JP2003073094A - Working vehicle for elevated place - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working vehicle for an elevated place capable of restarting the works without allowing a worker to aware a set operation mode, when the work is stopped once, in the working vehicle for the elevated place having multiple operation modes. SOLUTION: This working vehicle for the elevated place is provided with a boom operation control device 50 controlling the operation of the boom according to the operation of an operation lever 21 under either of operation modes of a manual mode and a horizontal/vertical movement mode selected by an input signal from a mode changeover switch 22 which outputs a signal selectively changing over between the manual mode for moving a working stand by a manual operation and the horizontal/vertical movement mode for semi- automatically performing the horizontal movement or the vertical movement. When turning on the power and starting the control, this vehicle is so set as to start from a preset operation mode.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a boom pivotally connected to a truck-based vehicle body so as to be capable of turning, raising and lowering, and expanding and contracting. And a workbench held horizontally and attached to the tip of a work platform. More specifically, the present invention relates to an aerial work vehicle having a horizontal / vertical movement mode capable of semi-automatic horizontal or vertical movement in addition to a manual mode in which a work table is moved by manual operation. 2. Description of the Related Art A working vehicle at a high place uses hydraulic pressure to swing, raise and lower, and extend and retract a boom, and hydraulic actuators such as a swing motor, an up-and-down cylinder, and a telescopic cylinder corresponding to each operation. The control is performed by opening and closing the hydraulic control valve in response to a control signal sent from a control device (controller). The boom operation control performed by the controller includes a manual mode in which boom operation control is performed by manual operation performed by an operator by tilting an operation lever and the like, and a position of the boom by various sensors (specifically, the embodiment of the present invention). Boom turning angle detector 31, undulation angle detector 32, expansion and contraction amount detector 33 in the form
There is a horizontal / vertical movement mode in which the horizontal movement and vertical movement of the boom are semi-automatically performed while interlocking each hydraulic actuator while grasping the position of the boom. There is an aerial work vehicle having both operation modes, and the operation mode is switched by a controller which receives a mode switching signal from a mode switching switch. The manual mode is an operation mode in which a worker individually controls the operation of each hydraulic actuator. Right / left turning of the swing motor, up / down (up / down movement), up / down (down / down movement) of the up / down cylinder, and extension of the telescopic cylinder.
The reduction is operated by switching the direction of the hydraulic control valve and controlling the flow rate for each control. These operation commands are transmitted to each control valve directly or by an electric signal (including a controller) when the operator tilts or rotates the operation lever. On the other hand, the horizontal / vertical movement mode is an operation mode in which the controller integrally controls the operation of each hydraulic actuator so that the work table moves horizontally or vertically. Either horizontal movement or vertical movement is selected by the operator. If the movement is horizontal, the operator moves in a horizontal plane at a desired height, and if the operator moves vertically, the operator moves on a desired vertical line.
