JP2022088775A

JP2022088775A - High lift work vehicle

Info

Publication number: JP2022088775A
Application number: JP2020200794A
Authority: JP
Inventors: 嘉男桑原; Yoshio Kuwabara; 健唐澤; Takeshi Karasawa; 章浩山崎; Akihiro Yamazaki; 淳一金子; Junichi Kaneko; 良平杉田; Ryohei Sugita
Original assignee: Aichi Corp
Current assignee: Aichi Corp
Priority date: 2020-12-03
Filing date: 2020-12-03
Publication date: 2022-06-15
Anticipated expiration: 2040-12-03
Also published as: JP7527944B2

Abstract

To provide a high lift work vehicle capable of achieving light weight of a two-joint jib mechanism by efficiently controlling operations of two hydraulic cylinders provided in the two-joint jib mechanism.SOLUTION: A hydraulic cylinder operation control device swings an intermediate link member 20 by a first cylinder from a storage position P0 to a switching angle θ1a, swings a jib 30 by a second hydraulic cylinder until the second hydraulic cylinder becomes a fully elongated state from a fully contracted state in a state where the intermediate link member 20 is at the switching angle θ1a, and swings the intermediate link member 20 by the first cylinder from the switching angle θ1a to a fully developed position P3 in a state where the second hydraulic cylinder is fully elongated. The switching angle θ1a is an angle where a drive moment generated by the second cylinder with respect to the jib 30 exceeds a load moment generated by the jib 30 within the range from the fully contracted state to the fully elongated state of the second hydraulic cylinder.SELECTED DRAWING: Figure 10

Description

本発明は、車体上に起伏動自在に設けられたブームの先端にリンク部材を介してジブ機構を設けた高所作業車に関する。 The present invention relates to an aerial work platform in which a jib mechanism is provided at the tip of a boom undulatingly provided on a vehicle body via a link member.

高所作業車の一例として、走行可能な車体と、車体上に起伏動自在に設けられたブームと、ブームの先端に揺動可能に設けられたジブと、ジブの先端部に配設された作業台とを備えた高所作業車がある。例えば、特許文献１に記載された高所作業車は、車体上に起伏動自在に設けられたブームの先端部と、先端に作業台が配設されたジブの基端部との間に中間リンク部材を連結した二関節式ジブ機構を備えている。また、この二関節式ジブ機構は、ブームに対して中間リンク部材を揺動させる第１油圧シリンダと、中間リンク部材に対してジブを揺動させる第２油圧シリンダとを備えている。このように、ブームとジブとの間に中間リンク部材が介在し、２つの油圧シリンダによってブームに対してジブを展開するジブ機構を二関節式ジブ機構という。二関節式ジブ機構は、ブームに対してジブを１８０度以上に展開するように構成できるため、作業範囲を広くすることができるという利点がある。 As an example of an aerial work platform, a vehicle body that can run, a boom that is undulating on the vehicle body, a jib that is swingably provided at the tip of the boom, and a jib that is arranged at the tip of the jib. There is an aerial work platform equipped with a workbench. For example, in the aerial work platform described in Patent Document 1, the intermediate between the tip of the boom provided on the vehicle body so as to be undulating and the base end of the jib on which the workbench is arranged at the tip. It is equipped with a two-joint jib mechanism that connects link members. Further, this two-joint jib mechanism includes a first hydraulic cylinder that swings the intermediate link member with respect to the boom, and a second hydraulic cylinder that swings the jib with respect to the intermediate link member. A jib mechanism in which an intermediate link member is interposed between the boom and the jib and the jib is deployed with respect to the boom by two hydraulic cylinders is called a two-joint jib mechanism. Since the two-joint jib mechanism can be configured to deploy the jib 180 degrees or more with respect to the boom, there is an advantage that the working range can be widened.

特開２０１３－０１４４１８号公報Japanese Unexamined Patent Publication No. 2013-014418

一般に、ベースとなる構造物（以下、「ベース構造物」と称する）と揺動させる構造物（以下、「被揺動構造物」と称する）とを枢結し、ベース構造物と被揺動構造物との間に跨設した油圧シリンダによって被揺動構造物を回転させる場合、回転中心と油圧シリンダの軸線との距離（より詳細には、被揺動構造物の回転中心を通る油圧シリンダの軸線の垂線上において回転中心と油圧シリンダの軸線との距離）は、油圧シリンダの伸縮に応じて変化する。一般的には、油圧シリンダの全縮小状態からシリンダロッドが伸長していくにつれて被揺動構造物が回転していくとともに、油圧シリンダの軸線と回転中心との距離が徐々に大きくなって行く。そして、シリンダロッドが或る伸長量を超えると油圧シリンダの軸線と回転中心との距離がシリンダロッドの伸長に応じて再び徐々に小さくなって行き、油圧シリンダが全伸長状態に至るまで相互の距離は縮まっていく。油圧シリンダによって被揺動構造物を回転させる力（モーメント）は、（油圧シリンダの推力）×（油圧シリンダの軸線と回転中心との距離）で求められるため、被揺動構造物に作用するモーメントは油圧シリンダの全縮小状態と全伸長状態の付近において小さくなる。また、このような傾向は被揺動構造物を回転させる角度が１００度を超えるとより顕著となる。 Generally, a base structure (hereinafter referred to as "base structure") and a swinging structure (hereinafter referred to as "swinged structure") are pivotally connected, and the base structure and the rocked structure are pivotally connected. When the rocked structure is rotated by a hydraulic cylinder straddling the structure, the distance between the center of rotation and the axis of the hydraulic cylinder (more specifically, the hydraulic cylinder passing through the center of rotation of the rocked structure). The distance between the center of rotation and the axis of the hydraulic cylinder on the vertical line of the axis) changes according to the expansion and contraction of the hydraulic cylinder. In general, the rocked structure rotates as the cylinder rod extends from the fully contracted state of the hydraulic cylinder, and the distance between the axis of the hydraulic cylinder and the center of rotation gradually increases. Then, when the cylinder rod exceeds a certain extension amount, the distance between the axis of the hydraulic cylinder and the center of rotation gradually decreases again according to the extension of the cylinder rod, and the mutual distance until the hydraulic cylinder reaches the fully extended state. Shrinks. Since the force (moment) for rotating the rocked structure by the hydraulic cylinder is calculated by (thrust of the hydraulic cylinder) x (distance between the axis of the hydraulic cylinder and the center of rotation), the moment acting on the rocked structure. Decreases near the fully contracted and fully extended states of the hydraulic cylinder. Further, such a tendency becomes more remarkable when the angle at which the rocked structure is rotated exceeds 100 degrees.

これにより、前述した二関節式ジブ機構において油圧シリンダの全縮小状態及び全伸長状態の近傍におけるモーメントの減少を補うには、油圧シリンダの推力を大きくするか、ジブ機構及び中間リンク部材の揺動範囲内における油圧シリンダの軸線と回転中心との距離を離す必要がある。しかしながら、油圧シリンダの推力を大きくする場合、油圧シリンダ本体が大型化して重量が増加する要因となる。また、油圧シリンダの軸線と回転中心との距離を大きくする場合は、回転中心の位置と油圧シリンダの軸線の位置とを遠ざけるために周辺の部材（例えばブームヘッドなど）が大型化し、また、油圧シリンダのストロークが長くなるため、やはり重量が増加する要因となる。 Thereby, in order to compensate for the decrease in the moment in the vicinity of the fully contracted state and the fully extended state of the hydraulic cylinder in the above-mentioned two-joint jib mechanism, the thrust of the hydraulic cylinder is increased or the jib mechanism and the intermediate link member are swung. It is necessary to keep the distance between the axis of the hydraulic cylinder and the center of rotation within the range. However, when the thrust of the hydraulic cylinder is increased, the size of the hydraulic cylinder body becomes large and the weight increases. When increasing the distance between the axis of the hydraulic cylinder and the center of rotation, the peripheral members (for example, boom head) become larger in order to keep the position of the center of rotation away from the position of the axis of the hydraulic cylinder, and the hydraulic pressure is increased. Since the stroke of the cylinder becomes long, it also causes an increase in weight.

本発明は、このような課題に鑑みてなされたものであり、二関節式ジブ機構に設けられた２つの油圧シリンダを効率よく作動制御することにより油圧シリンダを小型化するなどして二関節式ジブ機構の軽量化を図ることができる高所作業車を提供することを目的とする。 The present invention has been made in view of such a problem, and is a two-joint type by efficiently controlling the operation of two hydraulic cylinders provided in the two-joint jib mechanism to reduce the size of the hydraulic cylinder. The purpose is to provide an aerial work platform that can reduce the weight of the jib mechanism.

