the tip of the boom deviates from the allowable work range. It is intended to regulate (work range regulation). The allowable work range in the latter work range regulation may be set for each turning posture (turning angle) of the boom. In this case, the allowable work range set on the side of the traveling body is the smallest.
[0004]
In a boom operation control apparatus in which a safety device according to the work range regulation is incorporated, the current position of the tip of the boom has reached a predetermined limit area defined inside the outer edge of the allowable work range. When a boom operation is performed in a direction that causes the tip portion to deviate from the allowable work range (limit region), the boom operation signal is canceled, or a boom operation corresponding to such a boom operation is not performed. The hydraulic pressure supply to the associated hydraulic actuator is cut off, thereby preventing the traveling body from overturning.
[0005]
In addition, as an example of such work range regulation, if the boom tip reaches the above limit area of the allowable work range while the boom is being lowered, etc., the boom operation is stopped. In other words, a so-called non-stop work range regulation is known in which the boom collapse operation is continued while the boom is contracted so that the tip of the boom does not deviate from the allowable work range ( For example, see Patent Document 1). According to the work range regulation in such a form, the required boom overturning operation can be performed without stopping the boom, and there is an advantage that high work efficiency can be obtained.
[0006]
[Patent Document 1]
Japanese Patent Publication No. 4-19159
[0007]
[Problems to be solved by the invention]
As described above, in the conventional non-stop type work range regulation, when an operation input is made to operate the boom while the tip of the boom is within the limit area of the allowable work range, The boom is retracted to prevent the tip of the boom from deviating from the allowable work range.If the boom collapse speed is high and the boom cannot keep up with this, The tip end portion moves outside the allowable work range, and as a result, a situation may occur in which the tip end portion of the boom deviates from the allowable work range.
[0008]
The present invention has been made in view of such a problem, and in a state where the tip of the boom or the workbench has reached a predetermined limit region defined inside the outer edge of the allowable work range, the boom overturning operation is performed. An aerial work vehicle with a configuration that can reliably prevent the tip of the boom or the work platform from deviating from the allowable work range (limit area) and improve work safety when input is performed. It is an object of the present invention to provide a boom operation control apparatus.
[0009]
[Means for Solving the Problems]
In order to achieve such an object, a boom operation control device for an aerial work vehicle according to the present invention includes a traveling body, a telescopic boom provided on the traveling body so as to be undulated and telescopically movable, and a distal end portion of the telescopic boom. Undulating workbench and telescopic boom Or Command means (for example, boom operation lever 51 in the embodiment) for instructing expansion and contraction, and position detection means (for example, the undulation angle detector 91 in the embodiment, long position) for detecting the position of the tip of the telescopic boom or the work table. Position detector 92, turning angle detector 93, and position calculation unit 62 of controller 60), and the position of the distal end of the telescopic boom or the workbench detected by the position detection means according to the command from the command means Includes a boom operation control means (for example, the valve control unit 61 of the controller 60 in the embodiment) that controls the operation of the telescopic boom within a range that does not deviate from the predetermined allowable work range, Alternatively, the finger may be detected when it is detected that the workbench has reached a predetermined limit area defined inside the outer edge of the allowable work range. When the instruction to fall the telescopic boom is made by the means, the boom operation control means is in effect while the tip of the telescopic boom or the work table is within the limit area (for example, the limit area S of the allowable work range R in the embodiment). However, instead of stopping the telescopic boom, The tip of the telescopic boom or In the boom operation control device for an aerial work vehicle having a configuration in which the boom is continuously lowered while the telescopic boom is contracted so as not to deviate from the allowable work range of the work table, the position detecting means detects the tip of the telescopic boom or The platform has reached the specified limit area Then, the tip of the telescopic boom or the workbench stops. When a command is issued that causes the telescopic boom to fall down with the command means being detected, the boom operation control means first causes the telescopic boom to contract and then retracts the telescopic boom. It is supposed to be performed in conjunction with. Here, as described above, the retracting operation of the telescopic boom that is performed before the collapse operation of the telescopic boom is performed by simply retracting the telescopic boom, and by performing the contracting operation of the telescopic boom in conjunction with the collapse operation. Either may be sufficient.