These movements are performed by tilting or rotating the operation lever of the operator to a desired position of the operator within a range of the safety area in consideration of a risk such as collapse. For example, in order to move the worktable diagonally forward right as viewed from the base end of the boom by horizontal movement, an operator operates the worktable to move diagonally forward right by tilting an operation lever. The controller that receives the signal calculates various amounts of various control valve opening degrees to extend and further tilt the boom while turning the boom to the right, sends a control signal to control the hydraulic actuator, and moves the boom to the right. It will be moved diagonally forward. As described above, the aerial work vehicle is provided with a mode switch for outputting a signal for selecting and switching between the manual mode and the horizontal / vertical movement mode according to the work content. Conventionally, this changeover switch is an alternative type. Typically, a manual mode or a horizontal / vertical movement mode is selected by tilting a switch knob, and once the selection is made, the tilt is maintained (alternate type). Met. At the start of normal work, the worker controls the movement of the work table from the stored state to the work position in the manual mode, so that the work may be resumed after a while. It is often assumed that the operation mode is the manual mode. Therefore, in the case of an aerial work vehicle in which the mode is switched by the above-mentioned alternate type switch, the work is interrupted while the operation mode is kept in the horizontal / vertical movement mode, or when the work is completed, the work is restarted in the horizontal / vertical movement mode. Despite the fact that it has become, the worker may have unknowingly thought it was in manual mode without noticing that, and the boom did not move in the direction intended by the worker, There is a risk of giving the worker a fear. The present invention has been made in view of such a problem, and when the aerial work vehicle temporarily suspends and resumes work, the boom does not move in a direction unintended by the worker. Another object of the present invention is to provide an aerial work vehicle that does not give a worker a fear. [0009] In order to solve the above problems, an aerial work vehicle according to the present invention comprises a boom capable of raising and lowering, telescopic movement, and turning, and a work attached to a tip end of the boom. A platform, an operation lever for moving the platform, and a mode for outputting a signal for selectively switching between a manual mode for manually moving the platform and a horizontal / vertical mode for semi-automatic horizontal or vertical movement. A changeover switch, and a boom operation control device that controls the operation of the boom in response to operation of the operation lever in one of a manual mode and a horizontal / vertical movement mode selected based on an input signal from the mode changeover switch. And is configured. The boom operation control device is configured to start up from a preset mode when power is turned on and control is started. In the case of an aerial work vehicle having such a configuration, after the work is temporarily interrupted and the power is turned off, the work is always started in the same operation mode (for example, the manual mode) at the power-on stage when the work is resumed. In addition, since the boom can be prevented from moving in a direction not intended by the operator due to the operator's misunderstanding, the operator can be prevented from having a fear. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of the present invention will be described below with reference to FIGS. First, FIG. 1 shows an aerial work vehicle 1 using a mode changeover switch according to the present invention. The aerial work vehicle 1 can travel with front and rear wheels 3a and 3b, and is configured based on a truck vehicle having a driving cabin 2a in its entirety. A swivel base 4 that is driven by a swivel motor 10 (see FIG. 4) and is configured to be capable of horizontal swivel is provided on the body 2 of the truck vehicle. A base end is pivotally connected to the swivel base 4 and a boom 5 is attached thereto. The boom 5 is configured to be moved up and down by an up / down cylinder 6. The boom 5 is configured such that a base end boom 5a, an intermediate boom 5b, and a distal end boom 5c are nestedly combined and can be extended and contracted by a built-in extension cylinder 7. The end boom 5c has a boom head 5d at the end.
Indicating member 8 pivotally connected to the boom head 5d.
Are mounted to be able to swing up and down. The support member 8 has a vertical post (not shown),
A swinging control of the support member 8 is performed by a leveling cylinder (not shown) disposed between the support member 8 and the support member 8, and the vertical post portion always extends vertically regardless of the ups and downs of the boom 5. The swing of the support member 8 is controlled so as to be positioned.