上記課題を解決するため、本発明に係る高所作業車は、走行可能な車体（例えば、実施形態における車体２）と、前記車体上に少なくとも起伏動自在に設けられたブーム（例えば、実施形態におけるブーム１０）と、前記ブームの先端部に、前記ブームの起伏面に沿って上下に揺動自在に枢結された中間リンク部材（例えば、実施形態における中間リンク部材２０）と、前記中間リンク部材の先端部に、前記ブームの起伏面に沿って上下に揺動自在に枢結されたジブ（例えば、実施形態におけるジブ３０）と、前記ジブの先端部に配設された作業台（例えば、実施形態における作業台５０）と、前記ブームに対して前記中間リンク部材を揺動させる第１油圧シリンダ（例えば、実施形態における第１油圧シリンダ２１）と、前記中間リンク部材に対して前記ジブを揺動させる第２油圧シリンダ（例えば、実施形態における第２油圧シリンダ２６）と、前記第１油圧シリンダ及び第２油圧シリンダを伸縮作動させることによって、前記ジブが前記ブームと略平行となるまで折り畳まれた状態となる格納位置から前記ジブが最大限に展開した状態となる全展開位置までの範囲内で前記ジブを揺動作動させる油圧シリンダ作動制御装置（例えば、実施形態におけるコントロールユニット７０）と、を備え、前記油圧シリンダ作動制御装置は、前記格納位置から前記中間リンク部材が第１角度（例えば、実施形態における切替角度θ_１ａ）となる範囲内において、前記第１油圧シリンダによって前記中間リンク部材を揺動作動し、前記中間リンク部材が前記第１角度になっている状態で、前記第２油圧シリンダが全縮小状態から全伸長状態となるまでの範囲内において前記第２油圧シリンダによって前記ジブを揺動作動し、前記第２油圧シリンダが全伸長状態となっている状態で、前記第１角度から前記全展開位置までの範囲内において前記第１油圧シリンダによって前記中間リンク部材を揺動作動し、前記第１角度は、前記第２油圧シリンダの全縮小状態から全伸長状態となるまでの範囲内において前記第２油圧シリンダが前記ジブに対して発生する駆動モーメントが、前記ジブにおいて前記第２油圧シリンダの作動によって回転する方向と逆方向に発生する負荷モーメントを上回ることとなる角度である。 In order to solve the above problems, the high-altitude work vehicle according to the present invention has a travelable vehicle body (for example, the vehicle body 2 in the embodiment) and a boom provided on the vehicle body at least undulatingly (for example, the embodiment). 10), an intermediate link member (for example, the intermediate link member 20 in the embodiment) pivotally connected to the tip of the boom so as to swing up and down along the undulating surface of the boom, and the intermediate link. A jib (for example, the jib 30 in the embodiment) swingably pivotally connected up and down along the undulating surface of the boom to the tip of the member, and a workbench (eg, a workbench) disposed at the tip of the jib. , The workbench 50) in the embodiment, the first hydraulic cylinder that swings the intermediate link member with respect to the boom (for example, the first hydraulic cylinder 21 in the embodiment), and the jib with respect to the intermediate link member. By expanding and contracting the second hydraulic cylinder (for example, the second hydraulic cylinder 26 in the embodiment) and the first hydraulic cylinder and the second hydraulic cylinder, until the jib becomes substantially parallel to the boom. A hydraulic cylinder operation control device (for example, the control unit 70 in the embodiment) that swings the jib within a range from the retracted storage position to the fully expanded position where the jib is fully expanded. The hydraulic cylinder operation control device is provided with the above-mentioned intermediate link member by the first hydraulic cylinder within a range in which the intermediate link member has a first angle (for example, a switching angle θ _1a in the embodiment) from the retracted position. The link member is oscillated, and the second hydraulic cylinder causes the second hydraulic cylinder to move from the fully contracted state to the fully extended state while the intermediate link member is at the first angle. The intermediate link member is rocked by the first hydraulic cylinder within the range from the first angle to the fully deployed position in a state where the jib is oscillated and the second hydraulic cylinder is in a fully extended state. In the jib, the driving moment generated by the second hydraulic cylinder with respect to the jib within the range from the fully contracted state to the fully expanded state of the second hydraulic cylinder is set in the first angle. It is an angle that exceeds the load moment generated in the direction opposite to the rotation direction due to the operation of the second hydraulic cylinder.

なお、上記構成の高所作業車において、前記ブームの対地角度を検出するブーム対地角度検出装置（例えば、実施形態におけるブーム対地角度検出器６２）と、前記ジブの対地角度を検出するジブ対地角度検出装置（例えば、実施形態におけるジブ対地角度検出器６６）と、前記ブームに対するジブの角度を検出するジブ相対角度検出装置（例えば、実施形態におけるジブ相対角度検出器６７）と、を備え、前記油圧シリンダ作動制御装置は、前記ブーム対地角度検出装置、前記ジブ対地角度検出装置及び前記ジブ相対角度検出装置の検出値に基づいて前記負荷モーメントを算出し、算出した負荷モーメントに基づいて前記第１角度を算出することが好ましい。 In the high-altitude work vehicle having the above configuration, the boom ground angle detector for detecting the ground angle of the boom (for example, the boom ground angle detector 62 in the embodiment) and the jib ground angle for detecting the ground angle of the jib. A detection device (for example, the jib-to-ground angle detector 66 in the embodiment) and a jib relative angle detection device (for example, the jib relative angle detector 67 in the embodiment) for detecting the angle of the jib with respect to the boom are provided. The hydraulic cylinder operation control device calculates the load moment based on the detection values of the boom-to-ground angle detection device, the jib-to-ground angle detection device, and the jib relative angle detection device, and the first load moment is calculated based on the calculated load moment. It is preferable to calculate the angle.

また、本発明に係る高所作業車は、走行可能な車体（例えば、実施形態における車体２）と、前記車体上に少なくとも起伏動自在に設けられたブーム（例えば、実施形態におけるブーム１０）と、前記ブームの先端部に、前記ブームの起伏面に沿って上下に揺動自在に枢結された中間リンク部材（例えば、実施形態における中間リンク部材２０）と、前記中間リンク部材の先端部に、前記ブームの起伏面に沿って上下に揺動自在に枢結されたジブ（例えば、実施形態におけるジブ３０）と、前記ジブの先端部に配設された作業台（例えば、実施形態における作業台５０）と、前記ブームに対して前記中間リンク部材を揺動させる第１油圧シリンダ（例えば、実施形態における第１油圧シリンダ２１）と、前記中間リンク部材に対して前記ジブを揺動させる第２油圧シリンダ（例えば、実施形態における第２油圧シリンダ２６）と、前記第１油圧シリンダ及び第２油圧シリンダを伸縮作動さ
せることによって、前記ジブが前記ブームと略平行となるまで折り畳まれた状態となる格納位置から前記ジブが最大限に展開した状態となる全展開位置までの範囲内で前記ジブを揺動作動させる油圧シリンダ作動制御装置（例えば、実施形態におけるコントロールユニット７０）と、を備え、前記油圧シリンダ作動制御装置は、前記格納位置から前記ジブが第２角度（例えば、実施形態における切替角度θ_２ａ）となる範囲内において、前記第２油圧シリンダによって前記ジブを揺動作動し、前記ジブが前記第２角度になっている状態で、前記第１油圧シリンダが全縮小状態から全伸長状態となるまでの範囲内において前記第１油圧シリンダによって前記中間リンク部材を揺動作動し、前記第１油圧シリンダが全伸長状態となっている状態で、前記第２角度から前記全展開位置までの範囲内において前記第２油圧シリンダによって前記ジブを揺動作動し、前記第２角度は、前記第１油圧シリンダの全縮小状態から全伸長状態となるまでの範囲内において前記第１油圧シリンダが前記中間リンク部材に対して発生する駆動モーメントが、前記中間リンク部材において前記第１油圧シリンダの作動によって回転する方向と逆方向に発生する負荷モーメントを上回ることとなる角度である。 Further, the high-altitude work vehicle according to the present invention includes a travelable vehicle body (for example, the vehicle body 2 in the embodiment) and a boom provided on the vehicle body at least undulatingly (for example, the boom 10 in the embodiment). An intermediate link member (for example, the intermediate link member 20 in the embodiment) pivotally connected to the tip of the boom so as to swing up and down along the undulating surface of the boom, and the tip of the intermediate link member. A jib (eg, the jib 30 in the embodiment) swingably pivoted up and down along the undulating surface of the boom, and a workbench (eg, the work in the embodiment) disposed at the tip of the jib. The table 50), the first hydraulic cylinder that swings the intermediate link member with respect to the boom (for example, the first hydraulic cylinder 21 in the embodiment), and the jib that swings the jib with respect to the intermediate link member. By expanding and contracting the two hydraulic cylinders (for example, the second hydraulic cylinder 26 in the embodiment) and the first hydraulic cylinder and the second hydraulic cylinder, the jib is folded until it is substantially parallel to the boom. A hydraulic cylinder operation control device (for example, the control unit 70 in the embodiment) that swings the jib within a range from the storage position to the fully expanded position where the jib is fully expanded is provided. The hydraulic cylinder operation control device swings the jib by the second hydraulic cylinder within a range in which the jib has a second angle (for example, the switching angle θ _2a in the embodiment) from the retracted position. In the state where the jib is at the second angle, the intermediate link member is oscillated by the first hydraulic cylinder within the range from the fully contracted state to the fully extended state. With the first hydraulic cylinder in the fully extended state, the jib is swung by the second hydraulic cylinder within the range from the second angle to the fully deployed position, and the second angle is the said. The drive moment generated by the first hydraulic cylinder with respect to the intermediate link member within the range from the fully contracted state to the fully expanded state of the first hydraulic cylinder causes the operation of the first hydraulic cylinder in the intermediate link member. This is an angle that exceeds the load moment generated in the direction opposite to the direction of rotation.

なお、上記構成の高所作業車において、前記ブームの対地角度を検出するブーム対地角度検出装置（例えば、実施形態におけるブーム対地角度検出器６２）と、前記ジブの対地角度を検出するジブ対地角度検出装置（例えば、実施形態におけるジブ対地角度検出器６６）と、前記ブームに対するジブの角度を検出するジブ相対角度検出装置（例えば、実施形態におけるジブ相対角度検出器６７）と、を備え、前記油圧シリンダ作動制御装置は、前記ブーム対地角度検出装置、前記ジブ対地角度検出装置及び前記ジブ相対角度検出装置の検出値に基づいて前記負荷モーメントを算出し、算出した負荷モーメントに基づいて前記第２角度を算出することが好ましい。 In the high-altitude work vehicle having the above configuration, the boom ground angle detector for detecting the ground angle of the boom (for example, the boom ground angle detector 62 in the embodiment) and the jib ground angle for detecting the ground angle of the jib. A detection device (for example, the jib-to-ground angle detector 66 in the embodiment) and a jib relative angle detection device (for example, the jib relative angle detector 67 in the embodiment) for detecting the angle of the jib with respect to the boom are provided. The hydraulic cylinder operation control device calculates the load moment based on the detection values of the boom-to-ground angle detection device, the jib-to-ground angle detection device, and the jib relative angle detection device, and the second load moment is calculated based on the calculated load moment. It is preferable to calculate the angle.

