JP2003201099A - Speed control device for high-lift working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a speed control device for a high-lift working vehicle, preventing the falling of loaded cargoes from a working bench even during travelling with a large number of loaded cargoes on the working bench. <P>SOLUTION: A controller 51 has a working bench position arithmetic part 54, a load arithmetic comparison part 55 and a speed control part 56, and the position of the working bench 30 is computed by the working bench position arithmetic part 54. The load arithmetic comparison part 55 sets an allowable load loadable on the working bench 30 in accordance with the position of the working bench 30 computed by the working bench position arithmetic part 54 and compares it with a live load on the working bench 30 detected by a load sensor 32. When a value for the live load exceeds a value for the allowable load, the speed control part 56 gives speed control to a crawler travel control part 58 and controls the crawler travel control part 58 so that the travelling speed of a body 12 is in a travelling speed range predetermined corresponding to the live load on the working bench 30. <P>COPYRIGHT: (C)2003,JPO

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed of an aerial work vehicle in which a work platform for mounting a work vehicle is mounted on the tip of a boom capable of raising, lowering, expanding and turning. It relates to a control device. 2. Description of the Related Art Generally, an aerial work vehicle has a boom mounted on a vehicle body so as to be able to move up, down, extend, and turn, and a work which is mounted at a tip of the boom so as to swing freely (horizontal turning movement). It is configured to have a table, and by operating a boom operation device provided on the work table, it is possible to move the work table to a desired position by operating the boom up and down, expanding and contracting, turning. I have. In such an aerial work vehicle, the jacks provided on the vehicle body are usually extended downward to fix the vehicle body to the ground before performing high-altitude work.However, the vehicle body is mounted with a large amount of load on the work table. In some cases, work is performed while running. [0003] However, when a vehicle is run with a large amount of loads placed on the workbench at the end of the boom as described above, if the vehicle is run at a high speed, the boom and the vehicle become inoperable. There is a problem that the load becomes stable and the load slides off the worktable. The present invention has been made in view of such a problem, and when traveling with a load loaded on a worktable, the vehicle is driven stably, and the load slides off the worktable. An object of the present invention is to provide a speed control device for an aerial work vehicle having a configuration that does not cause slipping. [0005] In order to achieve the above object, the present invention provides a vehicle body, a boom provided on the vehicle body so as to be able to undulate, expand, contract, and pivot, and a tip of the boom. A work platform for the operator to be mounted on the vehicle, travel command means for issuing a travel command for the vehicle body, and travel means for causing the vehicle body to travel in response to operation of the travel command means. A speed control device for an aerial work vehicle, wherein the load control means detects a load applied to the work platform, and controls the traveling means in accordance with the load applied to the work platform detected by the load detection means. And control means. According to the present invention, the traveling speed of the vehicle body is limited to a traveling speed range that is predetermined according to the load on the workbench. That is, in the present invention, since the maximum speed is determined to be smaller as the load on the worktable is larger, the traveling posture of the vehicle is stable, and even when the work is loaded with a large amount of load on the worktable. The load does not slide down. In the speed control device for an aerial work vehicle according to the present invention, not only an aerial work vehicle in which the travel command means is provided in the driver's seat of the vehicle body, but also a high-intensity work vehicle in which the travel instruction means is provided on a workbench. The present invention can also be applied to a place work vehicle (self-propelled high place work vehicle). Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a self-propelled aerial work vehicle equipped with a speed control device according to the present invention (hereinafter, referred to as:
Aerial work vehicle) 10. As shown in FIG. 1, the vehicle body 12 has a left crawler 14 and a right crawler 15, and the left and right crawlers 14 and 15 orbit around the driving wheel 11a and the driven wheel 11b, and run the vehicle. The vehicle body 12 has a turntable 16 at an upper portion. The turntable 16 is provided with a rotation motor 13 built in the body 12.
Thereby, it is possible to make a horizontal turn with respect to the vehicle body 12. A base boom 18 and an intermediate boom 20 are mounted on the swivel base 16.
And boom 24 in which tip boom 22 is nested
Is pivotally connected by a shaft 17 to the turntable 16.
The boom 24 can be raised and lowered with the shaft 17 as a fulcrum by the operation of the raising and lowering cylinder 26 provided over both the base boom 18 and the base end boom 18. A telescopic cylinder 25 is provided inside the boom 24, and the operation of the telescopic cylinder 25 causes the boom 24 to move.
Can be operated telescopically. A vertical post 28 is provided at the tip of the boom 24, and a work table 30 is attached to the vertical post 28. The work table 30 is vertically moved by a swing motor (not shown) built in the work table 30.
