JP2003276998A - Revolving motion restricting device of bridge inspecting vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an revolving motion restricting device for a bridge inspecting vehicle equipped with a vehicle part 1, a revolving table 2, a first boom 3a rising and falling, a revolving member 3c revolving horizontally, a second boom 3d rising and falling, a third boom 3e capable of elongating and buckling, and a working table 4, in which the revolving table 2 and the revolving member 3c can be revolved in such a spreading direction viewed on the plan that the third boom axial line 3e-p goes beyond the parallel condition with the vehicle width direction center line 1-p, and the revolving motion is not necessary for the bridge inspecting operations and may cause a degradation of the stability. <P>SOLUTION: The revolving motions of the revolving table 2 and the revolving member 3c are restricted when the total value of the unilateral inner angles X and Y on the side where the tip of the third boom 3e is positioned among the intersecting angles of the first boom axial line 3a-p viewed on the plan to the vehicle width direction center line 1-p and the third boom axial line 3e-p is going to exceed 180 deg. approximately in the condition that the second boom 3d is in the falling condition and the third boom 3e is not in the condition in the neighborhood of the folded-up position. <P>COPYRIGHT: (C)2004,JPO

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 a bridge inspection vehicle.

[0002]

2. Description of the Related Art First, a bridge inspection vehicle to which an operation regulating device according to the present invention is attached will be described with reference to FIGS. In FIG. 3 and FIG. 4, the bridge inspection vehicle is equipped with a boom mechanism 3 on a swivel base 2 which is mounted on a vehicle 1 so as to be freely rotatable.
The workbench 4 is attached via the.

The boom mechanism 3 comprises a first boom 3a and a first boom 3a which are mounted on the swivel base 2 so as to be able to move up and down.
A first posture maintaining member 3b attached to the tip of the above so as to be able to maintain its ground posture constant, a swiveling member 3c horizontally swingably attached to the lower side of the first posture maintaining member 3b, and a substantially vertical lying position. A second boom 3d whose base end is attached to the swivel member 3c so as to be able to oscillate between a horizontal raising and lowering position, and an extendable and retractable attached to the tip of the second boom 3d so as to be able to extend and retract. And a third boom 3e.

The third boom 3e is capable of bending and stretching between a folding position and an extending position along the fall side of the second boom 3d. The bending / extending locus surface of the third boom 3e coincides with the undulating locus surface of the second boom 3e with respect to the turning member 3c.

The workbench 4 is attached to the tip of the third boom 3e. In the bridge inspection vehicle shown in FIGS. 3 and 4, the workbench 4 is attached to the distal end of the third boom 3e via the arm 5 whose base end is undulated so that the workbench 4 is the third. You may directly attach to the front-end | tip part of the boom 3e. In any case, it goes without saying that the workbench 4 is attached via leveling means (not shown) so as to always maintain the horizontal position.

In the bridge inspection vehicle thus constructed, during the bridge inspection work, the swivel base 2 is swung, and the first boom 3a is raised and retracted while the second boom 3d is in a substantially vertical fall position. , The turning operation of the turning member 3c, the bending operation of the third boom 3e, and the extension operation of the third boom 3e are used together to bring the work table 4 closer to the work target location. In FIGS. 3 and 4, the undulating operation of the arm 5 is also used.

Further, in the retracted state of the boom mechanism 3 (the traveling movement posture of the bridge inspection vehicle), as shown in FIG. 4, the first boom 3 is reduced and laid down along the traveling direction of the vehicle 1.
The second and third booms 3d and 3e are folded in a substantially stacked state on the lower side of a.

Incidentally, in FIGS. 3 and 4, 1a, 1
The outriggers a, ... Are arranged so as to project outside the vehicle width at the front and rear positions of the vehicle 1 so as to be able to contact the ground, and are for stabilizing the vehicle 1 during bridge inspection work.

FIG. 5 shows an operation control device for controlling the operations of the swivel base 2 and the boom mechanism 3 of the bridge inspection vehicle shown in FIGS. 3 and 4. In FIG. 5, 6 is a swivel base 2.
A swivel-driving actuator that swivels the vehicle, a first boom hoisting-driving actuator 7 that hoists and drives the first boom 3a, and a first first boom-swinging actuator 8 that telescopically drives the first boom 3a.
Boom expansion / contraction actuator 9, swivel member 3c
For driving a swivel member that swivels
Is a second boom up-and-down driving actuator that drives the second boom 3d up and down, 11 is a third boom-bending and extending driving actuator that drives the third boom 3e to bend and stretch, and 12 is a third boom that extends and retracts to drive the third boom 3e. The boom extension / contraction drive actuator 13 is an arm up / down drive actuator that drives the arm 5 up and down.

