Center of gravity adjustment device and vertical lifting type aerial work platform

Abstract

To provide a gravity center adjustment device that improves the stability of a vertical elevation type aerial work vehicle and to provide the vertical elevation type aerial work vehicle equipped with the gravity center adjustment device.SOLUTION: A vertical elevation type aerial work vehicle 10 includes: a vehicle body 11 capable of traveling; and a deck 13 capable of elevating with respect to the vehicle body 11. The vertical elevation type aerial work vehicle 10 includes a gravity center adjustment device 30 that adjusts a gravity center position. The gravity center adjustment device 30 includes: an inclination angle detector 31 that detects an inclination angle indicating an inclination of a vehicle body 11 with respect to a horizontal direction; a load detector 32 that detects a load on a deck 13; an internal guide member 33 supported by the vehicle body 11; an internal weight 34 configured to be movable along the internal guide member 33; and a control device 50 having a processing circuit that, based on the inclination angle and the load, controls movement of the internal weight 34 along the internal guide member 33 so that a center position of the vehicle body 11 in a top view coincides with the gravity center position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a center of gravity adjustment device for adjusting the center of gravity of a vertical lifting type aerial work platform, and to a vertical lifting type aerial work platform equipped with the center of gravity adjustment device. [Background technology]

[0002] A self-propelled vertical lifting vehicle for aerial work is powered by a battery installed on the vehicle and is configured to be able to travel and raise and lower its deck. Patent Document 1 also discloses a technology for a vertical lifting vehicle for aerial work that is configured so that the deck can extend forward relative to the vehicle body, and that increases stability by arranging a counterweight on the rear side of the vehicle body to prevent imbalance in the center of gravity. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-330094 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology of Patent Document 1 is difficult to apply to a vertical lift type aerial work platform, which is expected to have a center of gravity biased toward the rear of the vehicle body. Therefore, there is room for improvement in the technology for improving stability using weights. [Means for solving the problem]

[0005] A vertical lifting type aerial work vehicle that solves the above problem is a vertical lifting type aerial work vehicle that has a drivable vehicle body and a deck that can be raised and lowered relative to the vehicle body, and is equipped with a center of gravity adjustment device that adjusts the center of gravity position of the vertical lifting type aerial work vehicle, and has a tilt angle detector that detects the tilt angle indicating the tilt of the vehicle body relative to the horizontal direction, a load detector that detects the load on the deck, a guide member supported on the vehicle body, a weight configured to be movable along the guide member, and a control device having a processing circuit that controls the movement of the weight along the guide member based on the tilt angle and the load so that the center position of the vehicle body when viewed from above is the center of gravity position. [Effects of the Invention]

[0006] According to the present invention, even if the inclination of the vehicle body or the load acting on the deck changes, the center of gravity is maintained at the center position of the vehicle body, thereby improving the stability of the vertical lifting type aerial work platform. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a diagram showing a schematic configuration of a vertical lifting type aerial work platform in a first embodiment; [Figure 2] 1A is a diagram schematically showing a state in which the weight body protrudes from one end of the vehicle body, and FIG. 1B is a diagram schematically showing a state in which the weight body protrudes from the other end of the vehicle body in the first embodiment. [Figure 3] FIG. 2 is a block diagram showing a schematic configuration for controlling a weight mover in the first embodiment. [Figure 4] 10A is a top view schematically showing the general configuration of an annular guide member and an external weight in a second embodiment, and FIG. 10B is a side view schematically showing the general configuration of an annular guide member and an external weight. [Figure 5] 10A is a top view schematically showing a state in which the external weight has moved to the right, and FIG. 10B is a side view schematically showing a state in which the external weight has moved to the right, in the second embodiment. [Figure 6]In the third embodiment, (a) is a top view showing a schematic configuration of the first guide member, the second guide member, and the external weight, and (b) is a side view showing a schematic configuration of the first guide member, the second guide member, and the external weight. [Figure 7] 11A is a top view schematically showing a state in which the external weight has moved to the right, and FIG. 11B is a side view schematically showing a state in which the external weight has moved to the right, in the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] (First embodiment) A first embodiment of a vertical lifting type vehicle for aerial work (hereinafter simply referred to as a vehicle for aerial work) will be described with reference to FIGS. 1 to 3. FIG.