[0010]
In the boom operation control apparatus for an aerial work platform according to the present invention, the telescopic boom can be extended and contracted in a state where the distal end portion or the workbench reaches a predetermined limit region defined inside the outer edge of a predetermined allowable work range. When boom boom operation input is performed, while the boom tip or workbench is within the limit area, not only the telescopic boom but also the telescopic boom contraction operation is performed. Prior to the interlocking operation between the operation and the contraction operation, the contraction operation of the telescopic boom is performed. For this reason, when the telescopic boom is retracted when the telescopic boom tip or work platform is within the limit range of the allowable work range as in the prior art, the telescopic boom contracting operation is Thus, it is possible to prevent a situation in which the distal end of the telescopic boom or the work table deviates from the limit area without catching up with the work, and the safety of work can be improved.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 2 is a side view of an aerial work vehicle equipped with a boom operation control device according to an embodiment of the present invention. The aerial work platform 1 includes tire wheels 11,..., A truck-type traveling body 10 that can be traveled and operated from the driving cabin 12, a turning body 20 provided on the traveling body 10, and the turning A telescopic boom (hereinafter simply referred to as a boom) 30 attached to the upper part of a support column 21 extending upward from the body 20 by a foot pin 22 so as to be swingable up and down, and an operation attached to the tip of the boom 30 And a work table 40 for passenger boarding.
[0013]
The revolving unit 20 is attached to the rear part of the traveling unit 10 so as to be capable of rotating 360 degrees around the vertical axis. The revolving unit 20 can be operated to rotate horizontally by hydraulically driving a revolving motor 23 built in the traveling unit 10. The boom 30 includes a proximal boom 30a, an intermediate boom 30b, and a distal boom 30c. The boom 30 can be telescopically operated by hydraulically driving a telescopic cylinder 31 provided therein. it can. Further, the boom 30 can be raised and lowered within the upper and lower surfaces by hydraulically driving a raising and lowering cylinder 24 straddled between the base end boom 30 a and the column 21.
[0014]
A vertical post holding bracket 32 is attached to the tip of the tip boom 30 c, and a lower end portion of the vertical post 34 is attached to the vertical post holding bracket 32 via a swing pin 33. The vertical post 34 is configured so that a vertical posture is always held by a post holding device (not shown) provided in the boom 30 regardless of the undulation angle of the boom 30.
[0015]
The work table 40 includes a box-shaped work table main body 41 on which an operator boardes, and a work table holding bracket 42 attached to the work table main body 41. The work table holding bracket 42 is attached to itself. It is rotatably attached to the upper end portion of the vertical post 34 via a built-in bearing (not shown). A swing motor 43 is provided inside the worktable holding bracket 42, and a pinion gear (not shown) meshed with a ring gear (not shown) installed around the vertical post 34 by hydraulically operating the swing motor 43. The entire work table 40 can be swung around the vertical post 34 by driving (not shown). Here, since the vertical post 34 is always kept in the vertical posture as described above, as a result, the floor surface of the work table main body 41 is always kept horizontal.
[0016]
Outrigger jacks 13, 13,... Are provided at the front, rear, left, and right portions of the traveling body 10 to support the traveling body 10 in operation in a stable state. Each outrigger jack 13 includes an outer jack (cylinder tube) 13a extending in the vertical direction, an inner jack (piston rod) 13b that is provided in the outer jack 13a and is extendable in the downward direction, and a lower end portion of the inner jack 13b. Each of the outrigger jacks 13 by moving (extending) the inner jacks 13b downward and grounding the jack pads 13c to the ground. The traveling body 10 can be supported in a lifted state. In addition, each outrigger jack 13 can be extended to the side of the traveling body 10 so that higher stability of the traveling body 10 can be obtained. The operation of the outrigger jacks 13, 13,... Is performed by operating a jack operation lever 14 provided at the rear portion of the traveling body 10.
[0017]
In the operation box 50 provided on the work table 40, as shown in FIG. 3, a boom operation lever 51 for performing the raising / lowering, expansion / contraction, and turning operations of the boom 30 and the swing operation of the work table 40 are performed. A work table swing lever 52 is provided. Further, in the operation box 50, an alarm lamp 57 and an alarm buzzer 58 are provided for alerting the operator when the operation of the boom 30 described later is regulated.
[0018]
The boom operation lever 51 can be tilted to the front (far side), rear (front side), left and right with the vertical position, which is the automatic return position, as the neutral position, and the left and right directions around the axis. It is possible to perform a twisting operation. Here, when the boom operation lever 51 is tilted forward from the neutral position, the boom 30 can be tilted, and when the boom operation lever 51 is tilted backward from the neutral position, the boom 30 can be lifted. Further, when the boom operation lever 51 is tilted to the right from the neutral position, the boom 30 can be extended, and when the boom control lever 51 is tilted to the left from the neutral position, the boom 30 can be contracted. Further, when the boom operation lever 51 is twisted counterclockwise (counterclockwise) from the neutral position, the boom 30 can be swiveled counterclockwise (revolving body 20), and clockwise from the neutral position (clockwise). When the twisting operation is performed, the boom 30 can be turned clockwise.