Reference numeral 6a is a swivel operation control device for controlling the swiveling operation of the swivel base 2, 7a is a first boom hoisting operation control device for controlling the hoisting operation of the first boom 3a, and 8a is a first boom hoisting operation control device.
A first boom telescopic operation control device for controlling the telescopic operation of the boom 3a, a swivel member operation control device 9a for controlling the swivel operation of the swivel member 3c, and a second boom for controlling the hoisting operation of the second boom 3d. Undulation operation control device, 11a
Is a third boom bending / expanding operation control device for controlling the bending / extending operation of the third boom 3e, 12a is a third boom expansion / contraction operating control device for controlling the expansion / contraction operation of the third boom 3e, and 13a is an undulating operation of the arm 5. It is an arm undulation operation control device for controlling.

The operation control devices 6a to 13a are controlled by the operation command signals input from the operation section 14 ... The operation command signals output according to the operation of the operator, and the operation commands for the corresponding drive actuators 6 to 13 are issued. It is driven according to a signal instruction.

In such a bridge inspection vehicle, the boom mechanism 3
To change from the retracted posture (traveling posture of the bridge inspection vehicle) to the bridge inspection work posture, follow the procedure below.

Boom mechanism 3 retracted state (state of FIG. 4)
After moving the bridge inspection vehicle on the bridge to be inspected, the outriggers 1a, 1a ,.
To stabilize. The vehicle 1 is stopped so that its traveling direction is along (parallel to) the railing of the bridge. In this state, the vehicle is stopped so that its traveling direction is along the railing of the bridge. In other words, the vehicle 1 is
The center line in the width direction is stopped so that it is parallel to the balustrade of the bridge. In addition, the first boom 3a of the boom mechanism 3
Has shrunk and has fallen down in the traveling direction of the vehicle 1, and the second boom 3d is in the raised position (a substantially horizontal state) and is located below the first boom 3a. 3e
Is in the folding position and is located below the second boom 3d. That is, the boom mechanism as a whole is provided with the second and third booms 3d and 3e on the lower side of the first boom 3a which has been reduced and laid down along the traveling direction of the vehicle 1.
Are folded into a substantially laminated shape.

Next, while the second boom 3d is kept in the raised position (substantially horizontal state) and the third boom 3e is kept in the folded position, the swivel operation of the swivel base 2 and the first boom 3a are performed. And expansion / contraction operation, and turning member 3b
The second and third booms 3 by appropriately using the turning operation together.
The d, 3e and the workbench 4 are moved to a position beyond the railing of the bridge or the fence on the side edge of the bridge (hereinafter simply referred to as the railing). In this state, the second boom 3d in the upright position (a substantially horizontal state) and the third boom 3 in the folded position
e is outside the balustrade and is substantially parallel to the balustrade in plan view.

Next, while keeping the third boom 3e in the folded position, the second boom 3d is laid down to a substantially vertical laid position. In this case, the locus surface of the second boom 3d during the fall operation is a vertical plane along the outer surface of the balustrade. In the state in which the fall operation of the second boom 3d is completed, the third boom 3e is in the folding position (the position along the substantially vertical second boom 3d).

After going through the bridge inspection work posture through these processes, the swivel base 2 is swung, the first boom 3a is lifted and retracted, the swivel member 3b is swung, and the third boom is bent and stretched. Workbench 4 with expansion and contraction as appropriate
Is moved to the outside of the parapet to be inspected or below the bridge girder for bridge inspection work.

From the bridge inspection work posture, the boom mechanism 3
In order to put the vehicle in the stowed position (the traveling posture of the bridge inspection vehicle), the above procedure is reversed.

[0018]

By the way, in this type of bridge inspection vehicle, the swing operation of the swivel base 2 and each operation of the boom mechanism 3 at the time of the bridge inspection work are not overturned and damaged. A safety device is installed to limit the work to a safe range to ensure work safety.

However, in the conventional operation restricting device, when the second boom 3d is in the lying position and the third boom 3e is not in the vicinity of the folding position, the vehicle width direction center line 1-
Of the intersecting angles of the first boom shaft center lines 3a-p with respect to p and the third boom shaft center lines 3e-p in a plan view, the total value of the same side inner angles on the side where the tip part of the third boom 3e is located is approximately 18
It does not have a function of restricting a state in which it exceeds 0 degrees (hereinafter, simply referred to as "a state in which the inner angle exceeds 180 degrees on the same side").

