JP2008110841A - Operation guide device of high lift work vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem of mistaking the operation direction of operation means 4a to 7a operating operation of a working platform moving device B, in such a case when occasionally requiring to put the working platform moving device B in a required target attitude in this kind of high lift work vehicle, by optionally selecting a three-dimensional space position and an attitude of a working platform C, by changeably operating the attitude of the working platform moving device B, in the high lift work vehicle for installing the working platform C on a vehicle A via the working platform moving device B. <P>SOLUTION: The operation direction of the operation means 4a to 7a is guided by an operation guide device composed of attitude detecting means 8 to 11 detecting an actual attitude of the working platform moving device B, a target attitude output means 12 outputting the target attitude of the working platform moving device B, an operation direction indicating means 13 displaying the operation direction of the respective operation means 4a to 7a, and a controller 14 outputting an operation direction display signal to the operation direction display means 13 by receiving a signal from the attitude detecting means 8 to 11 and the target attitude output means 12. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

    The present invention relates to an operation guide device for an aerial work vehicle.

    As shown in FIGS. 3 to 4, the aerial work platform includes a vehicle A, a work table moving device B attached on the vehicle A, and a work table C attached to the work table moving device B so as to be always level. Configured.

    The work table moving device B is configured such that its posture can be changed by a plurality of actuators 4 to 7, and these actuators 4 to 7 are operated by operation means 4 a to 7 a attached to the work table C, respectively. The drive is controlled by the operation control means 4b-7b. Then, when working at a high place, an operator on the work table C operates the appropriate operation means 4a to 7a, so that the posture of the work table moving device B, that is, the three-dimensional of the work table C is obtained. The position in the space and the swinging posture of the work table C can be arbitrarily changed.

In addition, the aerial work vehicle shown in FIG. 3 has a work table moving device B that is mounted on the vehicle A so as to be capable of turning, and that can be extended and retracted attached to the swivel 1 so that it can be raised and lowered. The boom 2 and the work table C are configured by a work table swing device 3 that can swing the head 2 with respect to the tip of the boom 2. Then, the swivel operation of the swivel base 1, the boom hoisting operation and the telescopic operation, and the swing motion of the work table C are performed by the swivel actuator 4, the hoisting actuator 5, the telescopic actuator 6, and the swing actuator 7, respectively. It is like that.
Japanese Patent Laid-Open No. 2004-352483

    By the way, in this kind of aerial work vehicle, the operator operates the operation means 4a to 7a, and the posture of the work table moving device B (the position in the three-dimensional space of the work table C and the swing posture of the work table C). ) May be required to have a predetermined posture (target posture).

    As the target posture, the retracted posture of the work table moving device B required when the high work is completed and the high work vehicle is moved or moved, or a predetermined high work position of the work table moving device B is used. Applicable.

    Conventionally, when trying to bring the work table moving device B into such a target posture, an operator who has boarded the work table C 1 determines that the difference between the actual posture and the target posture of the work table moving device B is determined. In addition, the operation directions of the operation means 4a to 7a of the actuators 4 to 7 necessary for eliminating this difference are determined, and the corresponding operation means 4a to 7a are operated in accordance with this determination.

    However, these determinations by the operator (determination of the difference between the actual posture and the target posture of the work table moving device B and the operation means 4a to 7a of the individual actuators 4 to 7 necessary to eliminate this difference) (Determining the operating direction) causes a misjudgment in the past, causing the platform moving device B to move away from the target posture, and as a result, to bring the platform moving device B into the target posture. There was a problem of wasting time.

    An object of the present invention is to provide an operation guidance apparatus for solving the above-described problems.