[0019]
The worktable swing operation lever 52 can be tilted leftward and rightward with the vertical position, which is the automatic return position, as the neutral position. Here, when the work table swing operation lever 52 is tilted to the left from the neutral position, the work table 40 can be swung clockwise (clockwise), and when the tilt is operated to the right from the neutral position. The work table 40 can be swung counterclockwise (counterclockwise). The operating speed of each direction of the boom 30 and the work table 40 increases substantially in proportion to the operation amount (tilt amount) of the corresponding lever, and the operator operates the levers 51 and 52. By adjusting the amount as desired, the operation of the boom 30 and the work table 40 can be performed by selecting the optimum operating speed.
[0020]
FIG. 1 is a block diagram showing an operating system of the boom 30 and the work table 40 in the aerial work platform 1. The operation state (operation direction and operation amount) of the boom operation lever 51 in the forward / backward tilt direction, the operation state in the left / right tilt direction, and the operation state in the left / right twist direction are respectively a undulation detection potentiometer 53 provided at the base of the boom operation lever 51, Signals detected by the detection potentiometer 54 and the turning detection potentiometer 55 and output from the potentiometers 53, 54 and 55 are valve controls of the controller 60 installed in the traveling body 10 as boom undulation signals, boom extension / contraction signals, and boom turning signals. Input to the unit 61. Further, the operation state of the work table swing operation lever 52 in the left-right tilt direction is detected by a swing detection potentiometer 56 provided at the base of the work table swing operation lever 52, and a signal output from the potentiometer 56 is a work table. Similarly, the head swing signal is input to the valve controller 61 of the controller 60.
[0021]
The valve control unit 61 of the controller 60 electromagnetically drives the control valve V1 corresponding to the hoisting cylinder 24 based on the boom hoisting signal output from the hoisting detection potentiometer 53, and based on the boom elongating signal output from the telescopic detection potentiometer 54. Thus, the second control valve V2 corresponding to the telescopic cylinder 31 is electromagnetically driven. Further, the valve control unit 61 electromagnetically drives the third control valve V3 corresponding to the swing motor 23 based on the boom swing signal output from the swing detection potentiometer 55, and the work table head output from the swing detection potentiometer 56. Based on the swing signal, the fourth control valve V4 corresponding to the swing motor 43 is electromagnetically driven.
[0022]
The hydraulic fluid discharged from the hydraulic pump P provided in the traveling body 10 passes through the first to fourth control valves V1, V2, V3, and V4, and the hoisting cylinder 24, the telescopic cylinder 31, the swing motor 23, and the swing motor. 43 is supplied. The spools (not shown) of the first to fourth control valves V1, V2, V3, and V4 driven by the valve control unit 61 of the controller 60 are the operation directions of the boom operation lever 51 and the worktable swing operation lever 52. As a result, the direction of the hydraulic oil sent to the hoisting cylinder 24, the telescopic cylinder 31, the turning motor 23, and the swinging motor 43 is increased. The flow rate is controlled according to the operation of the boom operation lever 51 or the worktable swing operation lever 52. Therefore, the hoisting cylinder 24, the telescopic cylinder 31, the swing motor 23, and the swing motor 43 are operated at speeds corresponding to the operation amounts in directions corresponding to the operation directions of the boom operation lever 51 and the work table swing operation lever 52. Will be activated. Here, the swing operation of the work table 40 is performed by driving the spool of the fourth control valve V4 by the controller 60 receiving the operation signal of the work table swing operation lever 52. The spool of the fourth control valve V4 may be configured to be directly moved by the operation of the work table swing operation lever 52 without using the controller 60.
[0023]
Since the aerial work platform 1 is configured as described above, an operator who has boarded the work platform 40 operates the boom operation lever 51 to cause the boom 30 to undulate, expand, contract, and turn at a desired operating speed. In addition, by operating the work table swing operation lever 52, the work table 40 can be swung around the vertical post 34 at a desired operating speed, and the work table 40 can be moved as desired by operating its own lever. It is possible to work at an arbitrary position.