In the "inside same-side internal angle 180 degree excess state", the amount of protrusion of the tip of the third boom 3e toward the side of the vehicle 1 in plan view is larger than that of the second boom 3d in a substantially vertical fall position. growing. However, in this type of bridge inspection vehicle, such "inside angle 18
It is rare to use the "0 degree excess state". This is because, in this type of bridge inspection vehicle that enters the bridge inspection work posture through the above steps, the inspection target position on the outer surface of the railing of the bridge or the lower surface of the bridge girder is the position of the second boom 3d in the fall position. This is because it exists on the inner side (vehicle 1 side) and does not exist on the workbench 4 position obtained in the “inside same-side 180 ° excess state”.

On the other hand, this "same side inner angle 180 degree excess state"
Is an unfavorable posture for stability of the bridge inspection vehicle, and the conventional operation restricting device that does not restrict this posture needs to have stability corresponding to the bridge inspection vehicle.

An object of the present invention is to provide an operation restricting device for restricting a bridge inspection work posture of a bridge inspection vehicle to "a state in which the inside angle of the same side exceeds 180 degrees" which is not a restriction target of the conventional operation restricting device. By eliminating the need for the bridge inspection vehicle to have stability to cope with the "external angle of 180 degrees on the same side," it will increase the degree of freedom in designing and manufacturing aerial work vehicles.

[0023]

[Means for Solving the Problems] (Invention according to claim 1)
In order to solve the above-mentioned problems, the operation restricting device for a bridge inspection vehicle according to the invention of claim 1 is: a second boom laying posture detecting means for detecting whether or not the second boom 3d is in a vertically downward laid-down position. 15, a third boom folding state detecting means 16 for detecting whether or not the third boom 3e is in the vicinity of a folding position, a swivel swivel angle detecting means 17, for detecting a swivel angle of the swivel 2 with respect to the vehicle 1, Swivel member swivel angle detection means 18 for detecting the swivel angle of the swivel member 3c with respect to the first posture maintaining member 3b, and receiving detection signals from these detection means 15-18 for calculation to swivel the swivel base 2. And a controller 19 that outputs an operation restriction signal to a swivel member operation control device 9a that controls the swivel operation of the swivel member 3c. Controller 19
Means that the second boom 3d is in the lying position and the third boom 3d
In a state in which e is not near the folding position, the third of the intersecting angles of the first boom axis center lines 3a-p with the vehicle width direction center line 1-p and the third boom axis center lines 3e-p in a plan view is determined.
When the total value of the same side inner angles X and Y on the side where the tip portion of the boom 3e is located exceeds about 180 degrees, the swivel operation of the swivel base 2 in the direction of promoting the excess and the swivel member. An operation restriction signal for restricting the turning operation of 3c is sent to the swivel base operation control device 6a and the swivel member operation control device 9a.
To output to.

(Operation of the Invention According to Claim 1) According to the operation restricting device for a bridge inspection vehicle according to claim 1 thus constructed, the controller 19 first causes the second boom fallen posture detecting means 15 and Based on the detection signal from the 3 boom folding state detecting means 16, the "2nd boom 3 of the bridge inspection vehicle" is detected.
d is in the lying position and the third boom 3e is not in the vicinity of the folding position ”. If it is determined here that the second boom 3d of the bridge inspection vehicle is in the fall position and the third boom 3e is not in the vicinity of the folding position, the controller 19 detects the swivel base turning angle. Means 17 and turning member turning angle detection means 18
Based on the detection signal from the "vehicle width direction center line 1-p
And the third boom axis 3e-p with respect to the first boom axis 3a-p in the plan view.
Whether the total value of the inner angles of the same side on the side where the tip portion of e is located has reached a limit value of about 180 degrees "(in plan view, the third boom axis 3e-p is the vehicle width direction center line 1- p
To see if it is substantially parallel to. here,
When it is determined that the limit value of about 180 degrees is reached, the controller turns the swivel base 2 in a direction in which the total value of the same-side inner angles increases (a direction of promoting the exceeding of the limit value of about 180 degrees). , And an operation restriction signal for restricting the turning operation of the turning member 3c to the turning base operation control device 6a and the turning member operation control device 9a.

Therefore, in the turning operation restricting device according to the present invention, the posture of the bridge inspection vehicle at the time of the bridge inspection is "inside angle 18 on the same side".
0 degree excess state "(of the crossing angle of the first boom axis 3a-p in plan view with respect to the vehicle width direction center line 1-p and the third boom axis 3e-p, the tip portion of the third boom 3e). It is possible to reliably control that the total value of the inner angles on the same side on which is located exceeds about 180 degrees.