[0009] As shown in Fig. 1, the vertical lifting type vehicle for aerial work 10 is self-propelled. The vehicle for aerial work 10 comprises a vehicle body 11, a lifting mechanism 12, and a deck 13. In Fig. 1, the left-right direction of the paper surface corresponds to the front-rear direction of the vehicle body 11, and the depth direction of the paper surface corresponds to the width direction of the vehicle body 11 (the left-right direction of the vehicle body 11).

[0010] The vehicle body 11 is configured to be able to travel on a road surface 16. In this embodiment, the vehicle body 11 is configured as a wheeled vehicle with a pair of left and right wheels 17 arranged side by side in the front-to-rear direction. The vehicle body 11 houses a running device that drives the plurality of wheels 17, an elevator device that drives the elevator mechanism 12, a battery that serves as a power source for the running device and the elevator device, and the like.

[0011] The lifting mechanism 12 raises and lowers the deck 13 relative to the vehicle body 11. The lower end of the lifting mechanism 12 is supported by the vehicle body 11, and the upper end is supported by the deck 13. The lifting mechanism 12 can be configured, for example, by a scissor link mechanism.

[0012] The deck 13 has floor plates 21, a guardrail 22, and an operation panel 23. The floor plates 21 function as a foothold for workers on the deck 13 to perform various tasks. The guardrail 22 is provided to surround the floor plates 21. The guardrail 22 functions to prevent workers working on the deck 13 from falling. The operation panel 23 is attached to the guardrail 22. The operation panel 23 is provided with various switches for operating the traveling device, the lifting device, etc. Workers on the deck 13 operate the various switches provided on the operation panel 23 to operate the traveling of the vehicle body 11 and the raising and lowering of the deck 13.

[0013] The vehicle for aerial work 10 has a center of gravity adjustment device 30. The center of gravity adjustment device 30 of the first embodiment is a device that adjusts the position of the center of gravity of the vehicle for aerial work 10 to the center position of the vehicle body 11 when viewed from above, more specifically, to the center position of a pair of left and right wheels 17 arranged side by side in the front-to-rear direction. In the first embodiment, the center position and the center of gravity position refer to positions in the front-to-rear direction, that is, positions that can be shown in a one-dimensional coordinate system.

[0014] The center of gravity adjustment device 30 includes an inclination angle detector 31 , a load detector 32 , an internal guide member 33 , an internal weight 34 , and a control device 50 . The inclination angle detector 31 is provided on the vehicle body 11. The inclination angle detector 31 detects the inclination of the vehicle body 11 with respect to the horizontal direction, i.e., the inclination angle indicating the inclination of the vehicle body 11 with respect to a state in which the vehicle body 11 is placed on a horizontal plane. The inclination angle detector 31 inputs the detected inclination angle to the control device 50.

[0015] The load detector 32 is provided on the floor plate 21 of the deck 13. The load detector 32 detects a load distribution indicating the magnitude and position of the load acting on each point of the floor plate 21, including the load acting on the floor plate 21 from the safety fence 22. The load detector 32 is composed of, for example, a plurality of pressure sensors and load cells provided at each point of the floor plate 21. The load detector 32 inputs the detected load distribution to the control device 50.

[0016] The internal guide member 33 is disposed inside the vehicle body 11. The internal guide member 33 extends in the front-to-rear direction between the front end and the rear end of the vehicle body 11 in the central portion in the width direction of the vehicle body 11.