It is possible to perform a swing operation (horizontal turning) around 8. The vertical post 28 is attached to the boom 24 via a leveling device (not shown) so that the vertical position is always maintained. Therefore, the work table 30 is always kept horizontal regardless of the angle of the boom 24. And can be swung in a horizontal plane. Here, a load sensor 32 is provided on the undulating cylinder 26. The load sensor 32 detects the boom 24, the vertical post 28, the work table 30, the worker mounted on the work table 30, and the load of the load acting on the up-and-down cylinder 26. An elevation angle sensor 70 is provided near the shaft 17 of the base end boom 18, an expansion / contraction length sensor 72 is provided at the tip end of the base end boom 18, and a turning angle sensor 74 is provided near the turning base 16 (FIG. 1). 1). Note that the load sensor 32 is not limited to being provided on the undulating cylinder 26, and may be mounted at a position where the load on the worktable is directly detected. FIG. 2 shows an operation box 40 provided on the work table 30. The operation box 40 is provided with a boom swing lever 42, a boom extendable lever 44, and a boom raising / lowering lever 46, respectively. The boom swivel lever 42 can swivel the swivel base 16 by performing a tilt operation. A potentiometer (not shown) for detecting the amount of tilt of the boom swing lever 42 is provided at the base of the boom swing lever 42 (inside the operation box 40), and information detected by the potentiometer is output as a swing motor drive signal. . The boom extension lever 44 can extend and retract the boom 24 by performing a tilt operation.
The boom 24 can be raised and lowered by tilting the boom raising and lowering lever 46. A potentiometer (not shown) for detecting the amount of tilt of the lever is also provided at the base of these levers, and information detected by the potentiometer is output as a boom telescopic cylinder drive signal and a boom up / down cylinder drive signal, respectively. The work table 30 can be swung by tilting a swing operation lever (not shown). FIG. 3 is a block diagram showing a configuration of a speed control device for an aerial work vehicle according to the present invention. As shown in the figure, the controller 51 includes a boom operation control unit 52, a worktable position calculation unit 54, a load calculation comparison unit 55, and a speed control unit 5.
6, a crawler travel control unit 58, and the above-described swing motor drive signal, boom telescopic cylinder drive signal, and boom up / down cylinder drive signal are all provided by the boom operation control unit 5.
2 is input. The workbench position calculating unit 54 includes a telescopic length sensor 72 for detecting the telescopic length of the boom 24, an undulating angle sensor 70 for detecting the undulating angle of the boom 24, and a turning angle for detecting the turning angle of the turning table 16. The detection information from the sensor 74 is input, and the work table 30
Is always calculated. Further, detection information from the load sensor 32 provided on the undulating cylinder 26 is input to the load calculation / comparison unit 55. Further, the allowable load on the workbench 30 is calculated from the position of the workbench 30 calculated by the workbench position calculator 54. The up / down cylinder 26 is provided with the up / down cylinder drive valve 7.
6, the telescopic cylinder 25 is hydraulically driven by the operation of the telescopic cylinder drive valve 78, and the swing motor 13 is hydraulically driven by the action of the swing motor drive valve 80. Each of these drive valves 76 to 80 is a controller 5
The first boom operation control unit 52 is electromagnetically driven to operate (see FIG. 3). Further, in the above-mentioned swinging motor, the rotating direction and the rotating speed of the work table 30 are changed according to the tilting direction and the tilting amount of the swinging operation lever. As described above, in the aerial work vehicle 10, the boom 24 can be swiveled, extended, extended and lowered with respect to the vehicle body 12 by operating the boom swing lever 42, the boom extendable lever 44, and the boom up / down lever 46. ,
By operating the swing operation lever, the work table 30 can be swung about the vertical post 28, and the operator himself / herself who boarded the work table 30 performs the lever operation to move the work table 30. Move to the desired position,
In addition, it is possible to perform work at a high place while adjusting the orientation in a desired direction. Also, as shown in FIG.