The operation restricting device of the present invention is provided with the "inside same side angle 180 ° excess state" in a state where the second boom 3d is in a substantially vertical fall position and the third boom 3e is not near the folding position. It regulates. In other words, the second boom 3
When d is in a substantially vertical fall position and the third boom 3e is in the vicinity of the folding position, the swivel base 3c and the swivel member 3c.
It is possible to make a "turning operation of 180 degrees on the same side" by turning the.

This is because the third boom 3e is the second boom 3d.
By bending the third boom 3e in the vicinity of the folding position when it is on the rear side (vehicle 1 retreat side) and the work target is on the front side of the second boom (vehicle 1 forward side) or vice versa. This is because the turning operation of the turning member 3c can be performed in the “state of the same side inner angle exceeding 180 degrees”, and the third boom 3e can be moved to the side where the work target portion is on the shortest route.

(2nd invention: invention according to claim 2) The operation control device for a bridge inspection vehicle according to claim 2, wherein
Compared with the operation control device according to the invention, the controller 1
The point that the third boom bending / extending operation control device 11a for controlling the bending / extending operation of the third boom 3e is added to the output target of the regulation signal 9 and the restriction signal to the third boom bending / extending operation control device 11a according to the addition to the controller. The only difference is that the calculation process of is added.

That is, the operation control device for a bridge inspection vehicle according to claim 2 is: second boom laying posture detecting means 15 for detecting whether or not the second boom 3d is in a vertically downward laid position; Third boom folding state detecting means 16 for detecting whether or not 3e is in the vicinity of the folding position, -Slewing base turning angle detecting means 17 for detecting a turning angle of the swivel base 2 with respect to the vehicle 1, -First attitude maintaining member A swivel member swivel angle detection means 18 for detecting a swivel angle of the swivel member 3c with respect to 3b, and a swivel base operation for controlling a swivel operation of the swivel base 2 by receiving and calculating detection signals from these detection means 15-18. The control device 6a, the turning member operation control device 9a that controls the turning operation of the turning member 3c, and the third boom bending and extending operation control device 11a that controls the bending and extending operation of the third boom 3e have operation rules. The controller 19 outputs a signal, and the controller 19 controls the vehicle width direction center line 1-p and the first center line 1-p in the state where the second boom 3d is in the lying position and the third boom 3e is not in the vicinity of the folding position. 3 boom axis 3e-
Of the crossing angles of the first boom axis 3a-p with respect to p in plan view, the total value of the same-side inner angles X and Y on the side where the tip of the third boom 3e is located is about to exceed 180 degrees. At this time, an operation restriction signal for restricting the swivel operation of the swivel base 2 in the direction of promoting the excess and the swivel operation of the swivel member 3c is output to the swivel base operation control device 6a and the swivel member operation control device 9a. And the second
Of the intersection angle of the first boom axis center lines 3a-p with respect to the vehicle width direction center line 1-p and the third boom axis center lines 3e-p in the plan view in the state where the boom 3d is in the lying position,
Inner angles X and Y on the same side where the tip of the third boom 3e is located
When the total value of the above exceeds about 180 degrees, the operation control signal for restricting the extension operation of the third boom 3e is output to the third boom bending and extension operation control device 11a.

(Operation of the Invention of Claim 2) The operation regulating device for a bridge inspection vehicle according to the invention of claim 2 configured as described above achieves the same operation as that of the invention of claim 1 described above. In addition, in the state in which the second boom 3d is in the laid-down position, the “inside same-side internal angle exceeds 180 degrees” (the first boom axis center line with respect to the vehicle width direction center line 1-p and the third boom axis center line 3e-p) 3a-p is the third of the intersection angles in a plan view.
When the total value of the same side internal angles X and Y on the side where the tip portion of the boom 3e is located exceeds about 180 degrees),
The extension operation of the third boom 3e is automatically restricted.

As described above, in the operation control device according to the second aspect of the invention, the swivel base is provided when the second boom 3d is in a substantially vertical fall position and the third boom 3e is in the vicinity of the folding position. 2 and the swiveling member 3c can be swung to be in the "same side inner angle 180 degree excess state". For this reason, there is a risk of extending the third boom 3e in the middle of the "state where the inner angle exceeds 180 degrees on the same side". The operation control device according to the invention of claim 2 solves such a problem of the invention of claim 1.