本発明に係る高所作業車によれば、車体上に起伏動自在に設けられたブームと、ブームの起伏面に沿って上下に揺動自在にブームの先端部に枢結された中間リンク部材と、ブームの起伏面に沿って上下に揺動自在に中間リンク部材の先端部に枢結されたジブと、を備え、第１油圧シリンダによってブームに対して中間リンク部材を揺動し、第２油圧シリンダによって中間リンク部材に対してジブを揺動させる。そして、油圧シリンダ作動制御装置は、格納位置から中間リンク部材が第１角度となる範囲内においては第１油圧シリンダによって中間リンク部材を揺動作動し、中間リンク部材が第１角度になっている状態で、第２油圧シリンダが全縮小状態から全伸長状態となるまでの範囲内においては第２油圧シリンダによってジブを揺動作動し、第２油圧シリンダが全伸長状態となっている状態で、第１角度から全展開位置までの範囲内において第１油圧シリンダによって中間リンク部材を揺動作動する。ここで、第１角度は、第２油圧シリンダの全縮小状態から全伸長状態となるまでの範囲内において第２油圧シリンダがジブに対して発生する駆動モーメントが、ジブにおいて第２油圧シリンダの作動によって回転する方向と逆方向に発生する負荷モーメントを上回ることとなる角度である。これにより、第２油圧シリンダによって発生されるモーメントが負荷モーメントを下回る範囲内では第１油圧シリンダによって中間リンク部材（延いてはジブ）を揺動し、第２油圧シリンダによって発生されるモーメントが負荷モーメントを上回る範囲内では第２油圧シリンダによってジブを揺動することが可能となるため、第１油圧シリンダ及び第２油圧シリンダを効率よく作動制御することができ、これにより各油圧シリンダを小型化するなどして二関節式ジブ機構の軽量化を図ることができる。 According to the aerial work platform according to the present invention, a boom provided on the vehicle body in an undulating manner and an intermediate link member pivotally connected to the tip of the boom so as to swing up and down along the undulating surface of the boom. A jib pivotally connected to the tip of the intermediate link member so as to swing up and down along the undulating surface of the boom, and the intermediate link member is swung with respect to the boom by the first hydraulic cylinder. 2 The jib is swung with respect to the intermediate link member by the hydraulic cylinder. Then, in the hydraulic cylinder operation control device, the intermediate link member is oscillated by the first hydraulic cylinder within the range where the intermediate link member is at the first angle from the retracted position, and the intermediate link member is at the first angle. In this state, the jib is swung by the second hydraulic cylinder within the range from the fully contracted state to the fully extended state, and the second hydraulic cylinder is in the fully extended state. The intermediate link member is oscillated by the first hydraulic cylinder within the range from the first angle to the fully deployed position. Here, in the first angle, the driving moment generated by the second hydraulic cylinder with respect to the jib within the range from the fully contracted state to the fully extended state of the second hydraulic cylinder is the operation of the second hydraulic cylinder in the jib. It is an angle that exceeds the load moment generated in the direction opposite to the direction of rotation. As a result, within the range where the moment generated by the second hydraulic cylinder is lower than the load moment, the intermediate link member (and thus the jib) is swung by the first hydraulic cylinder, and the moment generated by the second hydraulic cylinder is loaded. Since the jib can be swung by the second hydraulic cylinder within the range exceeding the moment, the operation of the first hydraulic cylinder and the second hydraulic cylinder can be efficiently controlled, and each hydraulic cylinder can be downsized. The weight of the two-joint jib mechanism can be reduced.

また、上記の構成の高所作業車において、好ましくは、ブームの対地角度を検出するブーム対地角度検出装置と、ジブの対地角度を検出するジブ対地角度検出装置と、ブームに対するジブの角度を検出するジブ相対角度検出装置と、を備え、油圧シリンダ作動制御装置は、ブーム対地角度検出装置、ジブ対地角度検出装置及びジブ相対角度検出装置の検出
値に基づいて負荷モーメントを算出し、算出した負荷モーメントに基づいて第１角度を算出する。これにより、ブームの対地角度が変動したことにより負荷モーメントが変化したとしても、変化後の負荷モーメントに適応した第１角度を算出することが可能となる。 Further, in the high-altitude work vehicle having the above configuration, preferably, a boom ground angle detecting device for detecting the ground angle of the boom, a jib ground angle detecting device for detecting the ground angle of the jib, and a jib angle with respect to the boom are detected. The hydraulic cylinder operation control device includes a jib relative angle detection device and a load moment calculated based on the detection values of the boom-to-ground angle detection device, the jib-to-ground angle detection device, and the jib relative angle detection device. The first angle is calculated based on the moment. As a result, even if the load moment changes due to the change in the ground angle of the boom, it is possible to calculate the first angle adapted to the changed load moment.

また、本発明に係る高所作業車によれば、車体上に起伏動自在に設けられたブームと、ブームの起伏面に沿って上下に揺動自在にブームの先端部に枢結された中間リンク部材と、ブームの起伏面に沿って上下に揺動自在に中間リンク部材の先端部に枢結されたジブと、を備え、第１油圧シリンダによってブームに対して中間リンク部材を揺動し、第２油圧シリンダによって中間リンク部材に対してジブを揺動させる。そして、油圧シリンダ作動制御装置は、格納位置からジブが第２角度となる範囲内においては第２油圧シリンダによってジブを揺動作動し、ジブが第２角度になっている状態で、第１油圧シリンダが全縮小状態から全伸長状態となるまでの範囲内においては第１油圧シリンダによって中間リンク部材を揺動作動し、第１油圧シリンダが全伸長状態となっている状態で、第２角度から全展開位置までの範囲内においては第２油圧シリンダによってジブを揺動作動する。ここで、第２角度は、第１油圧シリンダの全縮小状態から全伸長状態となるまでの範囲内において第１油圧シリンダが中間リンク部材に対して発生する駆動モーメントが、中間リンク部材において第１油圧シリンダの作動によって回転する方向と逆方向に発生する負荷モーメントを上回ることとなる角度である。これにより、第１油圧シリンダによって発生されるモーメントが負荷モーメントを下回る範囲内では第２油圧シリンダによってジブを揺動し、第１油圧シリンダによって発生されるモーメントが負荷モーメントを上回る範囲内では第１油圧シリンダによって中間リンク部材（延いてはジブ）を揺動することが可能となるため、第１油圧シリンダ及び第２油圧シリンダを効率よく作動制御することができ、これにより各油圧シリンダを小型化するなどして二関節式ジブ機構の軽量化を図ることができる。 Further, according to the aerial work platform according to the present invention, an intermediate between a boom provided on the vehicle body in an undulating manner and a boom pivotally connected to the tip of the boom so as to swing up and down along the undulating surface of the boom. It is provided with a link member and a jib pivotally connected to the tip of the intermediate link member so as to swing up and down along the undulating surface of the boom, and the intermediate link member is swung with respect to the boom by a first hydraulic cylinder. , The jib is swung with respect to the intermediate link member by the second hydraulic cylinder. Then, the hydraulic cylinder operation control device swings the jib by the second hydraulic cylinder within the range where the jib is at the second angle from the retracted position, and the first hydraulic pressure is in a state where the jib is at the second angle. Within the range from the fully contracted state to the fully extended state, the intermediate link member is oscillated by the first hydraulic cylinder, and the first hydraulic cylinder is fully extended from the second angle. The jib is oscillated by the second hydraulic cylinder within the range up to the fully deployed position. Here, in the second angle, the driving moment generated by the first hydraulic cylinder with respect to the intermediate link member within the range from the fully contracted state to the fully extended state of the first hydraulic cylinder is the first in the intermediate link member. It is an angle that exceeds the load moment generated in the direction opposite to the direction of rotation due to the operation of the hydraulic cylinder. As a result, the jib is swung by the second hydraulic cylinder within the range where the moment generated by the first hydraulic cylinder is lower than the load moment, and the first is within the range where the moment generated by the first hydraulic cylinder exceeds the load moment. Since the intermediate link member (and thus the jib) can be swung by the hydraulic cylinder, the operation of the first hydraulic cylinder and the second hydraulic cylinder can be efficiently controlled, and each hydraulic cylinder can be downsized. The weight of the two-joint jib mechanism can be reduced.

また、上記の構成の高所作業車において、好ましくは、ブームの対地角度を検出するブーム対地角度検出装置と、ジブの対地角度を検出するジブ対地角度検出装置と、ブームに対するジブの角度を検出するジブ相対角度検出装置と、を備え、油圧シリンダ作動制御装置は、ブーム対地角度検出装置、ジブ対地角度検出装置及びジブ相対角度検出装置の検出値に基づいて負荷モーメントを算出し、算出した負荷モーメントに基づいて第２角度を算出する。これにより、ブームの対地角度が変動したことにより負荷モーメントが変化したとしても、変化後の負荷モーメントに適応した第２角度を算出することが可能となる。 Further, in the high-altitude work vehicle having the above configuration, preferably, a boom ground angle detecting device for detecting the ground angle of the boom, a jib ground angle detecting device for detecting the ground angle of the jib, and a jib angle with respect to the boom are detected. The hydraulic cylinder operation control device includes a jib relative angle detection device and a load moment calculated based on the detection values of the boom-to-ground angle detection device, the jib-to-ground angle detection device, and the jib relative angle detection device. The second angle is calculated based on the moment. As a result, even if the load moment changes due to the change in the ground angle of the boom, it is possible to calculate the second angle adapted to the changed load moment.

本発明に係る高所作業車の外観を示す側面図である。It is a side view which shows the appearance of the aerial work platform which concerns on this invention. 上記高所作業車の外観を示す平面図である。It is a top view which shows the appearance of the said aerial work platform. 上記高所作業車の外観を示す後面図である。It is a rear view which shows the appearance of the said aerial work platform. 上記高所作業車のブームが起立・伸長した状態を示す図である。It is a figure which shows the state which the boom of the aerial work platform is upright and extended. 上記高所作業車が備えるジブおよび中間リンク部材がブームに対してほぼ一直線に伸びた状態を示す図である。It is a figure which shows the state which the jib and the intermediate link member provided with the aerial work platform extend almost linearly with respect to a boom. 上記高所作業車が備える中間リンク部材を下方から見上げたときの斜視図である。It is a perspective view when the intermediate link member provided with the aerial work platform is looked up from below. 上記高所作業車の作動制御に関する機能ブロック図である。It is a functional block diagram concerning the operation control of the aerial work platform. 上記高所作業車が備えるジブが格納状態になっていることを示す側面図である。It is a side view which shows that the jib provided in the aerial work platform is in a retracted state. 上記高所作業車が備える第１油圧シリンダ及び第２油圧シリンダが発生するモーメントと負荷モーメントとの関係を示す図である。It is a figure which shows the relationship between the moment generated by the 1st hydraulic cylinder and the 2nd hydraulic cylinder provided in the aerial work platform, and a load moment. 上記高所作業車が備えるジブを格納状態から全伸長状態までの範囲内で揺動させる際の第１油圧シリンダ及び第２油圧シリンダの作動範囲を示す図である。It is a figure which shows the operating range of the 1st hydraulic cylinder and the 2nd hydraulic cylinder at the time of swinging the jib provided in the aerial work platform within the range from the retracted state to the fully extended state. 上記高所作業車が備える第１油圧シリンダ及び第２油圧シリンダが発生するモーメントと負荷モーメントとの関係を示す図である。It is a figure which shows the relationship between the moment generated by the 1st hydraulic cylinder and the 2nd hydraulic cylinder provided in the aerial work platform, and a load moment. 上記高所作業車が備えるジブを格納状態から全伸長状態までの範囲内で揺動させる際の第１油圧シリンダ及び第２油圧シリンダの作動範囲を示す図である。It is a figure which shows the operating range of the 1st hydraulic cylinder and the 2nd hydraulic cylinder at the time of swinging the jib provided in the aerial work platform within the range from the retracted state to the fully extended state.

