JP2010100439A - Operation device of high lift work vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an operation device of a high lift work vehicle having high operability and safety capable of coping with the whole operation modes by a single operation lever. <P>SOLUTION: This operation device is provided with the triaxial operation lever 20 for outputting an operation signal respectively different with every three different operation axes X, Y and Z, and can cope with the respective operation modes of an individual operation mode, a horizontal operation mode and a vertical operation mode, by selectively calculating a driving quantity SL of an expansion valve 22, a driving quantity Sθ of a raising-lowering valve 23 and a driving quantity Sϕ of a turning valve 24 based on respective operation quantities on the respective operation axes X, Y and Z of the triaxial operation lever 20, and thereby, provides the operation device of the high lift work vehicle having high operability by remarkably simplifying operation. The operation device is equipped with "an operation content changeover switch 21" for selecting "the individual operation mode", "the horizontal operation mode" and "the vertical operation mode" being "an automatic operation mode", to be forcibly set in "the individual operation mode" when a power source is supplied to its "operation content changeover switch". <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

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

  An aerial work vehicle is usually constructed by mounting a telescopic boom equipped with a bucket at the tip of a swivel mounted on the vehicle so that the telescopic boom can be raised and lowered. The bucket is moved to an arbitrary position and used for required height work. In this case, from the viewpoint of improving workability, the bucket is usually swingable at the tip of the telescopic boom.

  The working operation of such an aerial work vehicle is realized by appropriately operating the hydraulic actuators for turning, telescopic, undulating and bucket swing. In addition to the “individual operation mode” in which the hydraulic actuators are individually operated to move the buckets to arbitrary positions, as an automatic operation mode, the hydraulic actuators are operated in conjunction with each other as appropriate to move the buckets along the horizontal plane. There are known a “horizontal operation mode” for moving and a “vertical operation mode” for moving the bucket in the vertical direction.

  By the way, in such an aerial work vehicle, an operation lever for realizing each of the operation modes described above is provided, but conventionally, an operation lever using only one operation shaft is generally used. Therefore, in this case, Corresponding to each of the above operation modes, an individual operation lever (consisting of three operation levers that respectively perform a pivoting motion, a telescopic motion, and a undulating motion of the telescopic boom), a horizontal operating lever, and a vertical operating lever I was prepared.

  However, in an operating device having only an operating lever configured to use only one motion axis, there is a problem in that the operability is poor due to the complexity of the operation. There was a demand for the development of an operating device that could be used. In addition, there is a problem that the cost is increased due to the large number of operation levers required.

  In response to such a demand, as will be described below, there has been proposed an operating device provided with an operating lever configured to use two motion axes.

  FIG. 7 shows an example of an operating device for an aerial work vehicle equipped with such a biaxial operating lever. That is, the operating device includes an operation lever 41 dedicated to boom turning using only one axis in the left-right direction as shown in FIG. 5A, and two in the left-right direction and the front-rear direction as shown in FIG. An operation lever 42 that performs an expansion / contraction operation in the individual operation mode and a horizontal operation in the horizontal operation mode using the shaft, and a hoisting operation in the individual operation using one axis in the front-rear direction as shown in FIG. An operation lever 43 that selectively performs vertical operation in the vertical operation mode (the operation lever 43 can be configured to use two axes in the front-rear direction and the left-right direction), and FIG. As shown in FIG. 9, the operation lever 44 is configured to be used exclusively for bucket swings using only one axis in the left-right direction.

  However, even with such a two-axis operation lever, since the number of operation levers is still large, it is not yet sufficient in terms of operability, and further simplification of operation is required. .

  Accordingly, the present invention provides an operating device for an aerial work vehicle with good operability and excellent safety, in which each operation of the individual operation mode, the horizontal operation mode, and the vertical operation mode is realized by a single operation lever. It was made for the main purpose.