[0032]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an operation control device for an aerial work vehicle according to the present invention will be described below with reference to FIGS. FIG. 1 is a diagram in which the operation control device according to the present invention is added to the explanatory view of the operation control device of the bridge inspection vehicle shown in FIG. 5 and described above. 2A to 2D are views showing a plan view of the bridge inspection work posture of the bridge inspection vehicle, and show the following states, respectively. 2 (A); a state in which the first boom 3a is turned on the swivel base 2 so as to face the right side of the vehicle 1, and the turning member 3c is turned so that the third boom 3e faces the traveling direction of the vehicle 1; B); The swivel base 2 is swung so that the first boom 3a faces the right side of the vehicle, and the swivel member 3c is swung so that the third boom 3e is opposite to the traveling direction of the vehicle 1.
Rotated state, FIG. 2 (C); The swivel base 2 is swung so that the first boom 3a faces the left side of the vehicle 1, and the swivel member 3c is turned so that the third boom 3e is opposite to the traveling direction of the vehicle 1. 2D; the swivel base 2 is swung so that the first boom 3a faces the left side of the vehicle, and the swivel member 3c swivels so that the third boom 3e faces the traveling direction of the vehicle 1. Was
Status,

As shown in FIG. 1, the operation regulating device includes a second
The second boom laying posture detecting means 15 for detecting whether or not the boom 3d is in the vertically downward lying position, the third boom 3
For the third boom folding state detecting means 16 for detecting whether or not e is in the vicinity of the folding position, the swivel swivel angle detecting means 17 for detecting the swivel angle of the swivel 2 with respect to the vehicle 1, and the first attitude maintaining member 3b. It is composed of a turning member turning angle detecting means 18 for detecting a turning angle of the turning member 3c, and a controller 19.

The second boom fallen posture detecting means 15 is
The limit switch is arranged between the swivel member 3c and the base end of the second boom 3d, and is configured by a limit switch for detecting the falling posture (generally vertically downward) of the second boom. As another example, the second boom laid-down posture detection means 15 is arranged between the turning member 3c and the second boom 3d at the base end portion thereof and the turning member 3 is disposed.
anti-turning member angle detecting means for detecting the up-and-down angle of the second boom 3d with respect to c, or ground angle detecting means for detecting the ground angle of the second boom attached to the proper position of the second boom 3d, and this anti-turning member angle detection. It may be configured by a comparison unit that determines that the second boom fallen posture (substantially vertically downward) is obtained from the detection value of the ground angle detection unit or the ground angle detection unit. In this case, the comparison means is the controller 19 described later.
It is placed inside.

The third boom folding state detecting means 16 is
Detected that the third boom 3e is located in a proper position between the tip end of the second boom 3d and the base end of the third boom 3e, and the third boom 3e is near the folding position (the position folded along the second boom 3d). It consists of limit switches. As another example, the third boom folding position detection means 16 is arranged between the tip end portion of the second boom 3d and the base end portion of the third boom 3e in a proper position, and the third boom 3e with respect to the second boom 3d. Bending / extending angle detecting means for detecting the bending / extending angle of the third boom 3e, or a ground angle detecting means for detecting the ground angle of the third boom 3e arranged at a proper position of the third boom 3e, and the detection of the bending / extending angle detecting means or the ground angle detecting means. The third boom 3e may be configured with a comparison unit that determines from the value that the third boom 3e is near the folding position. In this case, the comparison means is the controller 19 described later.
It is placed inside.

The turning base turning angle detecting means 17 is capable of continuously detecting the turning angle of the turning base 2 with respect to the vehicle 1, and is constituted by, for example, a potentiometer. The turning angle detected by the turning base turning angle detection means 17 is synonymous with the turning angle of the first boom axis 3a-p with respect to the vehicle width direction center line 1-p in a plan view.

The turning member turning angle detecting means 18 is
1 The turning angle of the turning member 3c with respect to the posture maintaining member 3b can be continuously detected, and is composed of, for example, a potentiometer. The turning angle detected by the turning member turning angle detection means 18 is the first boom axis 3a- in the plan view.
This is synonymous with the turning angle of the third boom axis 3e-p with respect to p.

The controller 19 includes a second boom fallen posture detecting means 15, a third boom folding position detecting means 16,
Of the swivel operation control device 6a and the swivel member 3c, which receives the detection signals from the swivel swivel angle detection means 17 and swivel member swivel angle detection means 18 and performs arithmetic processing to control the swivel operation of the swivel 2. The operation control signal is output to the turning member operation control device 9a that controls the turning operation.