As described above, the work table 9 is attached to the vertical post portion which is always held vertically so as to be horizontally swivelable (to swing freely), and the work table 9 is always held horizontally regardless of the ups and downs of the boom 5. An operation unit 20 having an operation lever 21 for controlling the operation of the boom 5 is arranged on the work table 9 as shown in FIG. Outriggers 11 are provided at four positions on the front, rear, left and right of the vehicle body 2 so as to be extendable and retractable. When working at a high place, the outriggers 11 are extended downward as shown in the figure to lift and support the vehicle body 2. I can do it. Next, the operation unit 20 according to the present invention will be described with reference to FIGS. FIG. 2 shows the work table 9
Are shown. These parameters can be broadly classified into those relating to the operation in the manual mode and those relating to the control in the horizontal / vertical movement mode. The parameters related to the manual operation include the boom turning movement (right turn or left turn) and
Undulation (up or down) and expansion and contraction (extension or reduction). Swivel movement of boom is swivel motor 1
It operates by the rotation of 0, the boom up and down movement is operated by the expansion and contraction movement of the up and down cylinder 6, and the boom expansion and contraction movement is operated by the expansion and contraction movement of the expansion and contraction cylinder 7. In the manual mode, the operations of these three hydraulic actuators are individually operated by tilting and rotating the operation lever 21 of the operator as shown in FIG. On the other hand, the parameters relating to the horizontal / vertical movement mode are further divided into two parameters relating to the horizontal movement and those relating to the vertical movement. The horizontal movement is forward and backward and left and right movement (horizontal front, horizontal rear, horizontal left or horizontal right) in a set horizontal plane, and is operated by tilting the operation lever 21 (see FIG. 3). Here, the reference of the direction on the horizontal plane is that the front facing the operation unit 20 by the operator is the horizontal front direction, the opposite side is the horizontal rear direction, the left direction facing the front is the horizontal left direction, and the front is the same. And the right direction is the horizontal right direction. The vertical movement is vertical movement (vertically upward or vertically downward), and is operated by rotating the operation lever 21 around the axis. For example, in vertical downward movement, the tilting movement of the up-and-down cylinder 6 and the shrinking movement of the telescopic cylinder 7 are operated in synchronization by a control signal of a boom operation control device 50 (controller). As shown in FIG. 3, the operation unit 20 includes an operation lever 21, a mode changeover switch 22, a mode display device 23, and a boom operation control device 50 (see FIG. 4). The operation lever 21 is a joystick type, which can be tilted in all directions with respect to a horizontal plane, and is supported so as to be rotatable around an axis. When the operator does not apply force, the operation lever 21 maintains a neutral position. ing. The mode change switch 22 is supported so as to be tiltable in two directions, and is a momentary switch that maintains a neutral position when an operator does not apply force. The mode display device 23 is a display lamp for notifying an operator whether the operation mode is the manual mode or the horizontal / vertical movement mode. As shown in FIG. 4, the boom operation control device 50 includes a turning angle detector 31, an undulation angle detector 32, an expansion / contraction amount detector 33, an operation lever 21, a mode changeover switch 22, a mode display. Device 23 and each hydraulic actuator (slewing motor 10, undulating cylinder 6, telescopic cylinder 7)
Is electrically connected to each of the control valves 41, 42, 43 for controlling. The control valves 41, 42, and 43 and the corresponding hydraulic actuators are connected by hydraulic hoses. In the boom operation control device 50, the operation mode is switched within the boom operation control device 50 based on the mode switching signal of the mode change switch 22, and the operation mode is initially set to be in the manual mode when the power is turned on. ing. This initial setting can also be set in the horizontal / vertical movement mode as required by the operator. Next, the operation of the aerial work vehicle 1 having the operation unit 20 according to the present invention will be described. After moving the aerial work vehicle 1 to a desired work site, stopping the aerial work vehicle 1 as shown in FIG. 1 and extending the outrigger 11 to support the vehicle, a worker (not shown) rides on the work table 9. After the power switch of the operation unit 20 is turned on, the operation lever 21 is operated to move the work table 9 to a desired work position. At the time of turning on the power, the operation mode is the operation mode set in advance, and in this example, the operation mode is the manual mode. When the work table 9 is moved in such a manner as to clean the wall surface by moving the work table vertically up and down along a vertical wall, for example, depending on the contents of the work, the operator may use the operation unit 20. Is pressed and tilted downward (to the right in FIG. 3) to switch to the horizontal / vertical movement mode. The mode change switch 22 is a momentary type switch, and returns to the neutral position when the pressing force is released. Upon receiving the switching signal from the mode changeover switch 22, the boom operation control device 50 switches the operation mode to the horizontal / vertical movement mode, and turns on the lamp on the horizontal / vertical movement mode side (HV side in FIG. 3) of the mode display device 23. . Further, the boom operation control device 50 includes a turning angle detector 31, an up-and-down angle detector 32,
The position of the workbench 9 is grasped from the detected value of 3, and the horizontal component is fixed in the three parameters of height, horizontal front and rear, and horizontal left and right (since the workbench 9 is about to be moved vertically downward). To move only in the height direction,
A control valve 4 that calculates the amount of pressure oil to be supplied to the up-and-down cylinder 6 and the telescopic cylinder 7 and controls each hydraulic actuator.