以下、図面を参照して本発明の実施形態について説明する。本実施形態に係る高所作業車１を図１～図３に示している。この高所作業車１は、前輪３ａ及び後輪３ｂを有して走行可能であり、前部に運転キャブ２ａを有したトラック車両をベースに構成される。このトラック車両の車体２の上に図示しない旋回モータ（油圧モータ）により駆動されて水平旋回可能に構成された旋回台５が配設されている。また、車体２の前後左右の四カ所に下方に伸縮自在なアウトリガ６が設けられており、高所作業を行うときには、アウトリガ６を下方に張り出して車体２を持ち上げ支持できるようになっている。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. The aerial work platform 1 according to this embodiment is shown in FIGS. 1 to 3. The aerial work platform 1 is capable of traveling with front wheels 3a and rear wheels 3b, and is configured based on a truck vehicle having a driving cab 2a at the front portion. On the vehicle body 2 of the truck vehicle, a swivel base 5 driven by a swivel motor (hydraulic motor) (not shown) and configured to be horizontally swivel is arranged. Further, outriggers 6 that can be expanded and contracted downward are provided at four locations on the front, rear, left, and right sides of the vehicle body 2, so that the outriggers 6 can be extended downward to lift and support the vehicle body 2 when performing work at a high place.

旋回台５には基端部が枢結されたブーム１０が取り付けられており、このブーム１０は起伏シリンダ７により起伏作動するようになっている。なお、本実施形態において、ブーム１０を起伏作動させたときのブーム１０の軌跡を含む平面を、ブーム１０の起伏面と称することにする。ブーム１０は、図４に示すように、基端ブーム１１、第１中間ブーム１２、第２中間ブーム１３、および先端ブーム１４を入れ子式に組み合わせて、内蔵する伸縮シリンダ（図示せず）により伸縮作動可能に構成されている。先端ブーム１４は先端部にブームヘッド１５を有し、このブームヘッド１５の先端部には、中間リンク部材２０がブーム１０の起伏面に沿って上下に揺動自在に連結される。さらに、中間リンク部材２０の先端部には、ジブ３０がブーム１０の起伏面に沿って上下に揺動自在に連結される。 A boom 10 whose base end is pivotally connected is attached to the swivel base 5, and the boom 10 is undulated by an undulating cylinder 7. In the present embodiment, the plane including the locus of the boom 10 when the boom 10 is undulated is referred to as the undulating surface of the boom 10. As shown in FIG. 4, the boom 10 is expanded and contracted by a built-in telescopic cylinder (not shown) by nesting a base end boom 11, a first intermediate boom 12, a second intermediate boom 13, and a tip boom 14 in a nested manner. It is configured to be operable. The tip boom 14 has a boom head 15 at the tip, and an intermediate link member 20 is swingably connected to the tip of the boom head 15 along the undulating surface of the boom 10. Further, a jib 30 is swingably connected to the tip of the intermediate link member 20 along the undulating surface of the boom 10.

中間リンク部材２０は、図５に示すように、左右の側部が先端ブーム１４およびジブ３０と連結される枠板状に形成される。中間リンク部材２０の底面側には、図６に示すように、第１油圧シリンダ２１および第２油圧シリンダ２６が、中間リンク部材２０の左右方向に互いに並列で、中間リンク部材２０の側方から見て互いに交差するように配設される。 As shown in FIG. 5, the intermediate link member 20 is formed in a frame plate shape in which the left and right side portions are connected to the tip boom 14 and the jib 30. On the bottom surface side of the intermediate link member 20, as shown in FIG. 6, the first hydraulic cylinder 21 and the second hydraulic cylinder 26 are parallel to each other in the left-right direction of the intermediate link member 20 from the side of the intermediate link member 20. They are arranged so as to intersect each other when viewed.

ブームヘッド１５の上方先端部には、ブーム側リンク連結部１６が形成されており、不図示の連結ピン等を用いて、ブーム側リンク連結部１６の内側に中間リンク部材２０の基端部が連結される。ブームヘッド１５の下方先端部には、ブーム側第１シリンダ連結部１７が形成されており、不図示の連結ピン等を用いて、第１油圧シリンダ２１のシリンダチューブ２２側の端部が回転自在に連結される。なお、詳細な図示を省略するが、ブーム側リンク連結部１６の近傍に位置する中間リンク部材２０の基端部には、第２油圧シリンダ２６のピストンロッド２８側の端部が回転自在に連結されるブーム側第２シリンダ連結部が形成される。 A boom-side link connecting portion 16 is formed at the upper tip portion of the boom head 15, and a base end portion of the intermediate link member 20 is formed inside the boom-side link connecting portion 16 by using a connecting pin (not shown). Be concatenated. A boom-side first cylinder connecting portion 17 is formed at the lower tip of the boom head 15, and the end of the first hydraulic cylinder 21 on the cylinder tube 22 side can be rotated by using a connecting pin (not shown) or the like. Is linked to. Although detailed illustration is omitted, the end portion of the second hydraulic cylinder 26 on the piston rod 28 side is rotatably connected to the base end portion of the intermediate link member 20 located near the boom side link connecting portion 16. A boom-side second cylinder connecting portion is formed.

ジブ３０は基端部にジブベース３１を有し、このジブベース３１に中間リンク部材２０等が連結される。ジブベース３１の揺動中心側基端部には、ジブ側リンク連結部３２が形成されており、不図示の連結ピン等を用いて、ジブ側リンク連結部３２の外側に中間リンク部材２０の先端部が連結される。ジブベース３１におけるジブ側リンク連結部３２の内側近傍には、ジブ側第１シリンダ連結部３３が形成されており、第１油圧シリンダ２１のピストンロッド２３側の端部が回転自在に連結される。ジブベース３１の揺動内周側基端部には、ジブ側第２シリンダ連結部３４が形成されており、図示の連結ピン等を用いて、第２油圧シリンダ２６のシリンダチューブ２７側の端部が回転自在に連結される。 The jib 30 has a jib base 31 at a base end portion, and an intermediate link member 20 or the like is connected to the jib base 31. A jib-side link connecting portion 32 is formed at the base end on the swing center side of the jib base 31, and the tip of the intermediate link member 20 is formed on the outside of the jib-side link connecting portion 32 by using a connecting pin (not shown) or the like. The parts are connected. A jib-side first cylinder connecting portion 33 is formed in the vicinity of the inside of the jib-side link connecting portion 32 in the jib base 31, and the end portion of the first hydraulic cylinder 21 on the piston rod 23 side is rotatably connected. A jib-side second cylinder connecting portion 34 is formed at the swing inner peripheral side base end portion of the jib base 31, and the end portion of the second hydraulic cylinder 26 on the cylinder tube 27 side is formed by using a connecting pin or the like shown in the figure. Are rotatably connected.

第１油圧シリンダ２１は、第１シリンダチューブ２２と、第１ピストンロッド２３とを有し、油圧力を利用して第１ピストンロッド２３を第１シリンダチューブ２２に対して出入させることにより、伸縮可能に構成される。第１ピストンロッド２３の端部は、ジブベ
ース３１のジブ側第１シリンダ連結部３３に、ジブ３０の揺動軸と同軸上で回転自在に連結される。一方、第１シリンダチューブ２２の端部は、ブームヘッド１５のブーム側第１シリンダ連結部１７に、中間リンク部材２０の揺動軸と平行な軸上で回転自在に連結される。これにより、第１油圧シリンダ２１の伸縮によってブーム１０に対して中間リンク部材２０を揺動作動させることができる。 The first hydraulic cylinder 21 has a first cylinder tube 22 and a first piston rod 23, and expands and contracts by moving the first piston rod 23 in and out of the first cylinder tube 22 by utilizing hydraulic pressure. Possible to be configured. The end of the first piston rod 23 is rotatably connected to the jib-side first cylinder connecting portion 33 of the jib base 31 coaxially with the swing shaft of the jib 30. On the other hand, the end of the first cylinder tube 22 is rotatably connected to the boom-side first cylinder connecting portion 17 of the boom head 15 on an axis parallel to the swing axis of the intermediate link member 20. As a result, the intermediate link member 20 can be oscillated with respect to the boom 10 by expanding and contracting the first hydraulic cylinder 21.

第２油圧シリンダ２６は、第２シリンダチューブ２７と、第２ピストンロッド２８とを有し、油圧力を利用して第２ピストンロッド２８を第２シリンダチューブ２７に対して出入させることにより、伸縮可能に構成される。第２ピストンロッド２８の端部は、中間リンク部材２０のブーム側第２シリンダ連結部（図示せず）に、中間リンク部材２０の揺動軸と同軸上で回転自在に連結される。一方、第２シリンダチューブ２７の端部は、ジブベース３１のジブ側第２シリンダ連結部３４に、ジブ３０の揺動軸と平行な軸上で回転自在に連結される。これにより、第２油圧シリンダ２６の伸縮によって中間リンク部材２０に対してジブ３０を揺動作動させることができる。 The second hydraulic cylinder 26 has a second cylinder tube 27 and a second piston rod 28, and expands and contracts by moving the second piston rod 28 in and out of the second cylinder tube 27 using hydraulic pressure. Possible to be configured. The end of the second piston rod 28 is rotatably connected to the boom-side second cylinder connecting portion (not shown) of the intermediate link member 20 coaxially with the swing shaft of the intermediate link member 20. On the other hand, the end of the second cylinder tube 27 is rotatably connected to the jib-side second cylinder connecting portion 34 of the jib base 31 on an axis parallel to the swing axis of the jib 30. As a result, the jib 30 can be oscillated with respect to the intermediate link member 20 by expanding and contracting the second hydraulic cylinder 26.