The arithmetic processing of the controller 19 is performed as follows. In the description of the arithmetic processing, FIGS. 2A to 2D are used as appropriate.
To proceed. Based on the detection signals from the second boom laying posture detecting means 15 and the third boom folded state detecting means 16, the controller 19 first states that "the second boom 3d of the bridge inspection vehicle is in the laid-down position and the third boom. 3e is not in the vicinity of the folding position ”. Since the bridge inspection vehicle reaches the bridge inspection posture by the steps 1 to 3 above, "the second boom 3 of the bridge inspection vehicle is
The state in which d is in the lying position and the third boom is not in the vicinity of the folding position "is any one of FIGS. 2 (A) to 2 (D).

The controller 19 displays the "second bridge inspection vehicle
When it is determined that the boom 3d is in the lying position and the third boom 3e is not in the vicinity of the folding position ”, the controller 19 causes the swivel base swing angle detecting means 17 to operate.
And the detection signal θ from the turning member turning angle detection means 18
1 and θ2, the first boom axis center line 3a- with respect to the vehicle width direction center line 1-p and the third boom axis center line 3e-p.
Of the intersection angle (8) in plan view of p, the third boom 3
An inner angle on the same side where the tip portion of e is located (FIG. 2 (A)-
It is determined whether or not the total value of (a pair of angles indicated by X and Y in (D)) has reached the limit value of approximately 180 degrees. The state where the internal angle of the same side is approximately 180 degrees is the third
This means that the boom axis 3e-p is substantially parallel to the vehicle width direction center line 1-p.

When the controller 19 judges that the total value of the same-side inner angles (a pair of angles shown by X and Y in FIGS. 2A to 2D) has reached the limit value of about 180 degrees. The controller controls the swivel operation of the swivel base 2 and the swivel member 3c in a direction in which the total value of the same-side inner angles increases (a direction in which the limit value of about 180 degrees is promoted). The control signal is sent to the swivel operation control device 6
a and the turning member actuation control device 9a. As the limit value (approximately 180 degrees) with which the total value of the same-side inner angles is compared, a fixed value near 180 degrees (including 180 degrees) is stored in the controller 19.

The operation regulation output from the controller 19 as described above is performed by the swivel base operation control device 6a and the swivel member operation control device 9a so that the total value of the same-side inner angles increases. The turning operation of the turning base 2 and the turning operation of the turning member 3c are restricted. Therefore, the bridge inspection work posture of the bridge inspection vehicle is the vehicle width direction center line 1-p and the third
The first boom axis 3a with respect to the boom axis 3e-p
Of the crossing angles in the plan view of −p, the same side interior angle on the side where the tip portion of the third boom 3e is located (X in FIGS. 2A to 2D,
The total value of a pair of angles indicated by Y) is approximately 1 as the limit value.
State exceeding 80 degrees ("Inside angle on the same side exceeding 180 degrees")
Can be reliably prevented.

Next, an embodiment of the operation control device for an aerial work vehicle according to the second aspect of the present invention will be described based on the addition of phantom lines in FIG. As described above, the operation restricting device for the bridge inspection vehicle according to claim 2 is different from the operation restricting device according to the invention of claim 1 in that the controller 19 outputs the restriction signal to the third boom 3d. Third to control the operation
Boom flexion / extension control device 11a is added, and
The only difference is that the controller 19 is additionally provided with a calculation process of a restriction signal to the third boom bending / extending operation control device 11a.

As indicated by a phantom line in FIG. 1, the controller 19 is also configured to output a restriction signal to the third boom bending / extending operation control device 11a. Then, the controller 19 carries out a control signal to the swivel base operation control device 6a and the swivel member operation control device 9a by the arithmetic processing as described in the embodiment of the operation control device of the bridge inspection vehicle according to the invention of claim 1. In addition to outputting, a restriction signal is output to the third boom bending / extending operation control device 11a by performing the following calculation processing.

That is, the controller 19 first determines the second boom 3d of the bridge inspection vehicle at the laid-down position based on the detection signals from the second boom laid-down posture detection means 15 and the third boom-folded state detection means 16. Determine if When the controller determines that the second boom 3d is in the fall position, the controller 19 further causes the first boom axis center line 3a with respect to the vehicle width direction center line 1-p and the third boom axis center line 3e-p. Of the intersection angles of -p in plan view,
Inner angles X and Y on the same side where the tip of the third boom 3e is located
It is determined whether or not the total value of is over 180 degrees. Here again, when it is determined that the angle exceeds approximately 180 degrees, that is, "in the state where the second boom 3d is in the lying position, the vehicle width direction center line 1-p and the third boom axis center line 3 are detected.
Of the angle of intersection of the first boom axis 3a-p with ep in plan view, the total value of the same-side inner angles X and Y on the side where the tip of the third boom 3e is located exceeds approximately 180 degrees. If it is determined that the third boom 3e is in the "excessive state of the same side 180 degrees", an operation restriction signal that restricts the extension operation of the third boom 3e is output to the third boom bending and extending operation control device 11a. .

