JPH0721510Y2 - Work vehicle operating device - Google Patents
Work vehicle operating deviceInfo
- Publication number
- JPH0721510Y2 JPH0721510Y2 JP14736589U JP14736589U JPH0721510Y2 JP H0721510 Y2 JPH0721510 Y2 JP H0721510Y2 JP 14736589 U JP14736589 U JP 14736589U JP 14736589 U JP14736589 U JP 14736589U JP H0721510 Y2 JPH0721510 Y2 JP H0721510Y2
- Authority
- JP
- Japan
- Prior art keywords
- boom
- drive
- emergency stop
- manipulator
- work vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Description
【考案の詳細な説明】 〔産業上の利用分野〕 本考案は、ブームの先端にマニピュレータ装置等の作業
装置を搭載した作業車の操作装置に係り、緊急時等はブ
ーム及び作業装置の作動を同時に停止させ、この状態で
ブーム及び作業装置の作動をそれぞれ単独に復帰させる
ことができる様にした作業車の操作装置に関するもので
ある。[Detailed Description of the Invention] [Industrial field of application] The present invention relates to an operating device for a work vehicle in which a working device such as a manipulator device is mounted on the tip of a boom. The present invention relates to an operating device for a work vehicle that can be stopped at the same time, and in this state, the operation of the boom and the operating device can be independently restored.
通常、作業車には、作業途中で発生する外部的な原因に
て生じる異常事態に備え、かつまた架装作業機器自体の
駆動部の故障等でもって発生する異常事態に備え、各駆
動部を緊急停止させ作業員の安全を守り、同時に各種架
装作業機器、作業車間を異常な事態から防護するために
緊急停止装置が設けられているのが実情である。Usually, the work vehicle is equipped with each drive unit in preparation for an abnormal situation that occurs due to an external cause that occurs during work, and also for an abnormal situation that occurs due to a failure of the drive unit of the bodywork work equipment itself. The reality is that an emergency stop device is provided to protect the safety of workers by making an emergency stop and at the same time to protect various work equipment and work vehicles from abnormal situations.
しかしながら、従来の作業車に装備されている緊急停止
装置の多くは、例えばブームの先端にマニピュレータ操
縦用キャビンと、該マニピュレータ操縦用キャビンの前
方にマニピュレータ装置を搭載したような緊急に停止し
なければならない駆動箇所が数箇所におよぶような作業
車の緊急停止装置は、マニピュレータ操縦用キャビンに
搭乗している作業員が何らかの危険を察知して操作する
緊急停止装置による駆動部の緊急停止は、マニピュレー
タ操縦用キャビンの前後移動、旋回、首振揺動をはじめ
マニピュレータ装置の駆動装置と、ブームの起伏、伸縮
及び旋回駆動装置の各部の駆動の全てが同時に緊急停止
されるように構成されているから、異常事態を緊急に回
避する前提として各駆動部を緊急に停止させる点に於い
ては、その機能を十分に発揮していると言えるが、然し
一旦緊急停止した停止状態を解除して回避作動を行うに
際し、緊急停止させている駆動部（本来なら緊急停止を
する必要の無い駆動部）を選択して再び駆動させるため
の方式が採用されていないため、緊急停止状態を回避す
るためある駆動装置を駆動させると、これに付随して他
の駆動装置も駆動状態に入り、結果的には緊急停止する
前の状態に戻ってしまう等の恐れが有り、従って、従来
の高所作業車では、そうした事態を招かないために別系
統で回避のための駆動装置を搭載するとか、あるいは手
動にて緊急停止状態の回避を行わなければならない等種
々の問題点を有していた。However, many of the emergency stop devices equipped in the conventional work vehicle have to be emergency stopped, for example, by mounting the manipulator steering cabin at the tip of the boom and the manipulator device in front of the manipulator steering cabin. The emergency stop device for work vehicles, which has several drive points that cannot be controlled, is operated by an emergency stop device operated by an operator on board the manipulator control cabin to detect any danger. Since the manipulator device drive device including the longitudinal movement of the control cabin, turning, and swinging motion, and the boom undulation, extension and contraction, and drive of each part of the turning drive device are configured to be stopped at the same time, in an emergency manner. As a prerequisite for urgently avoiding an abnormal situation, the function is to stop each drive unit in an emergency. Although it can be said that it is exerting its power for a minute, when canceling the stopped state once the emergency stop and performing the avoidance operation, select the drive unit that is in the emergency stop (the drive unit that does not normally need the emergency stop). However, when a certain drive device is driven to avoid an emergency stop state, other drive devices also go into the drive state, resulting in an emergency stop. There is a risk of returning to the state before doing so.Therefore, in the conventional aerial work vehicle, in order to prevent such a situation, a separate drive system for avoidance is installed, or an emergency is manually performed. There are various problems such as having to avoid the stopped state.
