【請求項１】車両１上に旋回自在に搭載した旋回台２、この旋回台２に基端部を
起伏自在に取り付けられ基端部と先端部間の距離変更を伴う形状変更自在なブー
ム３、ブーム３の先端部に常に一定の対地姿勢を維持するように取り付けた姿勢
維持部材４、および、姿勢維持部材４に水平首振り自在に取り付けた作業台５を
備えてなり、前記旋回台２の旋回、旋回台２に対するブームの起伏、および、ブ
ーム３の形状変更のそれぞれを、電磁比例制御弁６ａ〜８ａにより正逆駆動およ
びその駆動速度を制御される油圧アクチュエータ６〜８で駆動し、前記作業台５
の首振りを、オン・オフ制御信号により正逆駆動される首振り用電動モータＡで
行うよう構成してなる高所作業車に用いられる作業台水平直線移動装置であって、
・旋回台２の旋回角度Θ１を検出する旋回角度検出手段１０、
・ブーム３の起伏角度Θ２を検出する起伏角度検出手段１１、
・ブーム３の形状変更Ｌを検出する形状変更検出手段１２、
・作業台５の首振り角度Θ３を検出する首振り角度検出手段１３、
・作業台５に取り付けた操作部１４に配置され、全方向に傾動操作可能に立設し
た操作レバー１５ａとこの操作レバー１５ａの中立位置からの傾動方向と傾動量
に関する信号を操作信号Ｓとして出力する操作信号出力部１５とから構成した水
平直線移動指示手段、
・前記操作部１４に配置され、水平直線移動モードを指示するモード選択信号を
出力可能なモード選択手段１６、および、
・前記各手段１０〜１３、１５、１６からの信号を受け取って、前記各電磁比例
制御弁６ａ〜８ａへの制御信号および首振り用電動モータＡへのオン・オフ制御
信号を出力するコントローラ１７であって、
前記モード選択手段１６から水平直線移動モード選択信号を受け取った時、ま
たは、水平直線移動モード選択信号を受け取っている状態で操作レバー１５ａの
傾動方向が変更されたことを水平直線移動指示手段１５からの操作信号Ｓから検
出した時には、その時のブーム３先端部位置を基準位置として求めると共に、こ
の基準位置と操作信号Ｓとから基準位置を通り且つ前記操作レバー１５ａの傾動
方向に沿う水平な直線を移動予定軌跡として求め、以後、ブーム３先端部をこの
移動予定軌跡に沿って前記操作レバー１５ａの傾動方向へ傾動量に見合う速度で
移動させるに必要な、前記各電磁比例制御弁６ａ〜８ａの制御信号を演算出力す
ると共に、移動予定軌跡に対する作業台５の首振り角度Θ３の増減変化を監視し
、所定以上の増減変化があったときには当該変化を解消する方向へ作業台５を首
振り駆動させるためのオン・オフ制御信号を前記首振り用電動モータＡに出力す
るよう構成したコントローラ１７、
とでもって構成したことを特徴とする高所作業車の作業台水平直線移動装置。
1. A swivel table 2 mounted on a vehicle 1 so as to be swivelable, and a boom 3 whose base end portion is undulatingly attached to the swivel table 2 and whose shape can be freely changed by changing the distance between the base end portion and the tip end portion. A posture maintaining member 4 attached to the tip of the boom 3 so as to always maintain a constant ground posture, and a workbench 5 attached to the posture maintaining member 4 so as to be able to swing horizontally are provided. The swing, the undulation of the boom with respect to the swivel table 2, and the shape change of the boom 3 are driven by the hydraulic actuators 6 to 8 whose forward and reverse drive and its drive speed are controlled by the electromagnetic proportional control valves 6a to 8a . The workbench 5
This is a workbench horizontal linear movement device used for aerial work platforms, which is configured to swing the head with an electric motor A for swinging, which is driven forward and reverse by an on / off control signal.
The turning angle detecting means 10, which detects the turning angle Θ1 of the turning table 2.
The undulation angle detecting means 11 for detecting the undulation angle Θ2 of the boom 3,
-Shape change detecting means 12 for detecting the shape change L of the boom 3,
-Swing angle detecting means 13, which detects the swing angle Θ3 of the work table 5.