[0046]

According to the operation restricting device for a bridge inspection vehicle according to the present invention, which is constructed and operates as described above, the posture of the bridge inspection vehicle during the bridge inspection is such that the vehicle width direction center line 1-p and the third boom axis are Of the crossing angle of the first boom axis 3a-p with the line 3e-p in a plan view, the same side inner angle (X in FIGS. 2A to 2D) on the side where the tip portion of the third boom 3e is located. , Y, a total value of a pair of angles) exceeds approximately 180 degrees as a limit value (“inside same-side angle 180 degrees excess state”), that is, it is possible to regulate an unnecessary posture during bridge inspection. Therefore, the bridge inspection vehicle can be designed and manufactured without considering the stability in the unnecessary posture, and the degree of freedom in designing and manufacturing the bridge inspection vehicle is increased accordingly.

[Brief description of drawings]

FIG. 1 is an explanatory view of an operation restricting device for a bridge inspection vehicle according to the present invention,

[Figure 2] Plan view of the bridge inspection work posture of the bridge inspection vehicle,

FIG. 3 is a side view showing a work posture of a bridge inspection vehicle to which the operation control device of the present invention is applied;

FIG. 4 is a side view showing a state where the boom mechanism of the bridge inspection vehicle shown in FIG. 3 is stored (traveling movement state);

FIG. 5 is an explanatory view of an operation control device for controlling the operation of the bridge inspection vehicle,

[Explanation of symbols]

1; vehicle, 1a, 1a ... outrigger, 2; swivel base,
3; Boom mechanism, 3a; 1st boom, 3b; 1st posture maintenance member, 3c; Revolving member, 3d; 2nd boom, 3e; 3rd boom, 4; Workbench 5; Arm, 6; Revolving base drive Actuator, 6a; swivel operation control device, 7; first
Boom hoisting drive actuator, 7a; First boom hoisting operation control device, 8; First boom telescopic drive actuator, 8a; First boom telescopic operation control device, 9; Revolving member drive actuator, 9a; Revolving member operation control Device, 10; Actuator for raising and lowering second boom, 10
a; second boom up / down operation control device, 11; third boom bending / extending drive actuator, 11a; third boom bending / expanding operation control device, 12; third boom telescopic drive actuator, 12a, third boom telescopic operation control device, 13: Arm raising / lowering drive actuator, 13a; Arm raising / lowering operation control device, 14; Operating part, 15; Second boom tilting posture detecting means, 16; Third boom folding state detecting means, 1
7; revolving base turning angle detecting means, 18; turning member turning angle detecting means, 19; controller, 1-p; vehicle width direction center line, 3a-p; first boom axis line, 3d-p; second boom Axis center line, 3e-p; Third boom axis center line, X, Y; Internal angle on the same side

Claims (2)