[0017] The internal weight 34 is configured to be movable along the internal guide member 33. The internal weight 34 has a weight main body 36 and a weight mover 37. The weight body 36 is a weight that mainly moves inside the vehicle body 11. The weight body 36 has, for example, a substantially rectangular parallelepiped shape.

[0018] The weight mover 37 is connected to the center of the lower end of the weight body 36. The weight mover 37 is configured to engage with the internal guide member 33 to prevent the internal weight 34 from departing from the internal guide member 33. The weight mover 37 is configured, for example, using an electric motor powered by a battery built into the vehicle body 11. The weight mover 37 is driven and controlled by the control device 50 to move the weight body 36 along the internal guide member 33. The weight mover 37 has a built-in movement amount detector, for example, an encoder. The weight mover 37 inputs the weight position, which is the position of the internal weight 34 relative to a predetermined position on the internal guide member 33, to the control device 50 based on the movement amount detected by the movement amount detector. Note that because the movement of the weight body 36 is linear, the internal guide member 33 and the weight mover 37 can be configured using, for example, a ball screw mechanism, a slide mechanism, a rack-and-pinion mechanism, or the like.

[0019] Also, as shown in Figures 2(a) and 2(b), the internal weight 34 is configured so that a portion of the weight body 36 can protrude from one end or the other end of the vehicle body 11 through an opening provided at each end of the vehicle body 11 in the fore-and-aft direction.

[0020] The control device 50 is a device that controls the overall operation of the aerial work platform 10, including the traveling device and the lifting device. The control device 50 can be realized, for example, by circuitry, i.e., one or more dedicated hardware circuits such as ASIC, one or more processing circuits that operate according to a computer program (software), or a combination of both. The processing circuit has a CPU and memory (ROM, RAM, etc.) that stores programs executed by the CPU. Memory, i.e., computer-readable medium, includes any available medium that can be accessed by a general-purpose or dedicated computer.

[0021] The control device 50 adjusts and maintains the center of gravity at the center position of the vehicle body 11 when viewed from above by repeatedly executing a center of gravity adjustment process that controls the weight mover 37 based on the inclination angle from the inclination angle detector 31 and the load distribution from the load detector 32.

[0022] A specific example of the control device 50 will be described with reference to FIG. As shown in FIG. 3, the control device 50 has a basic information storage unit 51 that stores various information required for the center-of-gravity adjustment process, and a processing unit 52 that executes the center-of-gravity adjustment process.

[0023] The basic information storage unit 51 stores reference center of gravity information and weight information as the various types of information. The reference center of gravity information specifies a reference center of gravity position, which is the center of gravity position based on the own weight of the aerial work vehicle 10 (excluding the internal weight 34), and a reference center of gravity load, which is the load acting on the reference center of gravity position, with the tilt angle of the vehicle body 11 as a first variable and the lift amount of the deck 13 as a second variable. The weight information specifies a weight load, which is the load (weight) of the internal weight 34.

[0024] In the center of gravity adjustment process, the processing unit 52 first acquires the tilt angle detected by the tilt angle detector 31, the load distribution detected by the load detector 32, the amount of lifting and lowering of the deck 13 by the lifting device, and the weight position of the internal weight 34. The amount of lifting and lowering of the deck 13 may be input from the lifting device or from a detector such as a lifting amount detector.

[0025] Next, the processing unit 52 calculates the actual center-of-gravity position, which is the current center-of-gravity position of the aerial work platform 10, based on the tilt angle, load distribution, lift amount, weight position, and weight load. Specifically, the processing unit 52 calculates the reference center-of-gravity position and the reference center-of-gravity load based on the tilt angle, lift amount, and reference center-of-gravity information. Thereafter, the processing unit 52 calculates the actual center-of-gravity position based on the reference center-of-gravity position, reference center-of-gravity load, tilt angle, load distribution, lift amount, weight position, and weight load.