[0024]
The controller 60 is provided with a position calculation unit 62 and an allowable work range data storage unit 63. The position calculation unit 62 is provided in the proximal boom 30a to detect a raising / lowering angle detector 91 for detecting the raising / lowering angle of the boom 30, and a length detection provided to the distal end of the proximal boom 30a to detect the length of the boom 30. The position of the tip of the boom 30 with respect to a predetermined reference position of the traveling body 10 is calculated on the basis of each detection information from the turning angle detector 93 provided in the vehicle 92 and the traveling body 10 for detecting the turning angle of the boom 30. The result is output to the valve control unit 61 and information on the turning angle of the boom 30 detected by the turning angle detector 93 is output to the allowable work range data storage unit 63 described later. The position calculation unit 62 constitutes a position detection device that detects the position of the tip of the boom 30 together with the detectors 91, 92, and 93.
[0025]
The allowable work range data storage unit 63 of the controller 60 is a part that stores allowable work range data for each turning posture (turning angle) of the boom 30. This allowable work range data storage unit 63 is based on detection information from the turning angle detector 93 sent via the position calculation unit 62, and allowable work range data corresponding to the turning posture of the boom 30 at that time. (Allowable work range data) is selected and output to the valve controller 61.
[0026]
The valve control unit 61 compares the current position of the tip of the boom 30 calculated by the position detection device with the allowable work range corresponding to the turning posture of the boom 30 given from the allowable work range data storage unit 63, and It is determined whether or not the tip of 30 has reached a predetermined limit area defined inside the outer edge of the allowable work range. When it is determined that the tip of the boom 30 has reached the limit area of the allowable work range, a boom operation signal (described above) that causes the tip of the boom 30 to deviate from the allowable work range (limit area). Ignoring the boom raising / lowering signal, boom expansion / contraction signal, boom turning signal) (or shutting off the hydraulic pressure supply to the associated hydraulic actuator so that the boom 30 is not operated in response to such boom operation). . As a result, the operation of the boom 30 is forcibly stopped, so that the tip of the boom 30 does not deviate from the allowable work range. Accordingly, the falling moment does not become excessive and the traveling body 10 does not fall, and the safety of work is achieved. The alarm lamp 57 and the alarm buzzer 58 on the operation box 50 described above are electrically connected to the valve control unit 61 of the controller 60, and the valve control unit 61 is configured such that the tip of the boom 30 is within the allowable work range as described above. When it is determined that the limit area is reached, the alarm lamp 57 is turned on and an alarm sound is generated from the alarm buzzer 58 to alert the worker on the work table 40.
[0027]
FIG. 4 shows an example of an allowable work range set on the side of the traveling body 10 in accordance with the turning posture of a certain boom 30 (and the overhanging width of the outrigger jack 13). Here, the area outlined with diagonal lines in the drawing corresponds to the allowable work range R. A region S (in FIG. 4, a region extending in a band shape along the outermost outer edge of the allowable work range R) S moves along the tip of the boom 30. This is the limit area (limit area) that can be generated. Hereinafter, for convenience of explanation, an area within the allowable work range R and not the limit area S will be referred to as a normal work range R ′.
[0028]
In addition, the valve control unit 61 of the controller 60 generates a boom operation signal that causes the boom 30 to fall down in a state where it is determined that the tip of the boom 30 has reached the limit area S of the allowable work range R as described above. When the input is received, the boom 30 is contracted in preference to the boom 30 lying down while the tip of the boom 30 is in the limit region S. That is, while the tip of the boom 30 is in the limit region S, the boom 30 is simply retracted before the boom 30 is tilted, or the boom 30 is contracted. The boom 30 is retracted in conjunction with the collapse operation of the boom 30 after being set to be larger.
[0029]
FIG. 5 illustrates the valve control unit 61 when receiving a boom operation signal that causes the boom 30 to fall down with the tip of the boom 30 reaching the limit region S of the allowable work range R as described above. 5A is a diagram showing a movement locus of the tip portion of the boom 30 corresponding to the control content performed by FIG. 5, and FIG. In this case, the movement locus of the tip of the boom 30 is A1 → A2 → A3 →. FIG. 5B is an example in the case where the control content performed by the valve control unit 61 is one in which the contraction operation of the boom 30 is performed in conjunction with the collapse operation of the boom 30. The movement trajectory is B1 → B2 → B3 →. Here, in the latter control example, the setting of the ratio of the contracting operation of the boom 30 and the ratio of the lying down operation are specifically the tip of the boom 30 at the time when the boom operation for tilting the boom 30 is performed. The amount of deviation from the normal work range R ′ of the part (this is obtained from a comparison between the position of the tip of the boom 30 detected by the position detection device and the allowable work range R), and the boom operation lever 51 This is performed based on the amount of tilting forward (the amount of tilting in the direction in which the boom 30 is laid down). The operation of these booms 30 is performed when the boom operation lever 51 is tilted (tilting operation that causes the boom 30 to fall) from the state where the tip of the boom 30 is within the limit region S (stopped). Not only that, the tilting operation of the boom operation lever 51 has already been performed, and this is performed both in the case of entering the limit region S while the tip of the boom 30 is moving.