-The operation lever 15a arranged on the operation unit 14 attached to the work table 5 and erected so as to be tiltable in all directions, and the signal related to the tilt direction and the tilt amount from the neutral position of the operation lever 15a are output as the operation signal S. Horizontal linear movement instruction means composed of the operation signal output unit 15
A mode selection means 16 which is arranged in the operation unit 14 and can output a mode selection signal instructing a horizontal linear movement mode, and
A controller 17 that receives signals from the means 10 to 13, 15 and 16 and outputs control signals to the electromagnetic proportional control valves 6a to 8a and on / off control signals to the swinging electric motor A. And
When the horizontal linear movement mode selection signal is received from the mode selection means 16, or when the horizontal linear movement mode selection signal is received, the tilt direction of the operation lever 15a is changed from the horizontal linear movement instruction means 15. When detected from the operation signal S of the above, the position of the tip of the boom 3 at that time is obtained as a reference position, and a horizontal straight line passing through the reference position and along the tilting direction of the operation lever 15a is drawn from the reference position and the operation signal S. Each of the electromagnetic proportional control valves 6a to 8a required to be obtained as a planned movement locus and thereafter to move the tip of the boom 3 along the planned movement locus in the tilting direction of the operating lever 15a at a speed commensurate with the amount of tilt. The control signal is calculated and output, and the increase / decrease change of the swing angle Θ3 of the work table 5 with respect to the planned movement trajectory is monitored, and when there is an increase / decrease change of a predetermined value or more, the work table 5 is swung driven in a direction to eliminate the change. A controller 17 configured to output an on / off control signal for causing the swing to the electric motor A for swinging.
A workbench horizontal linear movement device for high-altitude work vehicles, which is characterized by being configured with the above.
（請求項１の発明）
車両１上に旋回自在に搭載した旋回台２、この旋回台２に基端部を起伏自在
に取り付けられ基端部と先端部間の距離変更を伴う形状変更自在なブーム３、ブ
ーム３の先端部に常に一定の対地姿勢を維持するように取り付けた姿勢維持部材
４、および、姿勢維持部材４に水平首振り自在に取り付けた作業台５を備えてな
り、前記旋回台２の旋回、旋回台２に対するブームの起伏、および、ブーム３の形
状変更のそれぞれを、電磁比例制御弁６ａ〜８ａにより正逆駆動およびその駆動
速度を制御される油圧アクチュエータ６〜８で駆動し、前記作業台５の首振りを
、オン・オフ制御信号により正逆駆動される首振り用電動モータＡで行うよう構
成してなる高所作業車に用いられる作業台水平直線移動装置であって、
・旋回台２の旋回角度Θ１を検出する旋回角度検出手段１０、
・ブーム３の起伏角度Θ２を検出する起伏角度検出手段１１、
・ブーム３の形状変更Ｌを検出する形状変更検出手段１２、
・作業台５の首振り角度Θ３を検出する首振り角度検出手段１３、
・作業台５に取り付けた操作部１４に配置され、全方向に傾動操作可能に立設し
た操作レバー１５ａとこの操作レバー１５ａの中立位置からの傾動方向と傾動量
に関する信号を操作信号Ｓとして出力する操作信号出力部１５とから構成した水
平直線移動指示手段、
・前記操作部１４に配置され、水平直線移動モードを指示するモード選択信号を
出力可能なモード選択手段１６、および、
・前記各手段１０〜１３、１５、１６からの信号を受け取って、前記各電磁比例
制御弁６ａ〜８ａへの制御信号および首振り用電動モータＡへのオン・オフ制御
信号を出力するコントローラ１７であって、
前記モード選択手段１６から水平直線移動モード選択信号を受け取った時、ま
たは、水平直線移動モード選択信号を受け取っている状態で操作レバー１５ａの
傾動方向が変更されたことを水平直線移動指示手段１５からの操作信号Ｓから検
出した時には、その時のブーム３先端部位置を基準位置として求めると共に、こ
の基準位置と操作信号Ｓとから基準位置を通り且つ前記操作レバー１５ａの傾動
方向に沿う水平な直線を移動予定軌跡として求め、以後、ブーム３先端部をこの
移動予定軌跡に沿って前記操作レバー１５ａの傾動方向へ傾動量に見合う速度で
移動させるに必要な、前記各電磁比例制御弁６ａ〜８ａの制御信号を演算出力す
ると共に、移動予定軌跡に対する作業台５の首振り角度Θ３の増減変化を監視し
、所定以上の増減変化があったときには当該変化を解消する方向へ作業台５を首
振り駆動させるためのオン・オフ制御信号を前記首振り用電動モータＡに出力す
るよう構成したコントローラ１７、とでもって構成したことを特徴とする高所作
業車の作業台水平直線移動装置。
(Invention of claim 1)
A swivel table 2 mounted on the vehicle 1 so as to be swivelable, a boom 3 whose base end portion is undulatingly attached to the swivel table 2 and whose shape can be changed by changing the distance between the base end portion and the tip end portion, and the tip of the boom 3 A posture maintaining member 4 attached to the portion so as to always maintain a constant ground posture, and a work table 5 attached to the posture maintaining member 4 so as to be able to swing horizontally are provided. The undulations of the boom with respect to 2 and the shape change of the boom 3 are driven by the hydraulic actuators 6 to 8 whose forward and reverse drive and its drive speed are controlled by the electromagnetic proportional control valves 6a to 8a, and the workbench 5 is driven. This is a workbench horizontal linear movement device used for aerial work platforms, which is configured to swing the head by an electric motor A for swinging which is driven forward and reverse by an on / off control signal.