[0026] Next, the processing unit 52 calculates the amount of deviation between the central position and the actual center of gravity position, and then calculates a target position of the weight body 36 based on the amount of deviation and the weight load so that the actual center of gravity position becomes the central position.The processing unit 52 then drives the weight mover 37 so that the internal weight 34 moves to the target position.

[0027] The effects of the first embodiment will be described. (1-1) The aerial work vehicle 10 includes a travellable vehicle body 11 and a deck 13 that can be raised and lowered relative to the vehicle body 11. The aerial work vehicle 10 also includes a center of gravity adjustment device 30 that adjusts the position of the center of gravity. The center of gravity adjustment device 30 includes an inclination angle detector 31 that detects the inclination angle indicating the inclination of the vehicle body 11 with respect to the horizontal direction, a load detector 32 that detects the load acting on the deck 13, an internal guide member 33 supported by the vehicle body 11, an internal weight 34 configured to be movable along the internal guide member 33, and a control device 50 having a processing circuit that controls the movement of the internal weight 34 along the internal guide member 33 based on the inclination angle and load distribution so that the center position of the vehicle body 11 in a top view is the center of gravity.

[0028] As a result, even if the center of gravity position is biased in the fore-and-aft direction due to the vehicle body 11 traveling on an inclined surface or the worker moving on the deck 13, the center of gravity position can be moved toward the center position of the vehicle body 11. As a result, the stability of the aerial work platform vehicle 10 can be improved.

[0029] (1-2) In the center of gravity adjustment device 30, the control device 50 acquires the amount of elevation of the deck 13, and controls the movement of the internal weight 34 taking into account the acquired amount of elevation of the deck 13. As a result, even if the actual center of gravity position changes depending on the amount of elevation of the deck 13, the center of gravity position of the vehicle for aerial work 10 can be maintained at the center position of the vehicle body 11 according to the amount of elevation. As a result, the stability of the vehicle for aerial work 10 can be further improved.

[0030] (1-3) A portion of the internal weight 34 can be arranged outside the vehicle body 11. This improves the degree of freedom in arranging the internal weight 34, making it easier to maintain the center of gravity of the vehicle for aerial work 10 at the center of the vehicle body 11. As a result, the stability of the vehicle for aerial work 10 can be further improved.

[0031] (Second embodiment) A second embodiment of the vehicle for working at height will be described with reference to FIGS. The vehicle for aerial work in the second embodiment has the same main configuration as the vehicle for aerial work in the first embodiment. Therefore, in the second embodiment, only the parts that differ from the first embodiment will be described in detail, and the same parts as the first embodiment will be designated by the same names and symbols, and detailed descriptions thereof will be omitted. In the second embodiment, the center position and the center of gravity position refer to positions in the front-rear and width directions, i.e., positions indicated in a two-dimensional coordinate system. In addition, in Figures 4 and 5, the part indicating the vehicle body 11 is hatched.

[0032] As shown in FIGS. 4( a ) and 4 ( b ), the center-of-gravity adjusting device 30 of the second embodiment has an annular guide member 61 and an external weight 62 . The annular guide member 61 is an external guide member disposed outside the vehicle body 11. The annular guide member 61 is supported by the vehicle body 11 via a bracket 63. A plurality of external weights 62 are supported on the annular guide member 61.

[0033] Each external weight 62 is configured to be movable along the annular guide member 61. Each external weight 62 has a weight body 65 and a weight mover 66. The weight body 65 is a weight that moves outside the vehicle body 11.

[0034] The weight mover 66 is connected to the lower end of the weight main body 65. The weight mover 66 is configured to engage with the annular guide member 61 to prevent the external weight 62 from departing from the annular guide member 61. The weight mover 66 is driven and controlled by the control device 50, causing the weight main body 65 to move along the annular guide member 61. Note that the annular guide member 61 and the weight mover 66 have curved portions in their movement paths, so it is preferable that the weight mover 66 travels along the annular guide member 61, for example.