In order to achieve the above object, an operation guide device for an aerial work vehicle according to the present invention is configured as follows.
(Operation guide device for an aerial work vehicle according to claim 1)
Vehicle A, work table moving device B mounted on vehicle A, and operating means 4a to 7 respectively.
a plurality of actuators 4 to 7 that are driven and controlled by the operation control means 4b to 7b operated by a, and a work table moving device B configured to change its posture, and the work table moving device B is always level. An operation guide device for an aerial work vehicle configured with a workbench C attached to maintain,
Attitude detection means 8-11 for detecting the actual attitude of the work table moving apparatus B, and the eyes of the work table moving apparatus B
A target posture output means 12 for outputting a target posture, an operation direction instruction means 13 for displaying the operation direction of each of the operation means 4a to 7a, signals from the posture detection means 8 to 11 and the target posture output means 12 are received, The controller 14 outputs an operation direction display signal to the operation direction display means 13, and the controller 14 determines the actual posture of the work table moving apparatus B related to the detection of the posture detection means 8 to 11 by the target posture detection means 12. Work at height, characterized in that a display signal for displaying the operation direction of each operation means 4a to 7a necessary for approaching the output target posture is output to the operation direction display means 13. Car operation guidance device.
(Operation guide device for an aerial work vehicle according to claim 2)
The operation guide device for an aerial work vehicle according to claim 2 is configured such that the operation direction display means 13 in the operation guide device for an aerial work vehicle according to claim 1 is arranged close to the operation means 4a to 7a. It comprises a plurality of operation direction lighting indicators 13-1 to 13-4 for lighting the operation direction of the corresponding operation means.
(Operation guidance device for an aerial work vehicle according to claim 3)
The operation guidance device for an aerial work vehicle according to claim 3 displays the operation direction display means 13 in the operation guidance device for an aerial work vehicle according to claim 1 by voice. It consists of an operation direction voice display.

  The operation guide device for an aerial work vehicle according to the first aspect of the present invention configured as described above has the operation means 4a to 7a required when the posture of the work table moving device B is set to the target posture. The operation direction can be displayed by the operation direction display means 13, so that the operator can operate the corresponding operation means 4 a to 7 a according to the display of the operation direction display means 13.

For this reason, the work table moving device B is brought into the target posture due to an operator's judgment error as in the past.
The problem of wasted time is eliminated.

Further, the operation guidance device for an aerial work vehicle according to claim 2 is provided with each of the required operating means 4a to 7.
The operation direction a can be lit and displayed by the operation direction lighting display means 13-1 to 13-4 constituting the operation direction display means 13. For this reason, the operator can operate the corresponding operation means 4a-7a according to the lighting display of the operation direction lighting display means 13-1 to 13-4.

  The operation guidance apparatus for an aerial work vehicle according to claim 3 displays the necessary operation directions of the operation means 4 a to 7 a by means of the operation direction voice display means constituting the operation direction display means 13. Can do. Therefore, the operator can operate the corresponding operation means 4a to 7a according to the sound display of the operation direction sound display means.

The best mode for carrying out the operation guidance device for an aerial work vehicle according to the present invention will be described below.
A description will be given based on Example 1 and Example 2.

  The operation guide device for an aerial work vehicle according to the present invention is a work table moving device B mounted on the vehicle A and the vehicle A, and the operation control units 4b to 7b operated by the operation units 4a to 7a, respectively. A work table moving apparatus B configured to change its posture with a plurality of actuators 4 to 7 that are driven and controlled by a work table C, and a work table C that is attached to the work table moving apparatus B so as to always maintain the level. It is intended to be applied to constructed aerial work vehicles.

  For this reason, about the structure and code | symbol of an aerial work vehicle which were shown in FIGS. 3-4 and mentioned above, it uses in the description of the following Example 1 and Example 2 as it is.

  FIG. 1 is a diagram in which the operation guide device of the present invention is added to the operation device (block diagram) of the aerial work vehicle shown in FIG.

  In FIG. 1, the operation guidance device includes posture detection means 8 to 11 for detecting the actual posture of the work table moving device B, target posture output means 12 for outputting the target posture of the work table moving device B, and each operation means 4 a to 7 a. The operation direction instructing means 13 for displaying the operation direction, and the controller 14 for receiving signals from the attitude detection means 8 to 11 and the target attitude output means 12 and outputting an operation direction display signal to the operation direction display means 13. ing.

  The posture detecting means 8 to 11 for detecting the actual posture of the work table moving device B are the position of the work table C in the three-dimensional space and the swing posture of the work table C (the swing posture with respect to the work table moving device B). It detects the current value of the operating parameter involved in the determination.

The work table moving device B is attached to the vehicle A so as to be able to turn as shown in FIG.
This posture is constituted by a stand 1 and a boom 2 that is attached to the swivel base 1 so as to be able to move up and down and that can be operated to swing the work table C at the tip thereof. The detecting means 8 to 11 are a turning angle detecting means 8 for detecting the turning angle of the swivel 1, a hoisting angle detecting means 9 for detecting the hoisting angle of the boom 2, and a boom length detecting means 10 for detecting the length of the boom 2. And a swing angle detecting means 11 for detecting the swing angle of the work table C with respect to the tip of the boom 2.