図５に示すように、ジブ３０の先端部には支持部材４０がブーム１０の起伏面に沿って上下に揺動自在に枢結される。この支持部材４０は垂直ポスト部４１を有し、レベリング装置４２により支持部材４０の揺動制御が行われ、ブーム１０の起伏角度位置、ブーム１０に対する中間リンク部材２０の揺動角度位置、および中間リンク部材２０に対するジブ３０の揺動角度位置に拘らず、垂直ポスト部４１が常に垂直に延びて位置するように支持部材４０が揺動制御される。なお、レベリング装置４２は、一端がジブ３０の中間部に枢結されたレベリングシリンダ４３と、レベリングシリンダ４３の伸縮作動に応じて支持部材４０（垂直ポスト部４１）を上下に揺動させるリンク機構４４とを有して構成される。リンク機構４４は、両端がジブ３０と支持部材４０とに枢結されるとともに、中間部がレベリングシリンダ４３の他端に枢結される。 As shown in FIG. 5, a support member 40 is pivotally connected to the tip of the jib 30 so as to swing up and down along the undulating surface of the boom 10. The support member 40 has a vertical post portion 41, and the swing control of the support member 40 is performed by the leveling device 42, the undulation angle position of the boom 10, the swing angle position of the intermediate link member 20 with respect to the boom 10, and the middle. The support member 40 is swing-controlled so that the vertical post portion 41 is always vertically extended and positioned regardless of the swing angle position of the jib 30 with respect to the link member 20. The leveling device 42 includes a leveling cylinder 43 whose one end is pivotally connected to the middle portion of the jib 30 and a link mechanism that swings the support member 40 (vertical post portion 41) up and down according to the expansion and contraction operation of the leveling cylinder 43. It is configured to have 44 and. Both ends of the link mechanism 44 are pivotally connected to the jib 30 and the support member 40, and the intermediate portion is pivotally connected to the other end of the leveling cylinder 43.

このように常時垂直に保持される垂直ポスト部４１に水平旋回自在に（首振り自在に）作業台５０が取り付けられており、垂直ポスト部４１の内部に設けられた首振りモータ８３（図７参照）によって作業台５０を首振り作動させることができる。また、作業台５０は、上述したブーム１０の起伏角度位置、中間リンク部材２０の揺動角度位置、およびジブ３０の揺動角度位置に拘らず、常に水平に保持される。さらに、作業台５０には上部操作装置５１が配設されている。また、旋回台５には下部操作装置８が配設されている。 A workbench 50 is attached to the vertical post portion 41 which is always held vertically in this way so that the workbench 50 can swing horizontally (swing freely), and the swing motor 83 provided inside the vertical post portion 41 (FIG. 7). The workbench 50 can be swung. Further, the workbench 50 is always held horizontally regardless of the undulation angle position of the boom 10, the swing angle position of the intermediate link member 20, and the swing angle position of the jib 30 described above. Further, the workbench 50 is provided with an upper operation device 51. Further, a lower operation device 8 is arranged on the swivel table 5.

次に、図７に示す機能ブロック図を参照して本実施形態の高所作業車の作動制御を行う各部の概要構成について説明する。この図に示すコントロールユニット７０は、上部操作装置５１又は下部操作装置８に設けられた各種操作レバーや操作スイッチの操作に基づいて、前述した起伏シリンダ７、第１油圧シリンダ２１、第２油圧シリンダ２６、旋回モータ８１、伸縮シリンダ８１及び首振りモータ８３などの各種アクチュエータの作動を制御する。上述した各種アクチュエータは油圧で作動しており、油圧ユニット８０内に、上述した各種アクチュエータに対応して電磁比例制御弁を配設し、コントロールユニット７０によって各種油圧アクチュエータに対応する電磁比例制御弁のバルブ開度を制御することで、各油圧アクチュエータの作動を制御している。 Next, the outline configuration of each part that controls the operation of the aerial work platform of the present embodiment will be described with reference to the functional block diagram shown in FIG. 7. The control unit 70 shown in this figure has the above-mentioned undulating cylinder 7, the first hydraulic cylinder 21, and the second hydraulic cylinder based on the operation of various operation levers and operation switches provided on the upper operation device 51 or the lower operation device 8. 26, controls the operation of various actuators such as the swivel motor 81, the telescopic cylinder 81, and the swing motor 83. The various actuators described above are hydraulically operated, and an electromagnetic proportional control valve is arranged in the hydraulic unit 80 corresponding to the various actuators described above, and the control unit 70 is used to provide an electromagnetic proportional control valve corresponding to the various hydraulic actuators. By controlling the valve opening, the operation of each hydraulic actuator is controlled.

上述した油圧ユニット８０には、油圧ポンプＰよって作動油タンクＴ内の作動油が供給されており、油圧ポンプＰは、車体２を走行させるエンジンＥの駆動力によって作動する。より詳細には、エンジンＥのトランスミッションにはＰＴＯ（パワーテイクオフ機構）が組み込まれており、運転キャブ２ａ内にあるＰＴＯ操作レバー１８がオフからオンに操作されるとパワーテイクオフ機構ＰＴＯの機構部が作動し、エンジンＥの駆動力が車体２の駆動輪から油圧ポンプＰに伝達されるようになる。また、ＰＴＯ操作レバー１８がオンからオフに操作されると、エンジンＥの駆動力は油圧ポンプＰから車体２の駆動輪に伝達
されるようになる。 The hydraulic oil in the hydraulic oil tank T is supplied to the hydraulic unit 80 described above by the hydraulic pump P, and the hydraulic pump P is operated by the driving force of the engine E for traveling the vehicle body 2. More specifically, the transmission of the engine E incorporates a PTO (power take-off mechanism), and when the PTO operation lever 18 in the driving cab 2a is operated from off to on, the mechanical part of the power take-off mechanism PTO is activated. It operates and the driving force of the engine E is transmitted from the driving wheels of the vehicle body 2 to the hydraulic pump P. Further, when the PTO operating lever 18 is operated from on to off, the driving force of the engine E is transmitted from the hydraulic pump P to the driving wheels of the vehicle body 2.

コントロールユニット７０には、ブーム１０及びジブ３０の姿勢や作業台５０の荷重などを検出する検出装置６０からの検出値も入力されている。検出装置６０は、車体２に対する旋回台５の旋回角度位置を検出する旋回角度検出器６１、ブーム１０の対地角度を検出するブーム対地角度検出器６２、ブーム１０の伸長量を検出する伸長量検出器６３、作業台５０の首振り角度を検出する首振角度検出器６４、作業台５０の荷重を検出する荷重検出器６５、ジブ３０の対地角度を検出するジブ対地角度検出器６６及びブーム１０に対するジブ３０の相対角度を検出するジブ相対角度検出器６７を有して構成されている。 A detection value from the detection device 60 that detects the posture of the boom 10 and the jib 30 and the load of the workbench 50 is also input to the control unit 70. The detection device 60 includes a turning angle detector 61 that detects the turning angle position of the turning table 5 with respect to the vehicle body 2, a boom ground angle detector 62 that detects the ground angle of the boom 10, and an extension amount detection that detects the extension amount of the boom 10. Instrument 63, swing angle detector 64 that detects the swing angle of the workbench 50, load detector 65 that detects the load of the workbench 50, jib ground angle detector 66 that detects the ground angle of the jib 30, and boom 10. It is configured to have a jib relative angle detector 67 that detects the relative angle of the jib 30 with respect to the jib 30.

コントロールユニット７０は、上述したブーム対地角度検出器６２、ジブ対地角度検出器６６及びジブ相対角度検出器６７によって検出された各検出値に基づいて、第１油圧シリンダ２１がブーム側リンク連結部１６（図６参照）における連結ピンを軸として中間リンク部材２０を回転させる際の負荷となる負荷モーメントを算出する。例えば、図５に示す状態において第１油圧シリンダ２１を伸長させると、中間リンク部材２０が押し上げられて、ブーム側リンク連結部１６の連結ピンを軸として中間リンク部材２０が反時計回りに回転する。一方、中間リンク部材２０の自重やジブ３０、支持部材４０及び作業台５０などの重量により、第１油圧シリンダ２１による押し上げに対して押し返そうとする力が働いて、ブーム側リンク連結部１６の連結ピンを軸として時計回りのモーメントが発生し、これが負荷モーメントとなる。この負荷モーメントの大きさは、図５に示すように中間リンク部材２０及びジブ３０が水平になっているときが最大となり、中間リンク部材２０及びジブ３０が水平状態から離れるにつれて小さくなっていく。 In the control unit 70, the first hydraulic cylinder 21 has a boom-side link connecting portion 16 based on the detection values detected by the boom-to-ground angle detector 62, the jib-to-ground angle detector 66, and the jib relative angle detector 67 described above. The load moment, which is the load when rotating the intermediate link member 20 around the connecting pin in (see FIG. 6), is calculated. For example, when the first hydraulic cylinder 21 is extended in the state shown in FIG. 5, the intermediate link member 20 is pushed up and the intermediate link member 20 rotates counterclockwise around the connecting pin of the boom side link connecting portion 16. .. On the other hand, due to the weight of the intermediate link member 20, the weight of the jib 30, the support member 40, the workbench 50, and the like, a force that tries to push back against the push-up by the first hydraulic cylinder 21 acts, and the boom-side link connecting portion 16 A clockwise moment is generated around the connecting pin of, and this becomes the load moment. As shown in FIG. 5, the magnitude of this load moment becomes maximum when the intermediate link member 20 and the jib 30 are horizontal, and decreases as the intermediate link member 20 and the jib 30 move away from the horizontal state.

さらに、コントロールユニット７０は、算出した負荷モーメントに基づいて第１油圧シリンダ２１及び第２油圧シリンダ２６の作動範囲を切り替えているが、この切替制御について後に詳しく説明する。 Further, the control unit 70 switches the operating range of the first hydraulic cylinder 21 and the second hydraulic cylinder 26 based on the calculated load moment, and this switching control will be described in detail later.