The present invention employs the following configuration as a specific means for solving such a problem. In other words, in the present invention, the bucket 4 is mounted on the tip of the telescopic boom 3 that is mounted on the vehicle 1 so as to be able to move up and down, and the telescopic boom 3 is telescopically moved by the telescopic valve 22. By controlling the operation of the hoisting hydraulic actuator 26, the hoisting movement of the telescopic boom 3 is controlled by the hoisting valve 23 by controlling the hoisting movement of the hoisting hydraulic actuator 27 by the hoisting valve 23. In the operating device for an aerial work vehicle, which is realized by controlling the operation of the turning hydraulic actuator 28 by the valve 24,
The operation device includes an individual operation mode in which the operation modes of the actuators 26, 27, and 28 are individually operated to move the bucket 4 to an arbitrary position, and the actuators 26, 27, and 28 are moved to arbitrary positions. An operation content changeover switch 21 is provided to enable setting of any one of the automatic operation modes in which some of the actuators 27 and 28 are operated in conjunction with each other to move the bucket 4 in the horizontal direction or the vertical direction. On the other hand, the operation content changeover switch 21 is configured to be forcibly set to the individual operation mode when the power is turned on.

  In the present invention, the operation content changeover switch 21 is provided in the operating device, and the operation mode of each of the actuators 26, 27, 28 is individually operated by operating the operation content changeover switch 21. An individual operation mode for moving the bucket 4 to an arbitrary position and an automatic operation for moving the bucket 4 in the horizontal direction or the vertical direction by operating some of the actuators 26, 27, 28 in conjunction with each other. Any one of the operation modes can be set, and the operation content changeover switch 21 can be operated to cope with a plurality of operation modes of the aerial work platform. Compared to the case where a control lever is provided and these are operated selectively or simultaneously, the operator Operation by is considerably simplified, in which better maneuverability is ensured.

  Further, in the present invention, the operation content changeover switch 21 is configured to be forcibly set to the individual operation mode when the power is turned on. Even when the operation work of the work vehicle is started, the selection of the operation mode at the time of the initial movement is not mistaken, and safe driving can be secured.

It is a perspective view of an aerial work vehicle equipped with an operating device according to the present invention. It is a principal part top view of the aerial work vehicle shown in FIG. It is a perspective view which shows the structural example of the upper operation means part in the aerial work vehicle of FIG. FIG. 4 is an explanatory diagram of an operation form of the triaxial operation lever shown in FIG. 3. It is a functional block diagram of the operating device for an aerial work vehicle according to the present invention. It is a control flowchart figure of the operating device of the aerial work vehicle concerning this invention. It is explanatory drawing of the operation form of the operating lever in the conventional operating device.

  FIG. 1 shows an aerial work platform Z equipped with an operating device according to the present invention. The aerial work platform Z is configured by attaching a telescopic boom 3 to a swivel 2 mounted on a vehicle 1 so as to be freely raised and lowered, and attaching a bucket 4 to the tip of the telescopic boom 3. The telescopic boom 3 is telescopically driven by a telescopic hydraulic cylinder 26 (see FIG. 5, which corresponds to “extension hydraulic actuator” in the claims), and is mounted on the swivel base. 2 is driven by a hoisting cylinder 27 (refer to FIG. 5, which corresponds to a “hydraulic actuator for hoisting” in the claims), and is further disposed on the swivel base 2 side (see FIG. 5). (Corresponding to the “hydraulic actuator for turning” in the claims), the turning base 2 is integrally rotated. The bucket 4 is swing-driven by a bucket swing motor 29.

  By the way, as shown in FIG. 5, the movement control of the bucket 4 by the operation of each actuator is performed by the control means 17 described below based on the operation of the upper operation means 11 or the turntable side operation means 12 described below. Done. That is, the control means 17 corresponds to the expansion / contraction length, the undulation angle and the turning angle of the telescopic boom 3 detected by the boom length detection means 13, the boom undulation angle detection means 14 and the turning angle detection means 15, respectively. And a signal corresponding to the swing angle of the bucket 4 detected by the bucket swing angle detection means 16 are input as control information, and an operation mode is received from the upper operation means 11 or the turntable side operation means 12. An operation signal corresponding to is input. The control means 17 calculates the drive amounts of the expansion / contraction valve 22, the hoisting valve 23, the swing valve 24, and the bucket swing valve 25 for each operation mode based on these input signals. The bucket 4 is required under the set operation mode by appropriately operating the telescopic cylinder 26, the hoisting cylinder 27, the swing motor 28, and the bucket swing motor 29 through hydraulic control by the valves 22, 23, 24, 25. It moves precisely to the position.