[0030]
As described above, in the boom operation control device provided in the aerial work platform 1, the tip of the boom 30 reaches the predetermined limit region S defined inside the outer edge of the predetermined allowable work range R. In the state where the boom 30 is operated to fall, while the tip of the boom 30 is in the limit region S, not only the boom 30 is lowered but also the boom 30 is contracted. The boom 30 is contracted (a simple contracting operation or a contracting operation performed in conjunction with a lodging operation) before the interlocking operation between the lodging operation and the contracting operation. For this reason, when the boom 30 is laid down with the tip of the boom 30 being within the limit region S of the allowable work range R as in the prior art, the boom 30 contraction is changed to the boom 30 fold down. It is possible to prevent a situation in which the tip of the boom 30 deviates from the limit region S without catching up, and work safety can be improved. In particular, in the latter control example (control in which the boom 30 contracts in conjunction with the boom 30 collapse operation), the boom 30 collapse operation is continued without being stopped. Are better.
[0031]
When the latter control example described above (control in which the boom 30 contraction operation is interlocked with the boom 30 tilting operation) is adopted, the valve control unit 61 of the controller 60 uses the position detection device to control the boom 30. The boom 30 tilting operation command (operation) by the operation of the boom operation lever 51 performed in a state in which it is detected that the tip portion has reached the limit region S is performed based on this command. When the operating speed of the contracting operation of the boom 30 to be interlocked with the overturning operation exceeds a predetermined speed limit (specifically, when the amount of forward tilting operation is too large), the boom operation lever 51 is operated. Regardless of the above command by the operation, the boom 30 is allowed to fall so that the contraction speed of the boom 30 is within the limit speed. It is preferably adapted to carry out the interlocking operation.
[0032]
With such a configuration, when the operation of the boom operation lever 51 that causes the boom 30 to fall down at a high speed from a state where the tip of the boom 30 is stationary within the limit region S of the allowable work range R, Or, even when the tip of the boom 30 enters the limit region S when an input to fall the boom 30 at a high speed is performed, the tip of the boom 30 is in the limit region S. During this time, the lowering operation of the boom 30 can be suppressed to a low speed, so that even if the falling operation and the contracting operation of the boom 30 are performed in conjunction with each other, the contracting operation of the boom 30 catches up with the falling operation. Therefore, it is possible to reliably prevent the tip of the boom 30 from deviating from the limit region S of the allowable work range R.
[0033]
Although the preferred embodiments of the present invention have been described so far, the scope of the present invention is not limited to those shown in the above-described embodiments. For example, in the above-described embodiment, the allowable work range R is selected and set by the allowable work range data storage unit 63 based on detection information from the turning angle detector 93 sent via the position calculation unit 62. However, this is an example in the case where the allowable work range is determined for each turning angle of the boom 30, and if the allowable working range is constant regardless of the turning angle of the boom 30, the turning is performed in this way. The allowable work range is not determined based on the detection information from the angle detector 93. Further, if the allowable work range is determined not only by the turning angle of the boom 30 but also the tension width of the outrigger jack 13, an outrigger jack tension width detector for detecting the tension width of the outrigger jack 13 is provided. The detected information is sent to the allowable work range data storage unit 63, and the allowable work range is determined based on the tension value of the outrigger jack 13.
[0034]
In the above-described embodiment, the position detection device detects the position of the tip of the boom 30, and the valve controller 61 of the controller 60 determines the position of the tip of the boom 30 detected by the position detection device in advance. Compared with the allowable work range, the configuration is such that it is determined whether or not the tip of the boom 30 has reached the limit of the allowable work range. The position detection device detects the position of the work table 40, and the controller The 60 valve control unit 61 compares the position of the work table 40 detected by the position detection device with a predetermined allowable work range to determine whether or not the work table 40 has reached the limit of the allowable work range. It is good also as a structure.