以上のような構成の高所作業車１において、移動時にはブーム１０の伸長量を縮小させて車体２上に倒伏させ、ジブ３０がブーム１０に対して折り重なる状態にして格納する。このとき、第１油圧シリンダ２１が縮小作動して、ブーム１０とのなす角度が９０度近傍となる位置まで中間リンク部材２０が揺動するとともに、第２油圧シリンダ２６が縮小作動して、中間リンク部材２０とのなす角度が９０度近傍となる位置までジブ３０が揺動する。これにより、図８に示すようにジブ３０は、ブーム１０とほぼ平行となるようにブーム１０側に折り畳まれた状態となる。以下、この状態となるジブ３０の位置を「格納位置」とも称する。 In the aerial work platform 1 having the above configuration, when moving, the extension amount of the boom 10 is reduced and the boom 10 is laid down on the vehicle body 2, and the jib 30 is stored in a state of being folded with respect to the boom 10. At this time, the first hydraulic cylinder 21 contracts and the intermediate link member 20 swings to a position where the angle formed with the boom 10 is close to 90 degrees, and the second hydraulic cylinder 26 contracts and operates in the middle. The jib 30 swings to a position where the angle formed with the link member 20 is close to 90 degrees. As a result, as shown in FIG. 8, the jib 30 is folded toward the boom 10 so as to be substantially parallel to the boom 10. Hereinafter, the position of the jib 30 in this state is also referred to as a “storage position”.

次に図９及び図１０を参照して、ブーム１０の起伏角度が水平になっている状態で、ジブ３０を上述した格納位置Ｐ_０から全展開位置Ｐ_３まで展開させる場合における第１油圧シリンダ２１及び第２油圧シリンダ２６の作動範囲について説明する。ここで、全展開位置Ｐ_３は、第１油圧シリンダ２１及び第２油圧シリンダ２６を各々全伸長状態まで伸長させたときのジブ３０の位置とする。図９は、ジブ３０を格納位置からＰ_０から全展開位置Ｐ_３まで展開させたときの負荷モーメントＮ_Ｌの変化（図９中、実線で示す）と、第１油圧シリンダ２１が発生する駆動モーメントＮ_Ｃ１（図９中、一点鎖線で示す）及び第２油圧シリンダ２６が発生する駆動モーメントＮ_Ｃ２（図９中、二点鎖線で示す）の変化とを示す図である。なお、図９における駆動モーメントＮ_Ｃ１は、第１油圧シリンダ２１の全縮小状態における駆動モーメントＮ_{Ｃ１ｍｉｎ}から全伸長状態における駆動モーメントＮ_{Ｃ１ｍａｘ}までの変化を示している。また、駆動モーメントＮ_Ｃ２は、第２油圧シリンダ２６の全縮小状態における駆動モーメントＮ_{Ｃ２ｍｉｎ}から全伸長状態における駆動モーメントＮ_{Ｃ２ｍａｘ}までの変化を示している。 Next, with reference to FIGS. 9 and 10, the first hydraulic cylinder in the case where the jib ₃₀ is expanded from the above-mentioned storage position _P0 to the fully expanded position P3 in a state where the undulation angle of the boom 10 is horizontal. The operating range of the 21 and the second hydraulic cylinder 26 will be described. Here, the fully expanded position P3 is the position of the jib ₃₀ when the first hydraulic cylinder 21 and the second hydraulic cylinder 26 are each extended to the fully extended state. FIG. 9 shows the change in the load moment _NL (shown by the solid line in FIG. 9) when the _jib ₃₀ is expanded from the retracted position to the fully expanded position P3, and the drive generated by the first hydraulic cylinder 21. It is a figure which shows the change of the moment _NC1 (indicated by the alternate long and short dash line in FIG. 9) and the drive moment _NC2 (indicated by the alternate long and short dash line in FIG. 9) generated by the second hydraulic cylinder 26. The drive moment _NC1 in FIG. 9 shows the change from the drive moment _NC1min in the fully reduced state of the first hydraulic cylinder 21 to the drive moment _NC1max in the fully extended state. Further, the drive moment _NC2 shows a change from the drive moment _NC2min in the fully reduced state of the second hydraulic cylinder 26 to the drive moment _NC2max in the fully extended state.

図１０は、ジブ３０が格納位置Ｐ_０から全展開位置Ｐ_３まで展開する間の中間リンク部材２０及びジブ３０の変位と、第１油圧シリンダ２１及び第２油圧シリンダ２６の作動が切り替わる角度とを示す模式図である。なお、図１０においては、ブーム１０の図示を輪郭のみとし、中間リンク部材２０及びジブ３０の図示を明確にするために第１油圧シリンダ２１及び第２油圧シリンダ２６の図示を省略している。 FIG. 10 shows the displacement of the intermediate link member 20 and the jib 30 while the jib ₃₀ expands from the retracted position _P0 to the fully expanded position P3, and the angle at which the operations of the first hydraulic cylinder 21 and the second hydraulic cylinder 26 are switched. It is a schematic diagram which shows. In FIG. 10, the illustration of the boom 10 is shown only as an outline, and the illustration of the first hydraulic cylinder 21 and the second hydraulic cylinder 26 is omitted in order to clarify the illustration of the intermediate link member 20 and the jib 30.

図９（ａ）は、ジブ３０が格納位置にあるときの、駆動モーメントＮ_Ｃ１及びＮ_Ｃ２の変化と負荷モーメントＮ_Ｌの変化との関係を示している。ここで、駆動モーメントＮ_Ｃ１及びＮ_Ｃ２のピーク値Ｎ_Ｃ１ｐｋ及びＮ_Ｃ２ｐｋはいずれも負荷モーメントＮ_Ｌのピーク値Ｎ_Ｌｐｋを超えているが、各油圧シリンダが全縮小状態から全伸長状態になるまでの間に、各駆動モーメントが負荷モーメントＮ_Ｌのピーク値Ｎ_Ｌｐｋよりも小さくなる領域がある。ただし、負荷モーメントＮ_Ｌがピーク値Ｎ_Ｌｐｋとなるジブ展開位置と、駆動モーメントＮ_Ｃ１及びＮ_Ｃ２がピーク値Ｎ_Ｃ１ｐｋ及びＮ_Ｃ２ｐｋとなるジブ展開位置とが一致したときは、各油圧シリンダが全縮小状態から全伸長状態になるまでの間に、各駆動モーメントが負荷モーメントＮ_Ｌよりも下回る領域は存在しない。 FIG. 9A shows the relationship between the changes in the drive moments _{NC1 and NC2} _and the changes in the load moment _NL when the jib 30 is in the retracted position. Here, the peak values _NC1pk and _NC2pk of the drive moments NC1 and _NC2 both exceed the peak value N _Lpk of the load moment _NL , but _until each hydraulic cylinder changes from the fully contracted state to the fully expanded state. There is a region in which each drive moment becomes smaller than the peak value N _Lpk of the load moment _NL . However, when the jib expansion position where the load moment N _L has the peak value N _Lpk and the jib expansion position where the drive moments _NC1 and _NC2 have the peak values _NC1pk and _NC2pk match, all the hydraulic cylinders have all. There is no region where each drive moment is lower than the load moment _NL from the contracted state to the fully extended state.

格納位置にあるジブ３０を回転させる場合、コントロールユニット７０は、まず第２油圧シリンダ２６を全縮小状態にしたまま、第１油圧シリンダ２１のみを作動して中間リンク部材２０を回転させる。また、コントロールユニット７０は、図７に示したブーム対地角度検出器６２、ジブ対地角度検出器６６及びジブ相対角度検出器６７によって検出された各検出値に基づいて負荷モーメントＮ_Ｌを算出する。そして、算出した負荷モーメントＮ_Ｌに基づいて、負荷モーメントＮ_Ｌのピーク値Ｎ_Ｌｐｋに対して駆動モーメントＮ_Ｃ２のピーク値Ｎ_Ｃ２ｐｋが一致することとなるジブ展開角度θ_Ｊ１になるまで第１油圧シリンダ２１を作動させる（図９（ｂ）参照）。すなわち、コントロールユニット７０は、図１０に示すように格納位置Ｐ_０における中間リンク部材２０の角度に対して切替角度θ_１ａとなるまで第１油圧シリンダ２１を作動させ、ジブ３０を第１中間位置Ｐ_１まで回転させる。 When rotating the jib 30 in the retracted position, the control unit 70 first operates only the first hydraulic cylinder 21 to rotate the intermediate link member 20 while keeping the second hydraulic cylinder 26 in a fully reduced state. Further, the control unit 70 calculates the load moment _NL based on each detection value detected by the boom-to-ground angle detector 62, the jib-to-ground angle detector 66, and the jib relative angle detector 67 shown in FIG. 7. Then, based on the calculated load moment N _L , the first hydraulic pressure is reached until the jib expansion angle θ _J1 at which the peak value _NC ₂ pk of the drive moment NC 2 coincides with the peak value N _Lpk of the load moment N _L. The cylinder 21 is operated (see FIG. 9B). That is, as shown in FIG. 10, the control unit 70 operates the first hydraulic cylinder 21 until the switching angle θ _1a with respect to the angle of the intermediate link member 20 at the storage position _P0 , and the jib 30 is set to the first intermediate position. _Rotate to P1.

なお、上述したように負荷モーメントＮ_Ｌのピーク値Ｎ_Ｌｐｋと駆動モーメントＮ_Ｃ２のピーク値Ｎ_Ｃ２ｐｋとを必ずしも一致させる必要はなく、第２油圧シリンダ２６が全縮小状態から全伸長状態になるまでの間に、駆動モーメントＮ_Ｃ２が負荷モーメントＮ_Ｌよりも下回る領域が存在しないジブ展開角度になるまで、第１油圧シリンダ２１を作動させればよい。 As described above, it is not always necessary to match the peak value N _Lpk of the load moment N _L with the peak value NC ₂ pk of the drive moment _NC 2, until the second hydraulic cylinder 26 changes from the fully contracted state to the fully expanded state. The first hydraulic cylinder 21 may be operated until the jib deployment angle is reached so that there is no region where the drive moment _NC2 is lower than the load moment _NL .