  The upper operating means 11 and the swivel base side operating means 12 are appropriately selected and used, and the configuration thereof is substantially the same. Therefore, here, the configuration of the upper operating means 11 shown in FIG. 3 is taken as an example. explain.

  The upper operation means 11 includes a triaxial operation lever 20 and an operation content changeover switch 21 which are the gist of the present invention.

  The three-axis operation lever 20 uses three axes X, Y, and Z as operation axes. The X-axis is a left-right tilting axis of the three-axis operation lever 20, and the Y-axis is the three-axis operation lever 20. The Z-axis is an axis in the rotational direction of the triaxial operation lever 20, and the above-mentioned “individual operation mode”, “horizontal operation mode” and “ The “vertical operation mode” is realized by the single triaxial operation lever 20 described above. The operation amount of each of the axes X, Y, and Z of the triaxial operation lever 20 is detected by a potentiometer (not shown) provided for each axis, and the detected operation amount signal (hereinafter referred to as “Pot value”). "Is abbreviated as") is input to the control means 17 as one of the operation signals from the upper operation means 11.

  The operation content changeover switch 21 is for selecting in which operation mode of the operation modes the operation amount signals output from the potentiometers according to the operation of the triaxial operation lever 20 are used. In this embodiment, this is constituted by a momentary type switch. Accordingly, each time the operation content changeover switch 21 is pressed, the operation mode is repeatedly switched in order of “individual operation mode” → “horizontal operation mode” → “vertical operation mode”. Is set to “individual operation mode”. For this reason, the operation content changeover switch 21 includes a display lamp 31 for displaying “individual operation mode”, a display lamp 32 for displaying “horizontal operation mode”, and a display lamp 33 for displaying “vertical operation mode”. Each is attached, and the operator can easily and surely know the currently set operation mode by confirming whether or not these display lamps 31 to 33 are turned on.

  The upper operating means 11 and the swivel base side operating means 12 are provided with swing operating levers (not shown) for individually operating the bucket 4 without using the triaxial operating lever 20.

Here, the operation mode of the triaxial operating lever 20 will be described with reference to FIG.
First, in the operation device of this embodiment, as described above, three modes of “individual operation mode” and “automatic operation mode”, “horizontal operation mode” and “vertical operation mode” are set as operation modes. is doing.

  Here, the “individual operation mode” is a mode in which the bucket 4 is moved by operating the hydraulic actuators 26 to 28 individually or simultaneously. In this case, the bucket 4 can be swung separately from the operation of the telescopic boom 3 by operating the bucket swing motor 29 by operation of the swing operation lever.

  The “horizontal operation mode” is a mode in which the hydraulic actuators 26 to 29 are operated in conjunction to move the bucket 4 along a horizontal plane.

  In the “vertical operation mode”, among the hydraulic actuators 26 to 29, the telescopic cylinder 26, the hoisting cylinder 27, and the swing motor 28 are operated in conjunction to move the bucket 4 up and down along the vertical direction (vertical direction). This is a mode in which it is rotated as necessary.

  In this embodiment, in order to realize these three operation modes by the single three-axis operation lever 20, the three axes X and X of the three-axis operation lever 20 are changed by switching the operation content changeover switch 21. The operation amounts of Y and Z, that is, the “Pot value” can be used as a signal corresponding to each operation in each operation mode. This will be specifically described with reference to FIG.