[0035] In the center of gravity adjustment process, the processing unit 52 first acquires the inclination angle detected by the inclination angle detector 31, the load distribution detected by the load detector 32, the amount of lifting and lowering of the deck 13 by the lifting device, and the weight position of each of the multiple external weights 62.

[0036] Next, the processing unit 52 calculates the actual center of gravity position of the vehicle for aerial work 10 based on the tilt angle, the load distribution, the amount of lift, the position of each weight, and the weight load. Next, the processing unit 52 calculates the amount of deviation between the central position and the actual center-of-gravity position, and then calculates a target position of each external weight 62 based on the amount of deviation, the position of each weight, and the weight load, so that the actual center-of-gravity position becomes the central position.The processing unit 52 then drives each weight mover 66 so that each external weight 62 moves to the target position.

[0037] For example, as shown in Figures 5(a) and 5(b), if the actual center of gravity position C1 is located on the left side of the center in the width direction, the external weights 62 are moved so that they gather on the right side in the figure.

[0038] The following describes the effects of the second embodiment: According to the second embodiment, in addition to the effects similar to those described in (1-1) and (1-2) above, the following effects can be obtained. (2-1) The center of gravity adjustment device 30 has an annular guide member 61 that is supported by the vehicle body 11 and disposed outside the vehicle body 11, and that is disposed so as to surround the vehicle body 11 in a top view. The center of gravity adjustment device 30 also has a plurality of external weights 62 that are configured to be movable along the annular guide member 61. The control device 50 controls the movement of each of the plurality of external weights 62.

[0039] This allows the center of gravity position to be adjusted to the center position of the vehicle body 11 in the longitudinal and width directions. Furthermore, because the external weights 62 are arranged around the vehicle body 11, the moment arm based on the weight position can be lengthened. As a result, the center of gravity position can be adjusted using the light external weights 62, and an increase in vehicle weight due to the installation of weights can be suppressed. Furthermore, because the center of gravity position is adjusted using multiple external weights 62 that are individually controlled, it is possible to quickly respond to changes in the center of gravity position.

[0040] (2-2) By using the external guide member, it becomes possible to incorporate the center of gravity adjustment device 30 into an existing vertical lift type aerial work platform. (2-3) Furthermore, since the external guide member is the annular guide member 61, the position of each external weight 62 is not limited to a specific region such as the front or rear of the vehicle body 11. In other words, there is a high degree of freedom regarding the position of each external weight 62. As a result, the center of gravity position can be controlled with high precision.

[0041] (Third embodiment) A third embodiment of the aerial work vehicle will be described with reference to FIGS. The vehicle for aerial work in the third embodiment has the same main configuration as the vehicle for aerial work in the second embodiment. Therefore, in the third embodiment, only the parts that differ from the second embodiment will be described in detail, and the same parts as the second embodiment will be designated by the same names and symbols, and detailed description thereof will be omitted. In the third embodiment, the center position and the center of gravity position refer to positions in the front-rear and width directions, i.e., positions indicated in a two-dimensional coordinate system. In addition, in Figures 6 and 7, the part indicating the vehicle body 11 is hatched.

[0042] As shown in FIGS. 6(a) and 6(b), the center of gravity adjustment device 30 of the third embodiment has a first guide member 71, a second guide member 72, a first external weight 73, and a second external weight 74.

[0043] The first guide member 71 is an external guide member that extends in the front-to-rear direction on both sides of the vehicle body 11 in the width direction. The first guide member 71 is supported by the vehicle body 11 via a bracket 75. The second guide member 72 is an external guide member that extends in the width direction on both sides of the vehicle body 11 in the front-to-rear direction. The second guide member 72 is supported by the vehicle body 11 via a bracket 75.

[0044] The first external weight 73 is configured to be movable along the first guide member 71. The second external weight 74 is configured to be movable along the second guide member 72. Each first external weight 73 has a weight main body 76 and a weight mover 77. Each second external weight 74 has a weight main body 78 and a weight mover 79. Note that, because the guide members 71, 72 and the weight movers 77, 79 move linearly, they can be configured using, for example, a ball screw mechanism, a slide mechanism, or a rack and pinion mechanism.