At 0, a left crawler operation lever 48 and a right crawler operation lever 50 are respectively set up. The left and right crawler operating levers can be tilted forward and backward from the neutral position (the position in the upright position). In addition to the neutral position (neutral position), the forward speed is one (operating with a small forward operation amount). ), Two forward speeds (operate forward with a large amount of operation), one reverse speed (operate backward with a small amount of operation), and two reverse speeds (operate backward with a large amount of operation). It has become. The positions of the left and right crawler operation levers are detected by a potentiometer (not shown) provided at the base of the operation lever (inside the operation box 40) and output as a position signal to the crawler travel control unit 58 of the controller 51 (FIG. 3). A hydraulic transmission 88 comprising a hydraulic pump 86 driven by an engine 90 and a hydraulic motor 84 which receives the oil discharged from the hydraulic pump 86 and outputs a rotational force is provided in the vehicle body 12. The crawler 14 and the right crawler 15 are driven (by the hydraulic motor 84) via the hydraulic transmission 88. Hydraulic pump 86 and hydraulic motor 8
Numeral 4 is a swash plate type variable displacement type. By tilting each swash plate (not shown) to change the combination of the tilt angles of both swash plates, the power of the engine 90 can be changed in a desired rotation direction. Convert to torque and rotation speed and left crawler 1
4. Transmission to the right crawler 15. Here, the hydraulic pump 86 and the hydraulic motor 8
The swash plate 4 is a link mechanism (not shown) operated by hydraulic pressure regulated by a swash plate control valve 82 (provided on each of the swash plates) electromagnetically driven by the crawler travel control unit 58 of the controller 30. The tilting operation is performed via the. Here, the crawler traveling control unit 58 operates such that when a forward first speed position signal is input by operating the left crawler operating lever 48 or the right crawler operating lever 50, the output of the hydraulic transmission 88 corresponds to the forward low speed. The swash plate control valve 82 is actuated (the position of the swash plate control valve 82 at this time is set to the forward low speed position), and when the second forward speed position signal is input, the hydraulic transmission 88
The swash plate control valve 82 is operated such that the output of the swash plate control valve 82 corresponds to the forward high speed (the position of the swash plate control valve 82 is set to the high forward speed position). Further, when the reverse first speed position signal is input, the swash plate control valve 82 is operated so that the output of the hydraulic transmission 88 corresponds to the reverse low speed (the position of the swash plate control valve 82 is set to the reverse low speed position). When the second reverse speed position signal is input, the swash plate control valve 82 is operated so that the output of the hydraulic transmission 88 corresponds to the reverse high speed (the position of the swash plate control valve 82 is referred to as the reverse high speed position). When the neutral position signal is input, the swash plate control valve 82 is operated so that the output of the hydraulic transmission 88 corresponds to neutral. Also,
The crawler travel control unit 58 is configured to control the left
And the right crawler operation lever 50 are simultaneously operated, and when an operation signal is input, the swash plate control valve 82 can correspond to the output of the hydraulic transmission 88 according to both information (operation direction and operation amount) included in the signal. Activate Thus, for example, even when the left crawler operation lever 48 and the right crawler operation lever 50 receive the same forward position signal and the opposite front and rear position signal, the output of the hydraulic transmission 88 also corresponds. It becomes possible. Therefore, the worker mounted on the worktable 30 can operate the operation box 40 to move the aerial work vehicle 10 by operating the lever, and simultaneously advances the left crawler operation lever 48 and the right crawler operation lever 50 forward. When positioned at the first speed, a low speed range (for example, about 2 km
/ H) or less, and when the vehicle is positioned at the second forward speed, the vehicle can travel forward within a high-speed range (for example, about 4 km / h or less). Similarly, when the left crawler operation lever 48 and the right crawler operation lever 50 are simultaneously positioned at the reverse first speed, the vehicle can be driven to travel backward within the low speed range. It is possible to run backward. Further, when the left crawler operating lever 48 and the right crawler operating lever 50 are positioned at the opposite first and second forward speeds, the aerial work vehicle 10 can be turned (pipot-turned) on the spot. When turning left or right during traveling, if the left crawler operation lever 48 and the right crawler operation lever 50 in the desired traveling direction are positioned at one speed lower, the crawler speed in the desired traveling direction becomes slower. The speed difference between the left crawler 14 and the right crawler 15 causes
In the desired traveling direction. The operation of the speed control device for an aerial work vehicle configured as described above will be described with reference to FIG. The position of the workbench 30 is determined by a workbench position calculator 54.
The calculation is performed at and is always calculated. In addition, in the load calculation / comparison unit 55, the workbench 3 calculated by the workbench position calculation unit 54 is used.
The allowable load that can be loaded on the worktable 30 is set based on the position of 0, and the calculated allowable load is compared with the load on the worktable 30 by the load sensor 32. When the load calculation / comparison unit 55 recognizes that the value of the loaded load exceeds the value of the allowable load, the speed control unit 56 inputs a forward two-stage or rear two-stage position signal to the crawler traveling control unit 58. However, the crawler traveling control unit 58 does not move the swash plate control valve 82 to the forward high speed position or the reverse high speed position.