  FIG. 4 (a) shows the operation mode of the triaxial operating lever 20 in the “individual operating mode”, using the three axes X, Y, and Z of the triaxial operating lever 20 on the X axis. The operation amount is the extension and contraction motion of the telescopic boom 3, the operation amount on the Y axis is the raising and lowering motion of the telescopic boom 3, and the operation amount on the Z axis is the turning motion of the telescopic boom 3. It is designed to be used.

  FIG. 4B shows an operation mode of the triaxial operation lever 20 in the “horizontal operation mode”, and among the three axes X, Y, and Z of the triaxial operation lever 20, the X axis and the Y axis are illustrated. Only two axes are used, and the Z-axis is invalid. In this “horizontal operation mode”, the operation amounts on the X axis and the Y axis are both used for horizontal movement. Therefore, not only the movement in the X-axis and Y-axis directions based on the operation in the direction indicated by the solid line arrow in the figure but also the diagonal movement based on the operation in the diagonal direction indicated by the broken-line arrow in the figure is possible.

  FIG. 4C is an operation mode of the triaxial operation lever 20 in the “vertical operation mode”, and among the three axes X, Y, and Z of the triaxial operation lever 20, the X axis and the Z axis are illustrated. Only the two axes are used, and the Y axis disables this. In this “vertical operation mode”, the operation amount on the X-axis is used for the upward movement and the downward movement of the vertical movement, and the operation amount on the Z-axis is used for the turning movement of the telescopic boom 3. ing. Accordingly, in this embodiment, in the operation mode in which only the X axis is used without using the Z axis, only the up and down movement of the bucket 4 is realized, and when the Z axis is used together with the X axis. An operation in which a turning motion is added to the up-down motion is realized.

  As will be described below, in the operation device of this embodiment, the swing motion of the bucket 4 is also automatically performed during the operation in the “horizontal operation mode”, regardless of the horizontal movement of the bucket 4. The posture on the plane is kept constant. That is, as shown in FIG. 2, the X0 axis and the Y0 axis are set in two orthogonal directions passing through the fulcrum P of the bucket 4 so as to correspond to the operation axis of the triaxial operating lever 20, and the telescopic boom 3 The swing angle “ψ” of the bucket 4 is defined as the swing angle “ψ” of the bucket 4 and the axes X0 and Y0 of the bucket 4 are maintained constant during operation in the “horizontal operation mode”. The swing angle “ψ” is controlled.

  Next, the actual movement control of the bucket 4 performed by the control means 17 based on the operation of the triaxial operation lever 20 will be described with reference to the flowchart shown in FIG.

  After the start of control, first, in step S1, the operation amount of each axis X, Y, Z of the three-axis operation lever 20, that is, the “Pot value”, the swing angle of the bucket 4, and the operation content changeover switch 21 are set. Each signal (that is, the current setting operation mode) is read.

  Next, in step S2, it is determined whether or not the setting operation mode by the operation content changeover switch 21 is the “horizontal operation mode”. If it is determined that the mode is not “horizontal operation mode”, it is further determined in step S3 whether or not the current setting operation mode is “vertical operation mode”. Accordingly, when “NO” is determined in both step S2 and step S3, “individual operation mode” is set, and when “YES” is determined in step S2, “horizontal operation mode” is set. If “NO” is determined in the step S2 and “YES” is determined in the step S3, the “vertical operation mode” is set. Hereinafter, the movement control of the bucket 4 will be described for each of these operation modes.

Control when “Individual Operation Mode” is Set When “Individual Operation Mode” is set, in Step S4, the “Pot Value” for each of the axes X, Y, Z associated with the operation of the triaxial operation lever 20 is The operation amount corresponding to each axis is used. That is, in the “individual operation mode”, as shown in FIG. 4 (a), the X axis corresponds to the expansion / contraction movement, the Y axis corresponds to the undulation movement, and the Z axis corresponds to the turning movement.
The “pot value” of the X axis is set as a hoisting operation amount “A1”, and the hoisting valve driving amount “Sθ” is calculated based on this hoisting operation amount “A1”.
The “pot value” of the Y axis is set as the expansion / contraction operation amount “B1”, and the expansion / contraction valve drive amount “SL” is calculated based on the expansion / contraction operation amount “B1”.
The Z-axis “Pot value” is set as the turning operation amount “C1”, and the turning valve drive amount “Sφ” is calculated based on the turning operation amount “C1”.