[0045] In the center of gravity adjustment process, the processing unit 52 first acquires the inclination angle detected by the inclination angle detector 31, the load distribution detected by the load detector 32, the amount of lifting and lowering of the deck 13 by the lifting device, and the weight positions of each first external weight 73 and each second external weight 74.

[0046] Next, the processing unit 52 calculates the actual center of gravity position of the vehicle for aerial work 10 based on the tilt angle, the load distribution, the amount of lift, the position of each weight, and the weight load. Next, the processing unit 52 calculates the amount of deviation between the central position and the actual center-of-gravity position, and then calculates target positions of the first external weights 73 and the second external weights 74 based on the amount of deviation and the weight load so that the actual center-of-gravity position becomes the central position.The processing unit 52 then drives the weight movers 77 and 79 so that the external weights 73 and 74 move to the target positions.

[0047] For example, as shown in Figures 7(a) and 7(b), when the actual center of gravity position C2 is located on the left side of the center in the width direction, the first external weight 73 is moved to the right end of the first guide member 71, and the second external weight 74 is moved to the center of the second guide member 72.

[0048] The effects of the third embodiment will be described below. According to the third embodiment, in addition to the effects similar to those described in (1-1), (1-2), (2-1), and (2-2) above, the following effects can be obtained. (3-1) The center of gravity adjustment device 30 has a first guide member 71 arranged on both sides of the vehicle body 11 in the width direction of the vehicle body 11 and extending in the front-rear direction, and a second guide member 72 arranged on both sides of the vehicle body 11 in the front-rear direction and extending in the width direction. The center of gravity adjustment device 30 also has a first external weight 73 configured to be movable along the first guide member 71, and a second external weight 74 configured to be movable along the second guide member 72. The control device 50 is configured to control the movement of the first external weight 73 and the movement of the second external weight 74 separately.

[0049] This allows the center of gravity to be moved in both the front-rear and width directions by linearly moving the external weights 73, 74. As a result, the hardware and software configurations of the center-of-gravity adjusting device 30 can be prevented from becoming complicated.

[0050] Although the first to third embodiments of the vertical lifting type aerial work platform have been described above, the present invention is not limited to the above-mentioned first to third embodiments and can be modified as appropriate without departing from the spirit of the present invention. For example, the first to third embodiments and the following modified examples can be combined with each other within the scope of technical compatibility.

[0051] In the first to third embodiments, the vehicle for work at height 10 is a wheeled type. However, the vehicle for work at height 10 is not limited to this, and may be a crawler type.

[0052] In the first to third embodiments, the control device 50 controls the position of the weight in consideration of the reference center-of-gravity position and the reference center-of-gravity load. However, the present invention is not limited to this. The control device 50 may control the movement of the weight so that the center-of-gravity position based on the load acting on the deck 13 and the weight is the center position of the vehicle body 11.

[0053] In the first embodiment, the control device 50 calculated the position in the front-rear direction (one-dimensional coordinate system) as the actual center of gravity position. In the second embodiment, the control device 50 calculated the position in the front-rear direction and the width direction (two-dimensional coordinate system) as the actual center of gravity position. However, this is not limiting, and the control device 50 may calculate a position in a coordinate system that includes the height direction as the actual center of gravity position, and control the position of the weight taking into account the calculated height position. This can further improve the stability of the aerial work platform 10. [Explanation of symbols]

[0054] 10...aerial work vehicle, 11...vehicle body, 12...lifting mechanism, 13...deck, 16...road surface, 17...wheels, 21...floor board, 22...protective fence, 23...operation panel, 30...center of gravity adjustment device, 31...inclination angle detector, 32...load detector, 33...internal guide member, 34...internal weight, 36...weight body, 37...weight mover, 50...control device, 51...basic information memory unit, 52...processing unit, 61...annular guide member, 62...external weight, 63...bracket, 65...weight body, 66...weight mover, 71...first guide member, 72...second guide member, 73...first external weight, 74...second external weight, 75...bracket, 76...weight body, 77...weight mover, 78...weight body, 79...weight mover.