本考案は、上記の問題点を解決するためになされたもの
で、その目的とするところは、ブームの先端にマニピュ
レータ装置等の作業装置を搭載した作業車の操作装置に
係り、緊急時等はブーム及び作業装置の作動を同時に停
止させ、この状態でブーム及び作業装置の作動をそれぞ
れ単独に復帰させることができる様にした作業車の操作
装置を提供することにあり、そのために車体上に装備し
たターンテーブルにブームの基端を枢支し、該ブームの
先端に作業装置を搭載した作業車の操作装置であって、
前記ブームの作動及び前記作業装置の作動を同時に停止
させる停止装置と、該停止装置により停止させられた前
記ブームの作動のみを復帰させる第１の復帰装置と、前
記停止装置により停止させられた前記作業装置の作動の
みを復帰させる第２の復帰装置とで構成する。The present invention has been made to solve the above problems, and its purpose is to relate to a control device for a work vehicle equipped with a work device such as a manipulator device at the end of a boom. To provide an operating device for a work vehicle capable of simultaneously stopping the operations of the boom and the working device, and individually returning the operations of the boom and the working device in this state. An operating device for a work vehicle, in which the base end of the boom is pivotally supported on the turntable, and the working device is mounted on the tip of the boom.
A stop device that simultaneously stops the operation of the boom and the operation of the working device, a first return device that returns only the operation of the boom stopped by the stop device, and the stop device stopped by the stop device. The second restoring device restores only the operation of the working device.
本考案は上記の様な構成を採用したので、ブームの先端
にマニピュレータ装置等の作業装置を搭載した作業車の
ブーム及び作業装置の作動を緊急に停止する必要が有る
場合は、これら全てを同時に停止させることが可能であ
り、かつ停止した状態で緊急停止の必要が無いと判断さ
れる箇所、即ち、ブーム及び作業装置の個々の作動はそ
れぞれ単独に復帰させることができる。従って、従来の
様に緊急停止状態を解除するために回避用の駆動装置を
別系統で装備する必要も無く、また手動による回避操作
も行う必要が無いので、非常に安全であり、かつ操作性
も優れ、緊急停止状態からの回避操作が非常に円滑に行
える。Since the present invention adopts the above-mentioned configuration, when it is necessary to urgently stop the operation of the boom and the working device of the work vehicle in which the working device such as the manipulator device is mounted on the tip of the boom, all of them should be operated at the same time. It is possible to stop the operation, and it is possible to independently restore the operation of the boom and the work device where it is determined that the emergency stop is not necessary in the stopped state. Therefore, it is not necessary to equip the drive system for avoidance in a separate system to release the emergency stop state as in the past, and it is not necessary to perform the manual avoidance operation, which is very safe and easy to operate. It is also excellent, and the avoidance operation from the emergency stop state can be performed very smoothly.
〔実施例〕 以下、第１図及び第２図に基づいて本考案に係る作業車
の操作装置の一実施例を詳細に説明する。[Embodiment] An embodiment of an operating device for a work vehicle according to the present invention will be described in detail below with reference to FIGS. 1 and 2.
同図中１は高所作業車であり、２はターンテーブル、３
は前記ターンテーブルに基端を枢着し、起伏シリンダー
４により起伏すると共に、内蔵した伸縮シリンダー（図
示せず）により伸縮するブーム、５は前記ブーム３の先
端に装備されたマニピュレータ操縦用キャビン、６は前
記マニピュレータ操縦用キャビン５の前方に搭載したマ
ニピュレータ装置である。In the figure, 1 is an aerial work vehicle, 2 is a turntable, 3
Is a boom which pivotally attaches a base end to the turntable, and which is hoisted by a hoisting cylinder 4 and is telescopic by a built-in telescoping cylinder (not shown). 5 is a manipulator control cabin equipped at the tip of the boom 3. Reference numeral 6 denotes a manipulator device mounted in front of the manipulator steering cabin 5.