  The target posture output means 12 for outputting the target posture of the work table moving device B is involved in the position of the work table C in the three-dimensional space and the swing posture of the work table C (the swing posture with respect to the work table moving device B). The target value of the operating parameter to be output is output.

As shown in FIG. 3, the work table moving device B is a swivel base 1 that is attached to the vehicle A so as to be capable of turning operation, and a boom 2 that can be extended and retracted attached to the turntable 1 so as to be able to undulate. In the configuration in which the work table C is attached to the tip portion so as to be capable of swinging, the target posture output means 12 has a target turning angle of the turntable 1 with respect to the vehicle A and a target undulation angle of the boom 2. The target length of the boom 2 and the target swing angle of the work table C with respect to the boom 2 are output.



The controller 14 detects the actual posture of the work table moving device B (the current value of the operation parameter related to the determination of the position of the work table C in the three-dimensional space and the swing posture of the work table C). To 11 and the target posture of the work table moving apparatus B (target values of operation parameters related to the determination of the position of the work table C in the three-dimensional space and the swing posture of the work table C) A display signal for receiving the output value of the value output means 12 and displaying the operation direction of each of the operation means 4a to 7a necessary for bringing the actual posture of the work table moving apparatus B closer to the target posture is displayed on the operation direction display means. 13 is output.

  As shown in FIG. 3, the work table moving device B is a swivel base 1 that is attached to the vehicle A so as to be capable of turning operation, and a boom 2 that is extendable and attachable to the swivel base 1 so as to be able to undulate. A boom 2 having a workbench C attached to the front end so as to be able to swing is configured. The swivel 1 is swung, the boom 2 is undulated, the boom 2 is telescopic, and the workbench C is swung. When the operation is operated by the turning operation means 4a, the undulation operation means 5a, the expansion / contraction operation means 6a, and the swing operation means 7a, the controller 14 performs the actual turning according to the detection by the turning angle detection means 8. The target position output means 12 outputs the operation direction of the turning operation means 4a necessary for setting the angle to the target turning angle output by the target position output means 12 and the actual undulation angle related to the detection by the undulation angle detection means 9. The operation direction of the hoisting operation means 5a necessary for setting the target hoisting angle to be performed, and the expansion / contraction necessary for setting the actual length related to the detection by the length detection detecting means 10 to the target length output by the target position output means 12 The operation direction of the operation means 6a and the operation direction of the swing operation means 7a necessary for setting the actual swing angle related to the detection by the swing angle detection means 11 to the target swing angle output by the target position output means 12 Is configured to output a display signal to the operation direction display means 13.

The operation direction display means 13 receives the display signal output from the controller 14 and displays the operation directions of the corresponding operation means 4a to 7a in a lit state (continuously lit and displayed or displayed intermittently). .
In this “Example 1”, it is configured by operation direction lighting indicators 13-1 to 13-4 that are arranged in the vicinity of the respective operation means 4a to 7a and display the operation directions of the corresponding operation means 4a to 7a. ing. Each of these operation direction lighting indicators 13-1 to 13-4 is composed of a pair of lamps that light and display the normal and reverse operation directions of the corresponding operation means 4a to 7a.

  As shown in FIG. 3, the work table moving device B is a swivel base 1 that is attached to the vehicle A so as to be capable of turning operation, and a boom 2 that is extendable and attachable to the swivel base 1 so as to be able to undulate. In a configuration in which the work table C is attached to the tip portion so as to be able to swing, the operation direction lighting indicators 13-1 to 13-4 indicate the operation direction of the turning operation means 4a. Turning operation direction instructing means 13-1, hoisting operation direction instructing means 13-2 instructing the operating direction of the hoisting operating means 5a, telescopic operation direction instructing means 13-3 instructing the operating direction of the telescopic operating means 6a, swing operation The swing operation direction instruction means 13-4 is used to instruct the operation direction of the means 7a.

  The operation guidance device configured as described above displays the operation direction of the operation means 4a to 7a required when the actual posture of the work table moving device B is set to the target posture by the operation direction display means 13, and operates the operation guide device. Therefore, the problem of wasting time for setting the work table moving apparatus B to the target posture due to an operator's judgment error is solved.