2 and the opening of the control valve 42 are adjusted. After the work is continued, if the work is interrupted due to a break or the end of the day and the power is once turned off, when the power is turned on when the work is resumed, the boom operation control device 50 (according to the present invention) ( In the operation unit 20), the operation mode is a previously set operation mode (manual mode), so that the operator can safely perform the operation (as if the work table were moved from the stored state). Can be resumed. Thus, the operating unit 2 according to the present invention
At 0, the boom operation control device 50 enters a preset mode (either the manual mode or the horizontal / vertical movement mode) when the work is resumed, so that the worker can resume the work without calling special attention. it can. In the above description, the mode change switch 22 is a momentary type switch which can be tilted up and down two directions. However, the present invention is not limited to this. The switch may be a tiltable switch or a push-type switch. Although the mode display device 23 is turned on by a lamp, the present invention is not limited to this, and the operation mode may be displayed on a display device such as a display. As described above, according to the aerial work platform of the present invention, the manual mode in which the work table is moved manually and the horizontal and vertical movement in which the horizontal movement and the vertical movement are semi-automatically performed. Selection switching between modes is performed in the boom operation control device by the mode switching signal from the mode switching switch, and the operation mode at the time of turning on the power when the work is interrupted and then resumed is set in advance. You can do it. Therefore, when starting and resuming work, the same operation mode is always started, so that the boom does not move in the direction intended by the worker due to misunderstanding of the worker and the worker does not give a sense of fear to altitude work Cars can be provided.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of an aerial work vehicle having a boom operation control device according to the present invention. FIG. 2 is a perspective view showing a movement pattern of a worktable by the boom operation control device. FIG. 3 is a plan view of the operation unit according to the present invention. FIG. 4 is a block diagram for explaining a boom operation control device according to the present invention. [Description of Signs] 5 Boom 9 Work table 21 Operation lever 22 Mode changeover switch 50 Boom operation control device (controller)

   ────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Takashi Moroda             414-1 Higashimine Sugawa, Shinji-mura, Tone-gun, Gunma               Aichi Corporation Shinjiko             Inside the hall (72) Inventor Tadashi Ishii             Saitama prefecture Ageo city large section Ryoke character Yamashita 1152 address 10               Aichi Corporation Ageo Corporation             Inside the hall (72) Inventor Hiroaki Mizuguchi             Saitama prefecture Ageo city large section Ryoke character Yamashita 1152 address 10               Aichi Corporation Ageo Corporation             Inside the hall (72) Inventor Kenji Kamei             414-1 Higashimine Sugawa, Shinji-mura, Tone-gun, Gunma               Aichi Corporation Shinjiko             Inside the hall F term (reference) 3F333 AA08 AA15 AB01 AB04 AC01                       BB03 BB09 BB13 BD02 BE02                       BE08 CA15 CA21 CA24 FA03                       FA22 FA36 FD03 FD04 FD08                       FD09

Claims (1)

Claims: 1. A boom capable of raising, lowering, expanding and contracting, and turning; a worktable attached to a tip of the boom; an operation lever for moving the worktable; A mode changeover switch for outputting a signal for selectively switching between a manual mode in which the work table is moved manually and a horizontal and vertical movement mode in which the horizontal movement or the vertical movement is performed semi-automatically, and an input signal from the mode changeover switch A boom operation control device that controls the operation of the boom in accordance with the operation of the operation lever under one of the manual mode and the horizontal / vertical movement mode selected based on the boom. An aerial work vehicle, wherein the operation control device is started from a preset mode when power is turned on and control is started.