次にコントロールユニット７０は、第１中間位置Ｐ_１を超えてジブ３０を展開させる場合は、中間リンク部材２０の角度を切替角度θ_１ａに維持したまま第２油圧シリンダ２６を全縮小状態から全伸長状態まで作動させる。すなわち、図１０に示すように、第１中間位置Ｐ_１におけるジブ３０の角度に対して切替角度θ_２となるまで第２油圧シリンダ２６を作動させ、ジブ３０の展開角度を第２中間位置Ｐ_２まで回転させる。このとき、図９（ｂ）に示すように、駆動モーメントＮ_Ｃ２は第２油圧シリンダ２６の全縮小状態から全伸長状態に至るまで負荷モーメントＮ_Ｌを凌駕しているため、ジブ３０の作動に支障を来すことはない。 Next, when the control unit 70 expands the jib 30 beyond the first intermediate position P ₁ , the second hydraulic cylinder 26 is fully reduced from the fully reduced state while maintaining the angle of the intermediate link member 20 at the switching angle θ _1a . Operate to the extended state. That is, as shown in FIG. 10, the second hydraulic cylinder 26 is operated until the switching angle θ ₂ with respect to the angle of the jib 30 at the first intermediate position P ₁ , and the deployment angle of the jib 30 is set to the second intermediate position P. Rotate to ₂ . At this time, as shown in FIG. 9B, the drive moment _NC2 exceeds the load moment _NL from the fully contracted state to the fully expanded state of the second hydraulic cylinder 26, so that the jib 30 is operated. It will not hinder you.

さらにコントロールユニット７０は、第２中間位置Ｐ_２を超えてジブ３０を展開させる場合は、第２油圧シリンダ２６の全伸長状態を維持したまま第１油圧シリンダ２１を全伸長状態まで作動させる。すなわち、図１０に示すように、中間リンク部材２０の角度が切替角度θ_１ａになっている状態から最大限展開した角度θ_１ｂになるまで第１油圧シリンダ２１を作動させ、ジブ３０を全展開位置Ｐ_３まで回転させる。この場合においても、図９（ｃ）に示すように、駆動モーメントＮ_Ｃ１は第１油圧シリンダ２１が全伸長状態に至るまで負荷モーメントＮ_Ｌを凌駕しているため、ジブ３０の作動に支障を来すことはない
。 Further, when the jib 30 is expanded beyond the _second intermediate position P2, the control unit 70 operates the first hydraulic cylinder 21 to the fully extended state while maintaining the fully extended state of the second hydraulic cylinder 26. That is, as shown in FIG. 10, the first hydraulic cylinder 21 is operated from the state where the angle of the intermediate link member 20 is the switching angle θ _1a to the maximum expanded angle θ _1b , and the jib 30 is fully expanded. Rotate to position _P3 . Even in this case, as shown in FIG. 9 (c), the drive moment _NC1 exceeds the load moment N _L until the first hydraulic cylinder 21 reaches the fully extended state, which hinders the operation of the jib 30. Will not come.

以上のように、コントロールユニット７０は、格納位置Ｐ_０から第１中間位置Ｐ_１までの間は第１油圧シリンダ２１によって中間リンク部材２０（延いてはジブ３０）を揺動させ、第１中間位置Ｐ_１から第２中間位置Ｐ_２までの間は第２油圧シリンダ２６によってジブ３０を揺動させ、第２中間位置Ｐ_２から全展開位置Ｐ_３までの間は再び第１油圧シリンダ２１によって中間リンク部材２０（延いてはジブ３０）を揺動させる。このように、第１油圧シリンダ２１及び第２油圧シリンダ２６が全縮小状態から全伸長状態までに発生するモーメントのうち、ジブ等による負荷モーメントを下回る領域があったとしても、第１油圧シリンダ２１と第２油圧シリンダ２６とを切り替えて作動することによってジブ等を支障なく揺動作動させることができる。 As described above, in the control unit 70, the intermediate link member 20 (and the jib 30) is swung by the first hydraulic cylinder 21 from the storage position P ₀ to the first intermediate position P ₁ , and the first intermediate position is reached. The jib 30 is swung by the second hydraulic cylinder 26 from the position P1 to the _second intermediate position P2 _, and again by the _first hydraulic cylinder 21 from the _second intermediate position P2 to the fully deployed position P3. The intermediate link member 20 (and thus the jib 30) is swung. As described above, even if there is a region of the moment generated from the fully contracted state to the fully expanded state of the first hydraulic cylinder 21 and the second hydraulic cylinder 26 to be lower than the load moment due to the jib or the like, the first hydraulic cylinder 21 By switching between and the second hydraulic cylinder 26 to operate, the jib and the like can be oscillated without any trouble.

なお、上述した例ではブーム１０の起伏角度が水平になっていたが、ブーム１０の起伏角度が変動した場合は、図９において実線で示した負荷モーメントの特性が横軸（ジブ展開角度）方向にシフトすることとなる。したがって、このような場合は格納位置Ｐ_０から第１中間位置Ｐ_１までの範囲を調整して、第２油圧シリンダが全縮小状態から全伸長状態になるまでの間に、駆動モーメントＮ_Ｃ２が負荷モーメントＮ_Ｌよりも下回る領域が存在しないジブ展開角度になるまで、第１油圧シリンダ２１を作動させるとよい。 In the above example, the undulation angle of the boom 10 was horizontal, but when the undulation angle of the boom 10 fluctuates, the characteristics of the load moment shown by the solid line in FIG. 9 are in the horizontal axis (jib expansion angle) direction. Will shift to. Therefore, in such a case, the drive moment _NC2 is adjusted until the second hydraulic cylinder changes from the fully contracted state to the fully expanded state by adjusting the range from the storage position P ₀ to the first intermediate position P ₁ . The first hydraulic cylinder 21 may be operated until the jib deployment angle is reached so that there is no region below the load moment _NL .

上述した例では、格納位置Ｐ_０から第１中間位置Ｐ_１までの間は第１油圧シリンダ２１を作動し、第１中間位置Ｐ_１から第２中間位置Ｐ_２までの間は第２油圧シリンダ２６を作動し、第２中間位置Ｐ_２から全展開位置Ｐ_３までの間は再び第１油圧シリンダ２１していたが、これとは異なる手順で第１油圧シリンダ２１及び第２油圧シリンダ２６を作動させる場合について、図１１及び図１２を参照して説明する。ここで、図９及び図１０に示した内容と同様のものについては、同一の符号を付して詳しい説明を省略する。なお、図１２においても、ブーム１０の図示を輪郭のみとし、第１油圧シリンダ２１及び第２油圧シリンダ２６の図示を省略している。 In the above example, the first hydraulic cylinder 21 is operated from the storage position P ₀ to the first intermediate position P ₁ , and the second hydraulic cylinder is operated from the first intermediate position P ₁ to the second intermediate position P ₂ . 26 was operated, and the first hydraulic cylinder 21 was operated again from the _second intermediate position P2 to the fully deployed position _P3 , but the first hydraulic cylinder 21 and the second hydraulic cylinder 26 were operated by a different procedure. The case of operation will be described with reference to FIGS. 11 and 12. Here, the same contents as those shown in FIGS. 9 and 10 are designated by the same reference numerals, and detailed description thereof will be omitted. Also in FIG. 12, the illustration of the boom 10 is shown only as an outline, and the illustration of the first hydraulic cylinder 21 and the second hydraulic cylinder 26 is omitted.

図１１（ａ）は、ジブ３０が格納位置にあるときの、駆動モーメントＮ_Ｃ１及びＮ_Ｃ２の変化と負荷モーメントＮ_Ｌの変化との関係を示しており、図９（ａ）と同じ状態である。この状態からジブ３０を回転させる場合、コントロールユニット７０は、まず第１油圧シリンダ２１を全縮小状態にしたまま、第２油圧シリンダ２６のみを作動してジブ３０を回転させる。また、コントロールユニット７０は、図７に示したブーム対地角度検出器６２、ジブ対地角度検出器６６及びジブ相対角度検出器６７によって検出された各検出値に基づいて負荷モーメントＮ_Ｌを算出する。そして、算出した負荷モーメントＮ_Ｌに基づいて、負荷モーメントＮ_Ｌのピーク値Ｎ_Ｌｐｋに対して駆動モーメントＮ_Ｃ１のピーク値Ｎ_Ｃ１ｐｋが一致することとなるジブ展開角度θ_Ｊ１’になるまで第２油圧シリンダ２６を作動させる（図１１（ｂ）参照）。すなわち、コントロールユニット７０は、図１２に示すように格納位置Ｐ_０におけるジブ３０の角度に対して切替角度θ_２ａとなるまで第２油圧シリンダ２６を作動させ、ジブ３０を第１中間位置Ｐ_１’まで回転させる。 FIG. 11A shows the relationship between the changes in the drive moments _{NC1 and NC2} _and the changes in the load moment _NL when the jib 30 is in the retracted position, and is in the same state as in FIG. 9A. be. When rotating the jib 30 from this state, the control unit 70 first operates only the second hydraulic cylinder 26 while keeping the first hydraulic cylinder 21 in a fully reduced state to rotate the jib 30. Further, the control unit 70 calculates the load moment _NL based on each detection value detected by the boom-to-ground angle detector 62, the jib-to-ground angle detector 66, and the jib relative angle detector 67 shown in FIG. 7. Then, based on the calculated load moment N _L , the second is until the jib expansion angle θ _J1'that the peak value _NC1 pk of the drive moment _NC1 coincides with the peak value N _Lpk of the load moment N _L. The hydraulic cylinder 26 is operated (see FIG. 11B). That is, as shown in FIG. 12, the control unit 70 operates the second hydraulic cylinder 26 until the switching angle θ _2a with respect to the angle of the jib 30 at the storage position P ₀ , and the jib 30 is moved to the first intermediate position P ₁ . 'Rotate to.

なお、上述したように負荷モーメントＮ_Ｌのピーク値Ｎ_Ｌｐｋと駆動モーメントＮ_Ｃ１のピーク値Ｎ_Ｃ１ｐｋとを必ずしも一致させる必要はなく、第１油圧シリンダ２１が全縮小状態から全伸長状態になるまでの間に、駆動モーメントＮ_Ｃ１が負荷モーメントＮ_Ｌよりも下回る領域が存在しないジブ展開角度になるまで、第２油圧シリンダ２６を作動させればよい。 As described above, it is not always necessary to match the peak value N _Lpk of the load moment N _L with the peak value NC ₁ pk of the drive moment _NC 1 until the first hydraulic cylinder 21 changes from the fully contracted state to the fully expanded state. The second hydraulic cylinder 26 may be operated until the jib deployment angle is reached so that there is no region where the drive moment _NC1 is lower than the load moment _NL .