[Claims] 1. A swivel base 2 rotatably mounted on a vehicle 1.
To the workbench 4 via the boom mechanism 3,
The boom mechanism 3 includes: a telescopic first boom 3a that is attached to the swivel base 2 so as to be up and down, a first posture maintaining member 3b that is attached to the tip of the first boom 3a so that its ground posture can be maintained constant. A swivel member 3c attached to the lower side of the first posture maintaining member 3b so as to be horizontally swivelable, and a base end portion of the swivel member 3c so as to be able to rise and fall between a substantially vertical fall position and a substantially horizontal raised position. A second boom 3d attached to the swivel member 3c so as to be able to move up and down, and a third boom 3e having the working table 4 attached to its tip
And a retractable third boom 3 whose base end portion is flexibly attached to the distal end portion of the second boom 3d so that the base end portion can bend and extend between the folding position and the extending position along the second boom 3d.
It is configured with e, and during the bridge inspection work,
After turning the second boom 3d into a substantially vertical posture, swivel base
2 swing operation, undulation and extension / contraction operation of the first boom 3a,
An operation restricting device for a bridge inspection vehicle, which is configured to bring the work platform 4 closer to an inspection target location by using the turning operation of the turning member 3c and the bending and extending and retracting operations of the third boom 3e together. The second boom laying posture detecting means 15 for detecting whether or not the second boom 3d is in the vertically downward lying position, and the third boom folded state detecting means for detecting whether or not the third boom 3e is near the folding position. 16, a swivel swivel angle detection means 17 for detecting the swivel angle of the swivel 2 with respect to the vehicle 1, a swivel member swivel angle detection means 18 for detecting the swivel angle of the swivel member 3c with respect to the first attitude maintaining member 3b, and The swivel base operation control device 6a for controlling the swivel motion of the swivel base 2 and the swivel motion of the swivel member 3c are controlled by receiving and calculating the detection signals from these detecting means 15-18. Turning member actuation control device controller 19 for outputting a working inhibition signal 9a, consists city, the controller 19
Means that the second boom 3d is in the lying position and the third boom 3d
In a state in which e is not near the folding position, the third of the intersecting angles of the first boom axis center lines 3a-p with the vehicle width direction center line 1-p and the third boom axis center lines 3e-p in a plan view is determined.
When the total value of the same side inner angles X and Y on the side where the tip portion of the boom 3e is located exceeds about 180 degrees, the swivel operation of the swivel base 2 in the direction of promoting the excess and the swivel member. An operation restriction signal for restricting the turning operation of 3c is sent to the swivel base operation control device 6a and the swivel member operation control device 9a.
An operation restricting device for a bridge inspection vehicle, which is configured to output to. 2. A swivel base 2 mounted on a vehicle 1 so as to freely swivel.
To the workbench 4 via the boom mechanism 3,
The boom mechanism 3 includes: a telescopic first boom 3a that is attached to the swivel base 2 so as to be up and down, a first posture maintaining member 3b that is attached to the tip of the first boom 3a so that its ground posture can be maintained constant. A swivel member 3c attached to the lower side of the first posture maintaining member 3b so as to be horizontally swivelable, and a base end portion of the swivel member 3c so as to be able to rise and fall between a substantially vertical fall position and a substantially horizontal raised position. A second boom 3d attached to the swivel member 3c so as to be able to move up and down, and a third boom 3e having the working table 4 attached to its tip
And a retractable third boom 3 whose base end portion is flexibly attached to the distal end portion of the second boom 3d so that the base end portion can bend and extend between the folding position and the extending position along the second boom 3d.
It is configured with e, and during the bridge inspection work,
After turning the second boom 3d into a substantially vertical posture, swivel base
2 swing operation, undulation and extension / contraction operation of the first boom 3a,
An operation restricting device for a bridge inspection vehicle, which is configured to bring the work platform 4 closer to an inspection target location by using the turning operation of the turning member 3c and the bending and extending and retracting operations of the third boom 3e together. The second boom laying posture detecting means 15 for detecting whether or not the second boom 3d is in the vertically downward lying position, and the third boom folded state detecting means for detecting whether or not the third boom 3e is near the folding position. 16, a swivel swivel angle detection means 17 for detecting the swivel angle of the swivel 2 with respect to the vehicle 1, a swivel member swivel angle detection means 18 for detecting the swivel angle of the swivel member 3c with respect to the first attitude maintaining member 3b, and A swivel base operation control device 6a for controlling the swivel motion of the swivel base 2 and a swivel member for controlling the swivel motion of the swivel member 3c. And a controller 19 that outputs an operation restriction signal to the third boom bending / extending operation control device 11a that controls the bending operation of the third boom 3e, and the controller 19 is configured such that the second boom 3d falls down. Position and the third boom 3e is not near the folding position, the vehicle width direction center line 1-p and the third boom axis center line 3e-
Of the crossing angles of the first boom axis 3a-p with respect to p in plan view, the total value of the same-side inner angles X and Y on the side where the tip of the third boom 3e is located is about to exceed 180 degrees. At this time, an operation restriction signal for restricting the swivel operation of the swivel base 2 in the direction of promoting the excess and the swivel operation of the swivel member 3c is output to the swivel base operation control device 6a and the swivel member operation control device 9a. And the second
Of the intersection angle of the first boom axis center lines 3a-p with respect to the vehicle width direction center line 1-p and the third boom axis center lines 3e-p in the plan view in the state where the boom 3d is in the lying position,
Inner angles X and Y on the same side where the tip of the third boom 3e is located
When the total value of the above exceeds about 180 degrees, it is configured to output an operation restriction signal for restricting the extension operation of the third boom 3e to the third boom bending and extension operation control device 11a. The operation control device for the bridge inspection vehicle.