７は前記マニピュレータ操縦用キャビン５内に装備した
ブーム３及びマニピュレータ装置６の作動を制御する上
部操作装置であり、該上部操作装置７の近傍にはブーム
３の駆動装置3a及びマニピュレータ装置６の駆動装置6a
の作動を同時に停止させるための緊急停止装置８が設け
られ、該緊急停止装置８は、前記各駆動装置3a及び6aを
同時に緊急停止させるための停止装置である押しボタン
スイッチＡと、ブーム３駆動装置3aのみの緊急停止を解
除して作動を復帰させる第１の復帰装置である押しボタ
ンスイッチＢと、マニピュレータ装置６の駆動装置6aの
みの緊急停止を解除して作動を復帰させる第２の復帰装
置である押しボタンスイッチＣとより構成され、該緊急
停止装置８の押しボタンスイッチＡの操作で前記ブーム
３の駆動装置3a及びマニピュレータ装置6aの全ての駆動
が緊急停止され、押しボタンスイッチＢの操作で前記ブ
ーム３の駆動装置3aの緊急停止が単独て復帰され、押し
ボタンスイッチＣの操作で前記マニピュレータ装置６の
駆動装置6aの緊急停止が単独で復帰される様に構成され
ている。Reference numeral 7 denotes an upper operating device that controls the operation of the boom 3 and the manipulator device 6 mounted in the manipulator operating cabin 5. In the vicinity of the upper operating device 7, the drive device 3a of the boom 3 and the manipulator device 6 are driven. Device 6a
Is provided with an emergency stop device 8 for simultaneously stopping the operations of the two, and the emergency stop device 8 is a stop device for simultaneously emergency stopping the drive devices 3a and 6a, and the boom 3 drive. The push button switch B, which is a first restoring device that releases the emergency stop of only the device 3a to restore the operation, and the second return that releases the emergency stop of only the drive device 6a of the manipulator device 6 to restore the operation. The push button switch C, which is a device, is operated, and by operating the push button switch A of the emergency stop device 8, all the driving of the drive device 3a of the boom 3 and the manipulator device 6a is emergency stopped, and the push button switch B By the operation, the emergency stop of the drive device 3a of the boom 3 is independently restored, and by the operation of the push button switch C, the emergency stop of the drive device 6a of the manipulator device 6 is performed. It is configured to be restored independently.
上記の実施例に基づいて本考案に係る作業車の操作装置
の作用を説明する。The operation of the operating device for a working vehicle according to the present invention will be described based on the above embodiment.
即ち、本考案に係る作業車の操作装置は、マニピュレー
タ操縦用キャビン５内に装備したブーム３及びマニピュ
レータ装置６の作動を制御する上部操作装置７の近傍に
ブーム３の駆動装置3a及びマニピュレータ装置６の駆動
装置6aを同時に停止させるための緊急停止装置８、つま
り前記ブーム３の駆動装置3a及びマニピュレータ装置6a
の全ての駆動を緊急停止する押しボタンスイッチＡと、
該押しボタンスイッチＡで緊急停止した前記ブーム３の
駆動装置3a及びマニピュレータ装置６の駆動装置6aを選
択して単独で復帰させる押しボタンスイッチＢ、Ｃを設
けたので、緊急停止装置８の押しボタンスイッチＡによ
り、同時に緊急停止されたブーム３の駆動装置3a及びマ
ニピュレータ装置６の駆動装置6aは、緊急停止を解除し
て緊急状態を回避するに当たって、必要な駆動装置3a乃
至6aの何れかを復帰させるための押しボタンスイッチＢ
乃至Ｃを選択して操作することで、当該駆動装置3a乃至
6aのみを選択して駆動させて回避操作を行うことが可能
で、従って、従来の様に緊急停止状態を解除するために
回避用の駆動装置を別系統で装備する必要も無く、また
手動による回避操作も行う必要が無いので、非常に安全
であり、かつ操作と回避操作が非常に円滑に実施でき
る。That is, the operating device for a working vehicle according to the present invention is such that the drive device 3a for the boom 3 and the manipulator device 6 are provided in the vicinity of the upper operating device 7 for controlling the operation of the boom 3 and the manipulator device 6 mounted in the manipulator operating cabin 5. Emergency stop device 8 for simultaneously stopping the drive devices 6a of the two, that is, the drive device 3a of the boom 3 and the manipulator device 6a.
Push button switch A for emergency stop of all driving of
Since the push button switches B and C for selecting the drive device 3a of the boom 3 and the drive device 6a of the manipulator device 6 that have been emergency stopped by the push button switch A and individually returning the push device are provided, the push button of the emergency stop device 8 is provided. The drive device 3a of the boom 3 and the drive device 6a of the manipulator device 6 which are simultaneously and emergency stopped by the switch A restore any one of the necessary drive devices 3a to 6a in canceling the emergency stop and avoiding the emergency state. Push button switch B for
To C are selected and operated, the drive devices 3a to 3a
It is possible to select and drive only 6a and perform avoidance operation.Therefore, it is not necessary to equip another system for avoidance drive to release the emergency stop state as in the past, and it is also possible to operate manually. Since it is not necessary to perform the avoidance operation, it is very safe and the operation and the avoidance operation can be performed very smoothly.