(The vehicle body 12 is prohibited from traveling in the high-speed range). That is, the speed control unit 56
The crawler traveling control unit 58 is controlled so that the traveling speed of No. 2 falls within a predetermined traveling speed range corresponding to the loaded load on the work table 30. Therefore, the traveling speed of the vehicle body is limited to a predetermined traveling speed range corresponding to the load on the worktable. Therefore, the larger the load on the worktable, the narrower the travel speed range becomes. (I.e., the maximum speed that can be output is reduced), whereby the vehicle can run stably while the vehicle body is running, and the load does not slip off the work table 30. At the same time, the load acting on the boom tip is reduced, so that the boom and the vehicle body can be prevented from becoming unstable. The rotation speed of the pivot turn of the vehicle is also regulated in the same manner as the above-mentioned traveling speed. The operation of the work table 30 is also restricted such that the loaded load exceeds the allowable load, and the operation of the boom swing lever 42, the boom extendable lever 44, and the boom up / down lever 46 is also controlled by the boom operation control unit 52. Is done. When a load exceeding the allowable load calculated by the load calculation comparing unit 55 is loaded on the workbench 30,
A warning operation such as a warning lamp lighting or a warning sound is performed by an alarm device (not shown) provided in the operation box 40. Although the embodiment of the speed control device for an aerial work vehicle according to the present invention has been described above, the present invention is not limited to the above embodiment, and various design changes can be made. For example, in the present embodiment, the traveling speed range selectable by the left crawler operation lever 48 and the right crawler operation lever 50 is two types (low speed range and high speed range).
Although there are two types of traveling speed ranges determined corresponding to the loading load of 0, three or more traveling speed ranges that can be selected (including continuous changes) correspond to the loading load of the workbench 30. It is also possible to set three or more types of running speed ranges (including continuous changes). Further, in the above-described embodiment, a crawler traveling control unit 58 of the controller 51, a swash plate control valve 82, a hydraulic transmission 88, and the like are provided as means for traveling the vehicle body 12, and the crawler traveling control unit 58 controls the swash plate control valve 82 The running of the vehicle body 12 was controlled by controlling the operation of each swash plate of the hydraulic pump 86 and the hydraulic motor 84, but the running control of the vehicle body 12 is not necessarily based on such a configuration. Is also good. For example, the traveling of the vehicle body 12 may be controlled by controlling the flow rate of the hydraulic oil supplied to the hydraulic motor 84, or the configuration including the swash plate control valve 82 and the hydraulic transmission 88 is controlled by the crawler traveling control unit 58. Instead of the electric motor, the left crawler 14 and the right crawler 15 may be driven by this. In these cases, as described in the above embodiment, the speed control described above can be performed by detecting the load on the work table 30. In the above embodiment, the self-propelled aerial work vehicle has been described as an example. However, the present invention is also applicable to an aerial work vehicle of a type in which the vehicle body travels from a driver's seat on the vehicle body. Further, the load sensor 32 is
However, the present invention is not limited to this, and may be provided on the vertical post 28 so as to directly detect the load of the work table 30. In the above embodiment, the vertical post 28 is provided at the lower part of the work table 30. However, the present invention is not limited to this, and the present invention is applicable to an aerial work vehicle having a vertical post connected to the side surface of the work table 30. Can be applied. Further, in the above-described embodiment, the swivel base 16 is configured to be swivelable.
The present invention can also be applied to an aerial work vehicle that does not turn integrally with the vehicle. In the above embodiment, the work table 30 is configured to be able to turn, but the present invention can also be applied to an aerial work vehicle in which the work table 30 does not turn. As described above, in the speed control apparatus for an aerial work vehicle according to the present invention, the traveling speed of the vehicle body is limited to the traveling speed range determined in advance corresponding to the load on the workbench. Since the traveling speed range is determined so that the traveling speed range becomes narrower as the loading load on the worktable is larger (that is, the maximum speed that can be obtained is smaller), the vehicle body is stabilized during traveling of the vehicle body, It is possible to prevent the load from slipping off the worktable.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view of an aerial work vehicle provided with an aerial work vehicle speed control device according to an embodiment of the present invention. FIG. 2 is a block diagram showing a configuration of a speed control device for an aerial work vehicle according to the embodiment of the present invention. FIG. 3 is a perspective view showing an operation box of the aerial work vehicle according to the embodiment of the present invention. [Description of Signs] 10 ... Aerial work vehicle, 12 ... Body, 24 ... Boom, 30 ...
Work table, 48: Left crawler operation lever, 50: Right crawler operation lever, 51: Controller, 55: Load calculation comparison unit, 56: Speed control unit, 58: Crawler travel control unit,
82: swash plate control valve, 88: hydraulic transmission

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Claims (1)

Claims: 1. A vehicle body, a boom provided on the vehicle body so as to be able to move up, down, extend and retract, and pivotally move; A speed control device for an aerial work vehicle, comprising: a travel command unit that issues a travel command for the vehicle body; and a travel unit that causes the vehicle body to travel in response to an operation of the travel command unit. A load detecting means for detecting a load of the worktable; and a control means for controlling the traveling means in accordance with the load of the worktable detected by the load detecting means. Speed control device for work vehicles.