Claims

1. A center of gravity adjustment device for adjusting the center of gravity of a vertical lifting type aerial work platform vehicle having a travellable vehicle body and a deck that can be raised and lowered relative to the vehicle body, an inclination angle detector that detects an inclination angle indicating an inclination of the vehicle body with respect to a horizontal direction; a load detector that detects a load acting on the deck; a guide member supported by the vehicle body; a weight configured to be movable along the guide member; a control device having a processing circuit that controls the movement of the weight along the guide member based on the tilt angle and the load so that the center position of the vehicle body in a top view is the center of gravity position. Center of gravity adjustment device.

2. The load detector detects a load distribution consisting of the magnitude of the load acting on each part of the deck and the position at which the load acts, The processing circuit of the control device controls the movement of the weight based on the tilt angle and the load distribution. The center of gravity adjustment device according to claim 1 .

3. A center of gravity adjustment device for adjusting the center of gravity of a vertical lifting type aerial work platform vehicle having a travellable vehicle body and a deck that can be raised and lowered relative to the vehicle body, an inclination angle detector that detects an inclination angle indicating an inclination of the vehicle body with respect to a horizontal direction; a load detector that detects a load acting on the deck; a guide member supported by the vehicle body; a weight configured to be movable along the guide member; a control device having a processing circuit that controls movement of the weight along the guide member based on the tilt angle and the load so that the center position of the vehicle body in a top view is the center of gravity position, The control device acquires the amount of elevation of the deck and controls the movement of the weight in consideration of the acquired amount of elevation of the deck. Center of gravity adjustment device.

4. A center of gravity adjustment device for adjusting the center of gravity of a vertical lifting type aerial work platform vehicle having a travelable vehicle body and a deck that can be raised and lowered relative to the vehicle body, an inclination angle detector that detects an inclination angle indicating an inclination of the vehicle body with respect to a horizontal direction; a load detector that detects a load acting on the deck; a guide member supported by the vehicle body; a weight configured to be movable along the guide member; a control device having a processing circuit that controls movement of the weight along the guide member based on the tilt angle and the load so that the center position of the vehicle body in a top view is the center of gravity position, the guide member includes an external guide member that is supported by the vehicle body and disposed outside the vehicle body, The weight includes an external weight configured to be movable along the external guide member. Center of gravity adjustment device.

5. the external guide member is an annular guide member disposed so as to surround the vehicle body in a top view, a plurality of the external weights are supported on the annular guide member; The control device controls the movement of each of the plurality of external weights. The center of gravity adjustment device according to claim 4.

6. the external guide members include first guide members disposed on both sides of the vehicle body in the width direction of the vehicle body and extending in the front-rear direction of the vehicle body, and second guide members disposed on both sides of the vehicle body in the front-rear direction and extending in the width direction, the external weight includes a first external weight configured to be movable along the first guide member and a second external weight configured to be movable along the second guide member, The control device controls the movement of the first external weight and the movement of the second external weight separately. The center of gravity adjustment device according to claim 4.

7. the guide member includes an internal guide member extending inside the vehicle body in the front-rear direction of the vehicle body, The weight includes an internal weight configured to be movable along the internal guide member. The center of gravity adjustment device according to any one of claims 1 to 6.

8. A portion of the internal weight is configured to be able to be disposed outside the vehicle body. The center of gravity adjustment device according to claim 7.

9. A vertical lifting type aerial work platform vehicle having a travelable vehicle body and a deck that can be raised and lowered relative to the vehicle body, A vertical lifting type aerial work platform equipped with the center of gravity adjustment device according to any one of claims 1 to 8.

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