  As in the above “Example 1,” the operation direction display means 13 constituted by the operation direction lighting indicators 13-1 to 13-4 is an operation guidance device for an aerial work vehicle according to claim 2 of the present invention. And an operation guide device for an aerial work vehicle according to claim 1 which is a subordinate of claim 2.

  In the above “Example 1,” the operation direction display means 13 is constituted by the operation direction lighting indicators 13-1 to 13-4, but this operation direction guide support means 13 is constituted by an operation direction voice display means. You can do it.

  An example in which the operation direction display means 13 is composed of operation direction sound display means will be described as “Example 2” with reference to FIG.

  FIG. 2 is a diagram in which the operation guide device of the present invention is added to the operation device (block diagram) of the aerial work vehicle shown in FIG.

    As shown in FIG. 2, the operation guidance apparatus of “Embodiment 2” is similar to that of “Embodiment 1” described above, posture detection means 8 to 11 for detecting the actual posture of the worktable moving device B, and worktable movement. Receives signals from the target posture output means 12 for outputting the target posture of the apparatus B, the operation direction instruction means 13 for displaying the operation directions of the operation means 4a to 7a, the posture detection means 8 to 11 and the target posture output means 12. The controller 14 outputs an operation direction display signal to the operation direction display means 13.

  The configurations of the posture detection units 8 to 11, the configuration of the target posture output unit 12, and the controller 14 are the same as those described in the above “First Embodiment”.

  However, since the operation direction display means 13 is constituted by a sound display means, the signal output from the controller 14 to the operation direction display means (operation direction sound display means) 13 is the operation direction display means (operation direction sound display means). ) 13 to voice display the operation direction of each operation means 4a-7a.

  As shown in FIG. 3, the work table moving device B is a swivel base 1 that is attached to the vehicle A so as to be capable of turning operation, and a boom 2 that is extendable and attachable to the swivel base 1 so as to be able to undulate. It is comprised with the boom which attached the work table C to the front-end | tip so that a swing operation was possible, the turning operation of the turntable 1, the raising / lowering operation of the boom 2, the expansion-contraction operation of the boom 2, and the swing operation of the work table C Are operated by the turning operation means 4a, the hoisting operation means 5a, the expansion / contraction operation means 6a, and the swing operation means 7a, respectively, the operation direction display means (operation direction voice display means) 13 is a controller 14. The operation directions of the turning operation means 4a, the hoisting operation means 5a, the expansion / contraction operation means 6a, and the swinging operation means 7a are displayed in a predetermined order as a signal.

    The operation guidance device configured as described above displays the operation direction of the operation means 4a to 7a required when the actual posture of the work table moving device B is set to the target posture by the operation direction display means 13, and operates the operation guide device. Therefore, the problem of wasting time for setting the work table moving apparatus B to the target posture due to an operator's judgment error is solved.

  As in the above “Example 2”, the operation direction display means 13 configured by the operation direction voice display means is an embodiment of the operation guidance device for an aerial work vehicle according to claim 3 of the present invention, and This is an embodiment of the operation guide device for an aerial work vehicle according to claim 1 as a subordinate of claim 3.

  The operation means 4a to 7a may directly operate the corresponding operation control valves 4b to 7b via a mechanical interlocking mechanism, or the corresponding operation control valves 4b to 7b may be operated by electric or hydraulic pilot signals. It may be one that is operated indirectly via the.

  Further, the target posture output means 12 regarding the target posture of the work table moving device B (the target posture for determining the position of the work table C in the three-dimensional space and the swing posture of the work table C) is arbitrarily set manually. The vehicle may be configured to output a target attitude, and in an aerial work vehicle having an automatic driving function that continuously changes the attitude of the work table moving device B along the automatic driving path, In the case where the deviation of the actual posture of the work table moving apparatus B is to be restored by operating each of the operating means 4a to 7a, a predetermined position on the automatic driving path is selected, and the predetermined position at this predetermined position is selected. You may comprise so that the attitude | position of a worktable moving apparatus may be output as a target position.

  In the latter case, for example, an automatic driving route that is closest to the actual posture of the work table moving device B based on information on the actual posture of the work table moving device B (detection information of the posture detecting means 8 to 11) and automatic driving route information. The upper position is calculated, and the calculated position is selected as the target posture.