  Thereafter, in the present embodiment, the valves 22 to 25 are constituted by current proportional valves. Therefore, in step S5, based on the valve driving amounts “Sθ”, “SL”, and “Sφ”, The drive currents “Iθ”, “IL”, “Iφ” of the respective valves are obtained and supplied to the undulation, expansion / contraction, and rotation valves 22 to 24, and the expansion / contraction cylinder 26, undulation cylinder 27, and rotation motor 28 are supplied. Are respectively driven to move the bucket 4 to a position designated by the triaxial operation lever 20.

  The “individual operation mode” is continued while the “individual operation mode” is set by the operation content changeover switch 21.

Control when “Horizontal Operation Mode” is Set When “Horizontal Operation Mode” is set, among the three operation axes X, Y, and Z of the three-axis operation lever 20, the X-axis and Y-axis are set as shown in FIG. Since both the axes X and Y are involved in the horizontal operation, first, in step S6, the “pot value” of the X axis is set to the horizontal manipulated variable “A2”, Y While the “Pot value” of the axis is set to the horizontal operation amount “A3”, the “Pot value” of the Z axis is invalidated, and the “Pot value” of the swing angle of the bucket 4 is set to the swing angle “ψ”. Based on these horizontal operation amounts “A2” and “A3” and the swing angle “ψ”, the direction in which the bucket 4 is moved, that is, the horizontal operation direction “ω”, and the moving speed thereof, that is, the horizontal The operation speed “V” is obtained.

  Note that a method for calculating the horizontal operation direction “ω” and the horizontal operation speed “V” is conventionally known as disclosed in, for example, Japanese Patent Laid-Open No. 10-167697, and the description thereof is omitted here.

  Next, in step S7, on the basis of the horizontal operation direction “ω” and the horizontal operation speed “V”, the undulation valve drive amount “Sθ”, the telescopic valve drive amount “SL”, the swing valve drive amount “Sφ”, and The bucket swing valve drive amount “Sψ” is obtained by calculation.

  Thereafter, in step S5, based on the valve drive amounts “Sθ”, “SL”, “Sφ”, “Sψ”, the drive currents “Iθ”, “IL”, “Iφ”, “ Iψ "is supplied to the valves 22 to 25, and the telescopic cylinder 26, the hoisting cylinder 27, the swing motor 28, and the bucket swing motor 29 are driven, and the bucket 4 is moved by the three-axis operation lever 20. Move horizontally in the direction and speed indicated.

  The “horizontal operation mode” is continued while the “horizontal operation mode” is set by the operation content changeover switch 21.

Control when “vertical operation mode” is set When “vertical operation mode” is set, among the three operation axes X, Y, and Z of the three-axis operation lever 20, the X-axis and Z are set as shown in FIG. In step S8, first, the “pot value” of the Y axis is invalidated, while the “pot value” of the X axis is set to the vertical operation amount “B2” and the “pot value of the Z axis. "Is the turning operation amount" C2 ".

  Then, the hoisting speed and the telescopic speed of the telescopic boom 3 are calculated from the vertical operation amount “B2”, and the hoisting valve driving amount “Sθ” and the telescopic valve driving amount “SL” are calculated based on these. Further, the swing valve drive amount “Sφ” is obtained by calculation based on the swing operation amount “C2”.

  Thereafter, in step S5, the drive currents “Iθ”, “IL”, “Iφ” of the corresponding valves are obtained based on the valve drive amounts “Sθ”, “SL”, “Sφ”. The valves 22 to 24 are supplied to drive the telescopic cylinder 26, the hoisting cylinder 27, and the turning motor 28, respectively, and vertically move the bucket 4 at the direction and speed instructed by the triaxial operating lever 20.