本考案は、以上詳細に説明した如く、車体上に装備した
ターンテーブルにブームの基端を枢支し、該ブームの先
端に作業装置を搭載した作業車の操作装置であって、前
記ブームの作動及び前記作業装置の作動を同時に停止さ
せる停止装置と、該停止装置により停止させられた前記
ブームの作動のみを復帰させる第１の復帰装置と、前記
停止装置により停止させられた前記作業装置の作動のみ
を復帰させる第２の復帰装置とで構成したので、ブーム
の先端にマニピュレータ装置等の作業装置を搭載した作
業車のブーム及び作業装置の作動を緊急に停止する必要
が有る場合は、これら全てを同時に停止させることが可
能であり、かつ停止した状態で緊急停止の必要が無いと
判断される箇所、即ち、ブーム及び作業装置の個々の作
動はそれぞれ単独に復帰させることができる。従って、
従来の様に緊急停止状態を解除するために回避用の駆動
装置を別系統で装備する必要も無く、また手動による回
避操作も行う必要が無いので、非常に安全であり、かつ
操作性も優れ、緊急停止状態からの回避操作が非常に円
滑に行える等種々の優れた効果を有する。As described in detail above, the present invention is an operating device for a work vehicle in which a base end of a boom is pivotally supported by a turntable mounted on a vehicle body, and a working device is mounted on the tip of the boom. A stop device for simultaneously stopping the operation and the operation of the working device; a first returning device for returning only the operation of the boom stopped by the stopping device; and a working device stopped by the stopping device. Since it is configured with the second return device that returns only the operation, if it is necessary to urgently stop the operation of the boom and the work device of the work vehicle in which the work device such as the manipulator device is mounted on the tip of the boom, It is possible to stop all at the same time, and in the stopped state, it is judged that there is no need for an emergency stop, that is, the individual operations of the boom and work equipment are independent. It can be restored. Therefore,
It is extremely safe and has excellent operability because it is not necessary to equip the drive system for avoidance to release the emergency stop state in a separate system as in the past and it is not necessary to perform manual avoidance operation. Further, it has various excellent effects such that the avoidance operation from the emergency stop state can be carried out very smoothly.
第１図は本考案に係る作業車の操作装置を装備した高所
作業車の一実施例を示す斜視図、第２図は本考案に係る
作業車の操作装置の概略構成を示すブロック図である。 １…高所作業車、２…ターンテーブル、３…ブーム、3a
…駆動装置、４…起伏シリンダ、５…マニピュレータ操
縦用キャビン、６…マニピュレータ装置、6a…駆動装
置、７…上部操作装置、８…緊急停止装置、Ａ…緊急停
止用押しボタンスイッチ、Ｂ、Ｃ…復帰用の押しボタン
スイッチ。FIG. 1 is a perspective view showing an embodiment of an aerial work vehicle equipped with an operating device for a working vehicle according to the present invention, and FIG. 2 is a block diagram showing a schematic configuration of an operating device for a working vehicle according to the present invention. is there. 1 ... Aerial work vehicle, 2 ... Turntable, 3 ... Boom, 3a
... Drive device, 4 ... Elevating cylinder, 5 ... Manipulator operation cabin, 6 ... Manipulator device, 6a ... Drive device, 7 ... Upper operation device, 8 ... Emergency stop device, A ... Emergency stop push button switch, B, C ... pushbutton switch for recovery.
Claims (1)
の基端を枢支し、該ブームの先端に作業装置を搭載した
作業車の操作装置であって、前記ブームの作動及び前記
作業装置の作動を同時に停止させる停止装置と、該停止
装置により停止させられた前記ブームの作動のみを復帰
させる第１の復帰装置と、前記停止装置により停止させ
られた前記作業装置の作動のみを復帰させる第２の復帰
装置と、を装備したことを特徴とする作業車の操作装
置。1. An operating device for a working vehicle, wherein a base end of a boom is pivotally supported on a turntable mounted on a vehicle body, and a working device is mounted on a tip of the boom, the operating device of the boom and the working device. A stop device for simultaneously stopping the operation, a first returning device for returning only the operation of the boom stopped by the stopping device, and a first returning device for returning only the operation of the working device stopped by the stopping device An operation device for a work vehicle, which is equipped with a return device (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14736589U JPH0721510Y2 (en) | 1989-12-20 | 1989-12-20 | Work vehicle operating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14736589U JPH0721510Y2 (en) | 1989-12-20 | 1989-12-20 | Work vehicle operating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0385398U JPH0385398U (en) | 1991-08-29 |
| JPH0721510Y2 true JPH0721510Y2 (en) | 1995-05-17 |
Family
ID=31693883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14736589U Expired - Lifetime JPH0721510Y2 (en) | 1989-12-20 | 1989-12-20 | Work vehicle operating device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0721510Y2 (en) |
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| US11717956B1 (en) | 2022-08-29 | 2023-08-08 | Sarcos Corp. | Robotic joint system with integrated safety |
| US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
| US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
-
1989
- 1989-12-20 JP JP14736589U patent/JPH0721510Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0385398U (en) | 1991-08-29 |
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