The turning angle detecting means 10, which detects the turning angle Θ1 of the turning table 2.
The undulation angle detecting means 11 for detecting the undulation angle Θ2 of the boom 3,
-Shape change detecting means 12 for detecting the shape change L of the boom 3,
-Swing angle detecting means 13, which detects the swing angle Θ3 of the work table 5.
-The operation lever 15a arranged on the operation unit 14 attached to the work table 5 and erected so as to be tiltable in all directions, and the signal related to the tilt direction and the tilt amount from the neutral position of the operation lever 15a are output as the operation signal S. Horizontal linear movement instruction means composed of the operation signal output unit 15
A mode selection means 16 which is arranged in the operation unit 14 and can output a mode selection signal instructing a horizontal linear movement mode, and
A controller 17 that receives signals from the means 10 to 13, 15 and 16 and outputs control signals to the electromagnetic proportional control valves 6a to 8a and on / off control signals to the swinging electric motor A. And
When the horizontal linear movement mode selection signal is received from the mode selection means 16, or when the horizontal linear movement mode selection signal is received, the tilt direction of the operation lever 15a is changed from the horizontal linear movement instruction means 15. When detected from the operation signal S of the above, the position of the tip of the boom 3 at that time is obtained as a reference position, and a horizontal straight line passing through the reference position and along the tilting direction of the operation lever 15a is drawn from the reference position and the operation signal S. Each of the electromagnetic proportional control valves 6a to 8a required to be obtained as a planned movement locus and thereafter to move the tip of the boom 3 along the planned movement locus in the tilting direction of the operating lever 15a at a speed commensurate with the amount of tilt. The control signal is calculated and output, and the increase / decrease change of the swing angle Θ3 of the work table 5 with respect to the planned movement trajectory is monitored, and when there is an increase / decrease change of a predetermined value or more, the work table 5 is swung in a direction to eliminate the change. A workbench horizontal linear movement device for a high-altitude work vehicle, characterized in that it is configured with a controller 17 configured to output an on / off control signal for causing the swing to be output to the swinging electric motor A.
首振り用電動モータＡは、高所作業車の車両１に装備されているバ
ッテリーを動力源とする直流電動モータで構成している。一般に直流電動モータ
は、負荷の増減に応じて駆動速度が減増するものであるから、それによって所要
の駆動速度を得ようとする場合には、駆動対象負荷を所要の速度で駆動するに足
る出力特性を持つ直流電動モータを選定するようにしている。従って、首振り用
電動モータＡは、作業台水平直線移動装置によりブーム３先端部が最高速度で水
平直線移動する際に生じる移動予定軌跡に対する首振り角度Θ３の増減変化を解
消するに要するに充分な駆動速度（以下所要駆動速度という）を、首振りまわり
の負荷との関係で実現できるよう設定している。
The swinging electric motor A is composed of a DC electric motor powered by a battery mounted on the vehicle 1 of the aerial work platform . In general, the drive speed of a DC electric motor decreases as the load increases or decreases. Therefore, when the required drive speed is to be obtained, it is sufficient to drive the drive target load at the required speed. and so as to select a DC electric motor with an output characteristic. Therefore, the swing electric motor A is sufficient to eliminate the increase / decrease change of the swing angle Θ3 with respect to the planned movement locus that occurs when the tip of the boom 3 moves horizontally and linearly at the maximum speed by the workbench horizontal linear movement device. The drive speed (hereinafter referred to as the required drive speed) is set so that it can be realized in relation to the load around the swing.