  The “vertical operation mode” is continued while the “vertical operation mode” is set by the operation content changeover switch 21.

  As described above, according to the operation device for an aerial work vehicle of this embodiment, the entire operation mode of the aerial work vehicle Z, that is, the “individual operation mode” can be performed only by operating the single triaxial operation lever 20. ”,“ Horizontal operation mode ”, and“ Vertical operation mode ”. For example, as compared with the conventional case where a plurality of operation levers are provided and these are operated selectively or simultaneously. Thus, the operation by the operator is greatly simplified, and better operability is ensured.

Others (1) In the above embodiment, the three operation axes X, Y, and Z of the three-axis operation lever 20 are set to correspond to the left-right operation, the front-rear operation, and the rotation operation, respectively. The setting is not limited to such a setting, and for example, it is possible to set the left / right operation, the front / rear operation, and the push / pull operation. Further, the correspondence relationship between each axis X, Y, Z and each operation is not limited to the above embodiment, and can be arbitrarily set.

  (2) In the above-described embodiment, the operation content changeover switch 21 is composed of a momentary type switch. However, the present invention is not limited to this, and for example, a detent type switch can be adopted. .

  (3) In the above-described embodiment, the swing motion of the bucket 4 is configured by the hydraulic bucket swing motor 29. However, the configuration is not limited to such a structure, and for example, a configuration in which this is driven by an electric motor is adopted. It is also possible to do. In this case, in the “horizontal operation mode”, instead of calculating the bucket swing valve drive amount “Sψ”, the operation similar to that in the above embodiment can be performed by directly calculating the supply current to the electric motor. can get.

  (4) In the above embodiment, the hoisting motion, telescopic motion, and turning motion of the telescopic boom 3 are controlled in the “vertical operation mode”, but in other embodiments, only hoisting motion and telescopic motion are performed. Of course, it is also possible to set the control target. Similarly, in the “horizontal operation mode”, the swing movement of the bucket 4 is one of the controlled objects. However, in other embodiments, the swing movement of the bucket 4 may be excluded from the controlled object. Is possible.

  1 is a vehicle, 2 is a swivel, 3 is a telescopic boom, 4 is a bucket, 11 is an upper operation means, 12 is a turntable side operation means, 13 is a boom length detection means, 14 is a boom undulation angle detection means, 15 is Rotation angle detection means, 16 is bucket swing angle detection means, 17 is control means, 20 is a three-axis operation lever, 21 is an operation content changeover switch, 22 is an expansion / contraction valve, 23 is a hoisting valve, 24 is a swing valve, 25 is a bucket A swing valve, 26 is a telescopic cylinder, 27 is a hoisting cylinder, 28 is a turning motor, 29 is a bucket swing motor, 31 to 33 are indicator lamps, and Z is an aerial work vehicle.

Claims (1)

A telescopic boom (3) mounted on the vehicle (1) so as to be able to move up and down is mounted with a bucket (4), and the telescopic boom (3) expands and contracts with the telescopic valve ( 22), by controlling the operation of the telescopic hydraulic actuator (26), the hoisting movement of the telescopic boom (3) is controlled by the hoisting valve (23) of the hoisting hydraulic actuator (27). The turning movement of the telescopic boom (3) is an operating device for an aerial work vehicle which is realized by controlling the operation of the turning hydraulic actuator (28) by the turning valve (24). ,
The operating device operates the actuators (26), (27), (28) in accordance with the operation modes of the actuators (26), (27), (28) individually, and arbitrarily sets the bucket (4). Automatic operation for moving the bucket (4) in the horizontal or vertical direction by operating the individual operation mode for moving to the position and some of the actuators (26), (27), (28) in conjunction with each other. An operation content changeover switch (21) for enabling setting to any one of the operation modes is provided, while the operation content changeover switch (21) is forcibly set to the individual operation mode when the power is turned on. An operation device for an aerial work vehicle characterized by being configured as described above.

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