Further, in the above-described embodiment, the actuators 4 to 7 for changing the posture of the work table moving apparatus B are operated by the individual operating means 4a to 7a, respectively.
It goes without saying that the operation guide device according to the present invention may be applied to a plurality of actuators 4 to 7 for changing the posture of the work table moving device B which are operated by a single operation means.

  For example, the work platform moving device B is an aerial work vehicle as shown in FIG. 3, that is, the swivel 1 attached to the vehicle A so as to be capable of turning, and the telescopic operation attached to the swivel 1 so as to be able to undulate. A boom 2 having a work table C attached to the tip of the boom 2 so as to be able to swing. The swivel 1 is swung, the boom 2 is undulated, the boom 2 is telescopic, In an aerial work vehicle configured such that the swing operation of the work table C is performed by the swing actuator 4, the hoisting actuator 5, the telescopic actuator 6, and the swing actuator 7, the work platform C can be tilted in all directions. The actuators 4 to 7 are operated in a coordinated manner by tilting the horizontal operating means having the provided operating lever, and the work table C maintains its absolute swinging posture while maintaining a horizontal plane. The vertical movement means is operated by changing the posture of the work table moving device B so as to move in the tilting direction of the horizontal operating means, and by tilting the vertical operating means provided with a vertical operating lever that can be tilted in the forward and reverse directions. It is already known that the actuator 5 and the telescopic actuator 6 are cooperatively operated to change the posture of the work table moving device B so that the work table C moves vertically.

  The operation guide device according to the present invention can be adopted for such a device. In this case, when the operation guide device according to claim 2 of the present invention is implemented in the horizontal operation means provided with the horizontal operation lever that can be tilted in all directions, around the horizontal operation lever. A plurality of operation direction lighting indicators are provided so as to be scattered, and the plurality of operation direction lighting indicators constitute an operation direction display means.

It is explanatory drawing of Example 1 of the operation guidance apparatus of the aerial work vehicle which concerns on this invention. It is explanatory drawing of Example 2 of the operation guidance apparatus of the aerial work vehicle which concerns on this invention. It is explanatory drawing of an aerial work vehicle. It is a block diagram which shows the operating device of the aerial work vehicle shown in FIG.

Explanation of symbols

A: Vehicle,
B: Work table moving device,
C; workbench,
1. Swivel,
2; boom,
3; work table swing device,
4; swivel actuator,
4a: turning operation means,
4b: operation control means,
5: undulation actuator,
5a: undulation operating means,
5b: operation control means,
6; telescopic actuator,
6a; telescopic operation means,
6b: operation control means,
7; Swing actuator,
7a; swinging operation means,
7b: operation control means,
8 to 11; posture detection means,
12; target posture output means,
13; operation direction display means (operation direction lighting display means or operation direction sound display means),
13-1 to 13-4; operation direction lighting display means,
14; controller,

Claims (3)

Vehicle A, work table moving device B mounted on vehicle A, and operating means 4a to 7 respectively.
a plurality of actuators 4 to 7 that are driven and controlled by the operation control means 4b to 7b operated by a, and a work table moving device B configured to change its posture, and the work table moving device B is always level. An operation guide device for an aerial work vehicle configured with a workbench C attached to maintain,
Attitude detection means 8-11 for detecting the actual attitude of the work table moving apparatus B, and the eyes of the work table moving apparatus B
A target posture output means 12 for outputting a target posture, an operation direction instruction means 13 for displaying the operation direction of each of the operation means 4a to 7a, a signal from the posture detection means 8 to 11 and a target posture output means 12 are received, The controller 14 outputs an operation direction display signal to the operation direction display means 13, and the controller 14 determines the actual posture of the work table moving apparatus B related to the detection of the posture detection means 8 to 11 by the target posture detection means 12. Work at height, characterized in that a display signal for displaying the operation direction of each operation means 4a to 7a necessary for approaching the output target posture is output to the operation direction display means 13. Car operation guidance device.   The operation direction display means 13 is composed of a plurality of operation direction lighting indicators 13-1 to 13-4 that are arranged in the vicinity of the operation means 4a to 7a and display the operation directions of the corresponding operation means. The operation guide device for an aerial work vehicle according to claim 1. The operation direction display means (13) for instructing the operation direction of each operation means (4a-7a) is composed of an operation direction voice display for displaying the operation direction of each operation means by voice. Operation guide device for high-altitude work vehicles.

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