[0035]
Further, in the above-described embodiment, the allowable work range is not determined based on the load weight of the work table or the like, but the present invention does not exclude such a method of determining the allowable work range. Of course, it is possible to apply the boom operation control device according to the present invention even when the range changes depending on conditions such as the load weight of the work table.
[0036]
In addition, although the aerial work vehicle 1 shown in the above-described embodiment is configured to travel by tire wheels, this does not necessarily have to be performed by tire wheels, and is driven by a crawler device or the like. May be. Alternatively, it may be an aerial work platform for running on a track with wheels for running on a track, or an aerial work vehicle for both roads and roads equipped with both tire wheels and wheels for running on a track. .
[0037]
【The invention's effect】
As described above, in the boom operation control device for an aerial work vehicle according to the present invention, the distal end portion or workbench of the telescopic boom is within a predetermined limit region defined inside the outer edge of a predetermined allowable work range. Reach The tip of the telescopic boom or the workbench stops. If the telescopic boom overturning operation input is performed in the state where the telescopic boom is in place, the telescopic boom is not stopped while the tip of the boom or the platform is within the above limit area, but the platform deviates from the allowable work range. In order to avoid this, the boom collapse operation is continued while the telescopic boom is contracted, but the telescopic boom contraction operation is performed before the interlocking operation of the collapse operation and the contraction operation. For this reason, when the telescopic boom is retracted when the telescopic boom tip or work platform is within the limit range of the allowable work range as in the prior art, the telescopic boom contracting operation is Thus, it is possible to prevent a situation in which the distal end of the telescopic boom or the work table deviates from the limit area without catching up with the work, and the safety of work can be improved.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an operating system of a boom and a workbench in an aerial work platform equipped with a boom operation control device according to an embodiment of the present invention.
FIG. 2 is a side view of an aerial work vehicle equipped with the boom operation control device.
FIG. 3 is a perspective view showing an external appearance of a boom operation lever and a work table swing operation lever provided in an operation box on the work table.
FIG. 4 is a diagram exemplifying a region (allowable work range) in which a tip end portion of a boom that is set to the side of a traveling body can be moved in correspondence with a turning angle posture of a certain boom.
FIG. 5 shows a boom tip corresponding to the control contents performed by the valve control unit when receiving a boom operation signal that causes the boom to fall down in a state where the boom tip is within the limit range of the allowable work range. It is a figure which shows the movement locus | trajectory of a part, (A) is an example in the case of retracting the boom before the boom is lowered, and (B) is a case in which the boom is retracted in conjunction with the boom falling action. It is an example.
[Explanation of symbols]
1 aerial work vehicle
10 Running body
20 Revolving body
30 Telescopic boom
40 workbench
51 Boom control lever
52 Working table swing control lever
60 controller
61 Valve control unit
62 Position calculator
63 Allowable work range data storage unit
91 Relief angle detector
92 Length detector
93 Turning angle detector
R Allowable work range
S Limit range of allowable work range

Claims (1)

A traveling body,
A telescopic boom provided on the traveling body so as to be undulated and telescopically movable,
A workbench attached to the tip of the telescopic boom;
Command means for giving a command to raise or lower the telescopic boom;
Position detecting means for detecting the position of the tip of the telescopic boom or the work table;
A boom that controls the operation of the telescopic boom in a range in which the position of the tip of the telescopic boom or the work table detected by the position detecting unit does not deviate from a predetermined allowable work range in response to the command by the command unit. Operation control means,
In a state where it is detected by the position detecting means that the tip end portion of the telescopic boom or the work table has reached a predetermined limit region defined inside the outer edge of the allowable work range, the command means by the command means when the command for lodging the telescopic boom has been performed, while tip or to the worktable of the telescopic boom is in the limit region, the boom actuation control means, instead of stopping the telescopic boom, the In a boom operation control device for an aerial work vehicle having a configuration in which the lowering operation of the boom is continued while the telescopic boom is contracted so that the distal end of the telescopic boom or the work table does not deviate from the allowable work range,
It is detected by the position detection means that the tip of the telescopic boom or the work table has reached the predetermined limit area, and the command is issued while the tip of the telescopic boom or the work table is stopped. When a command is issued to cause the telescopic boom to fall, the boom operation control means first causes the telescopic boom to contract, and subsequently causes the telescopic boom to perform the collapse operation in conjunction with the contraction. A boom operation control device for an aerial work vehicle characterized by the above.

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