次にコントロールユニット７０は、第１中間位置Ｐ_１’を超えてジブ３０を展開させる場合は、ジブ３０の角度を切替角度θ_２ａに維持したまま第１油圧シリンダ２１を全縮小状態から全伸長状態まで作動させる。すなわち、図１２に示すように、第１中間位置Ｐ_１
’における中間リンク部材２０の角度に対して切替角度θ_１となるまで第１油圧シリンダ２１を作動させ、ジブ３０の展開角度を第２中間位置Ｐ_２’まで回転させる。このとき、図１１（ｂ）に示すように、駆動モーメントＮ_Ｃ１は第１油圧シリンダ２１の全縮小状態から全伸長状態に至るまで負荷モーメントＮ_Ｌを凌駕しているため、ジブ３０の作動に支障を来すことはない。 Next, when the control unit 70 expands the jib 30 beyond the first intermediate position P ₁ ', the control unit 70 fully extends the first hydraulic cylinder 21 from the fully reduced state while maintaining the angle of the jib 30 at the switching angle θ _2a . Operate to the state. That is, as shown in FIG. 12, the first intermediate position P ₁
The first hydraulic cylinder 21 is operated until the switching angle θ ₁ with respect to the angle of the intermediate link member 20 in', and the deployment angle of the jib 30 is rotated to the second intermediate position P ₂ '. At this time, as shown in FIG. 11B, since the drive moment _NC1 exceeds the load moment _NL from the fully contracted state to the fully expanded state of the first hydraulic cylinder 21, the jib 30 is operated. It will not hinder you.

さらにコントロールユニット７０は、第２中間位置Ｐ_２’を超えてジブ３０を展開させる場合は、第１油圧シリンダ２１の全伸長状態を維持したまま第２油圧シリンダ２６を全伸長状態まで作動させる。すなわち、図１２に示すように、ジブ３０の角度が切替角度θ_２ａになっている状態から最大限展開した角度θ_２ｂになるまで第２油圧シリンダ２６を作動させ、ジブ３０を全展開位置Ｐ_３まで回転させる。この場合においても、図１１（ｃ）に示すように、駆動モーメントＮ_Ｃ２は第２油圧シリンダ２６が全伸長状態に至るまで負荷モーメントＮ_Ｌを凌駕しているため、ジブ３０の作動に支障を来すことはない。 Further, when the jib 30 is expanded beyond the _second intermediate position P2', the control unit 70 operates the second hydraulic cylinder 26 to the fully extended state while maintaining the fully extended state of the first hydraulic cylinder 21. That is, as shown in FIG. 12, the second hydraulic cylinder 26 is operated from the state where the angle of the jib 30 is the switching angle θ _2a to the maximum expanded angle θ _2b , and the jib 30 is moved to the fully expanded position P. Rotate to ₃ . Even in this case, as shown in FIG. 11 (c), the drive moment _NC2 exceeds the load moment N _L until the second hydraulic cylinder 26 reaches the fully extended state, which hinders the operation of the jib 30. Will not come.

以上の例では、コントロールユニット７０は、格納位置Ｐ_０から第１中間位置Ｐ_１’までの間は第２油圧シリンダ２６によってジブ３０を揺動させ、第１中間位置Ｐ_１’から第２中間位置Ｐ_２’までの間は第１油圧シリンダ２１によって中間リンク部材２０（延いてはジブ３０）を揺動させ、第２中間位置Ｐ_２’から全展開位置Ｐ_３までの間は再び第２油圧シリンダ２６によってジブ３０を揺動させる。このように、第２油圧シリンダ２６及び第１油圧シリンダ２１が全縮小状態から全伸長状態までに発生するモーメントのうち、ジブ等による負荷モーメントを下回る領域があったとしても、第２油圧シリンダ２６と第１油圧シリンダ２１とを切り替えて作動することによってジブ等を支障なく揺動作動させることができる。 In the above example, the control unit 70 swings the jib 30 by the second hydraulic cylinder 26 from the storage position P ₀ to the first intermediate position P ₁ ', and from the _first intermediate position P 1'to the second intermediate position. The intermediate link member 20 (and thus the jib 30) is swung by the first hydraulic cylinder 21 until the position P ₂ ', and the second is again between the _second intermediate position P 2'and the fully deployed position P ₃ . The jib 30 is swung by the hydraulic cylinder 26. As described above, even if there is a region of the moment generated from the fully contracted state to the fully expanded state of the second hydraulic cylinder 26 and the first hydraulic cylinder 21 to be lower than the load moment due to the jib or the like, the second hydraulic cylinder 26 By switching between and the first hydraulic cylinder 21 to operate, the jib and the like can be oscillated without any trouble.

なお、ブーム１０の起伏角度が変動したことによって負荷モーメントの特性がシフトした場合は、格納位置Ｐ_０から第１中間位置Ｐ_１’までの範囲を調整して、第１油圧シリンダが全縮小状態から全伸長状態になるまでの間に、駆動モーメントＮ_Ｃ１が負荷モーメントＮ_Ｌよりも下回る領域が存在しないジブ展開角度になるまで、第２油圧シリンダ２６を作動させるとよい。 If the load moment characteristics shift due to fluctuations in the undulation angle of the boom 10, the range from the storage position P ₀ to the _first intermediate position P 1'is adjusted so that the first hydraulic cylinder is fully reduced. It is preferable to operate the second hydraulic cylinder 26 until the jib deployment angle is reached so that there is no region where the drive moment _NC1 is lower than the load moment _NL from

また、上述した実施形態では、高所作業車としてトラック式の高所作業車１を例に説明したが、これに限られるものではなく、例えば、ホイール式の高所作業車やクローラ式の高所作業車であってもよい。 Further, in the above-described embodiment, the truck-type aerial work platform 1 has been described as an example as the aerial work platform, but the present invention is not limited to this, and for example, a wheel-type aerial work platform or a crawler-type aerial work platform is used. It may be an aerial work platform.

１高所作業車
２車体
１０ブーム
１５ブームヘッド
１６ブーム側リンク連結部
２０中間リンク部材
２１第１油圧シリンダ
２６第２油圧シリンダ
３０ジブ
３１ジブベース
３２ジブ側リンク連結部
５０作業台
６０検出装置
６２ブーム対地角度検出器
６６ジブ対地角度検出器
６７ジブ相対角度検出器
７０コントロールユニット 1 Aerial work platform 2 Body 10 Boom 15 Boom head 16 Boom side link connection part 20 Intermediate link member 21 1st hydraulic cylinder 26 2nd hydraulic cylinder 30 Jib 31 Jib base 32 Jib side link connection part 50 Workbench 60 Detector 62 Boom Ground angle detector 66 Jib ground angle detector 67 Jib relative angle detector 70 Control unit

Claims

With a car body that can run
A boom provided on the vehicle body at least in an undulating manner,
An intermediate link member pivotally connected to the tip of the boom so as to swing up and down along the undulating surface of the boom.
A jib that is pivotally connected to the tip of the intermediate link member so as to swing up and down along the undulating surface of the boom.
A workbench disposed at the tip of the jib and
A first hydraulic cylinder that swings the intermediate link member with respect to the boom,
A second hydraulic cylinder that swings the jib with respect to the intermediate link member,
By expanding and contracting the first hydraulic cylinder and the second hydraulic cylinder, the jib is fully expanded from the retracted position where the jib is folded until it is substantially parallel to the boom. It is equipped with a hydraulic cylinder operation control device that swings the jib within the range up to the position.
The hydraulic cylinder operation control device is
The intermediate link member is oscillated by the first hydraulic cylinder within a range in which the intermediate link member has a first angle from the retracted position.
With the intermediate link member at the first angle, the jib is swung by the second hydraulic cylinder within the range from the fully contracted state to the fully extended state.
With the second hydraulic cylinder in the fully extended state, the intermediate link member is oscillated by the first hydraulic cylinder within the range from the first angle to the fully deployed position.
The first angle is such that the driving moment generated by the second hydraulic cylinder with respect to the jib within the range from the fully contracted state to the fully extended state of the second hydraulic cylinder is the second hydraulic pressure in the jib. An aerial work vehicle characterized by an angle that exceeds the load moment generated in the direction opposite to the direction of rotation due to the operation of the cylinder.

A boom-to-ground angle detection device that detects the boom-to-ground angle,
A jib ground angle detection device that detects the ground angle of the jib, and
A jib relative angle detecting device for detecting the angle of the jib with respect to the boom is provided.
The hydraulic cylinder operation control device calculates the load moment based on the detection values of the boom-to-ground angle detection device, the jib-to-ground angle detection device, and the jib relative angle detection device, and the first load moment is calculated based on the calculated load moment. The aerial work platform according to claim 1, wherein one angle is calculated.

With a car body that can run
A boom provided on the vehicle body at least in an undulating manner,
An intermediate link member pivotally connected to the tip of the boom so as to swing up and down along the undulating surface of the boom.
A jib that is pivotally connected to the tip of the intermediate link member so as to swing up and down along the undulating surface of the boom.
A workbench disposed at the tip of the jib and
A first hydraulic cylinder that swings the intermediate link member with respect to the boom,
A second hydraulic cylinder that swings the jib with respect to the intermediate link member,
By expanding and contracting the first hydraulic cylinder and the second hydraulic cylinder, the jib is fully expanded from the retracted position where the jib is folded until it is substantially parallel to the boom. It is equipped with a hydraulic cylinder operation control device that swings the jib within the range up to the position.
The hydraulic cylinder operation control device is
The jib is oscillated by the second hydraulic cylinder within a range in which the jib is at a second angle from the retracted position.
With the jib at the second angle, the intermediate link member is oscillated by the first hydraulic cylinder within the range from the fully contracted state to the fully extended state.
With the first hydraulic cylinder fully extended, the jib is swung by the second hydraulic cylinder within the range from the second angle to the fully deployed position.
The second angle is such that the driving moment generated by the first hydraulic cylinder with respect to the intermediate link member within the range from the fully contracted state to the fully extended state of the first hydraulic cylinder is generated in the intermediate link member. An aerial work platform having an angle that exceeds the load moment generated in the direction opposite to the direction of rotation due to the operation of the first hydraulic cylinder.

A boom-to-ground angle detection device that detects the boom-to-ground angle,
A jib ground angle detection device that detects the ground angle of the jib, and
A jib relative angle detecting device for detecting the angle of the jib with respect to the boom is provided.
The hydraulic cylinder operation control device calculates the load moment based on the detection values of the boom-to-ground angle detection device, the jib-to-ground angle detection device, and the jib relative angle detection device, and the first load moment is calculated based on the calculated load moment. 2. The aerial work platform according to claim 3, wherein the angle is calculated.