JP2508129Y2 - Control equipment for aerial work vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a control device for an aerial work vehicle.

(Prior Art) A conventional control device for an aerial work vehicle of this type is shown in FIGS. 3 to 4 and described below. FIG. 3 is an explanatory view of an aerial work vehicle, which includes a swivel 2 rotatably mounted on a vehicle 1, and a boom 3 having an insulating section in which a base end portion of the swivel 2 is undulatingly attached, Further, a bucket 4 attached to the tip of the boom 3 so as to be horizontally rotatable is provided. The boom 3 is composed of a telescopic boom, and a base boom 5 whose base end is pivotally supported by the swivel base 2, an intermediate boom 6 telescopically inserted in the base boom 5, and an intermediate boom 6 telescopically. The tip boom 7 is made of a plug-in insulating material. The boom 3 is movable up and down by a hoisting hydraulic cylinder 8 arranged between the base boom 5 and a swivel base 2, and a telescopic hydraulic cylinder A (not shown in FIG. 3) is arranged in the boom 3. It is freely extendable and retractable. A turning device 11 including a turning hydraulic motor 9 and a speed reducer 10 is arranged between the turning base 2 and the vehicle 1 so that the turning base 2 can be driven to rotate with respect to the vehicle 1. At the tip of the tip boom 7, a bucket 4 is provided so as to be horizontally rotatable on a vertical shaft 12 configured to always maintain a vertical posture regardless of the hoisting motion of the boom 3, and a hydraulic pressure is provided between the vertical shaft 12 and the bucket 4. Motor 13 and reducer
A bucket revolving device 15 composed of 14 or the like is arranged so that the bucket 4 can freely revolve with respect to the vertical shaft 12. Here, the tip boom 7 is made of an insulating material in order to prevent an electric shock of an operator who rides on the bucket 4 when working the high voltage electric wire in such an aerial work vehicle while the high voltage electric wire is live. It is provided in. A plurality of operation input ends are attached to the bucket 4 for operating such an aerial work vehicle. That is, these operation input terminals are arranged corresponding to the operation levers for performing the boom swing operation 16, the boom up / down operation 17, the boom extension / contraction operation 18, and the bucket swing operation 19, and operate in conjunction with the operation levers. It is equipped with a potentiometer that Therefore, each of these operations is converted into an electric signal by the potentiometer and sent to the upper transmitter 20 for transmission. The upper transmitter 20 for transmission converts an electric signal into an optical signal so that the signal from each potentiometer is serially transferred by light. The signal converted into an optical signal is
It is sent to the receiving lower transmitter 22 arranged on the swivel base 2 and converts the optical signal into an electric signal again. The signal converted into the electric signal is operated by the operation means 23 to operate the operation signal of the electromagnetic proportional control valve 24 for the boom-related operation and the operation signal of the electromagnetic proportional control valve 25 for the bucket swing operation corresponding to each operation lever. And output. The electromagnetic proportional control valve 24 for boom related operation is
Boom hoisting electromagnetic proportional control valve 26 for controlling hoisting hydraulic cylinder 8, boom telescopic electromagnetic proportional control valve 27 for controlling telescopic hydraulic cylinder A, and boom turning electromagnetic valve for controlling hydraulic motor 9 of turning device 11. It is composed of a proportional control valve 28. The electromagnetic proportional control valve 25 for bucket swing operation (hereinafter, referred to as the electromagnetic proportional control valve 25 for bucket swing) is an electromagnetic proportional control valve that controls the hydraulic motor 13 of the bucket swing device 15, and is connected to the bucket 4 side. The output from the arithmetic means 23 is once converted into an optical signal and sent. That is, in order to maintain the insulation of the front boom 7, it is once converted into an optical signal and is performed via the lower transmitter 29 for transmission, the optical fiber cable 30, and the upper transmitter 31 for reception. In this way, corresponding to each operation lever,
Boom-related operations and bucket turning operations are performed. In the above aerial work vehicle, the boom swing operation 16, the boom up / down operation 17, and the boom telescopic operation 1
8. The following operation input end 32 is provided in addition to the operation input end provided with a potentiometer and arranged corresponding to each operation lever for performing the bucket swing operation 19. The operation input end 32 is also provided with a potentiometer that operates in association with the operation lever and the operation lever, and by operating this operation lever, the turning attitude of the bucket 4 can be maintained despite the turning motion of the boom 4. This is operated when always moving in parallel with the wall surface. That is, the operation input end 32 commands the turning direction of the boom 3 by its tilting direction and the turning speed of the boom 3 by its tilting angle by electrical signals. This signal is sent to the calculation means 23 via the transmission upper transmitter 20, the optical fiber cable 21, and the reception lower transmitter 22, and the calculation size 23
Then, based on the signal instructed by the tilt direction and tilt angle of the operation input end 32, an operation signal for determining the turning direction and the turning speed of the boom 3 is output to the boom turning electromagnetic proportional control valve 28. Further, the calculating means 23 appropriately calculates the turning direction and the turning speed of the bucket 4 in a direction opposite to the turning direction of the boom 3 in plan view, and moreover, the turning angle of the bucket 4 is equal to the turning angle of the boom 3. The operation signal calculated by the section 23 is sent to the bucket swing electromagnetic proportional control valve 25 via the transmitting lower transmitter 29, the optical fiber cable 30, and the receiving upper transmitter 31. That is, when a signal is issued from the operation input end 32, it is a case in which the swinging posture of the bucket 4 is always moved in parallel to the wall surface in spite of the swinging motion of the boom 4, and the worker is appropriately changed depending on the work content at a high place. Is used by.

(Problems to be solved by the invention) However, in such an aerial work vehicle control device, the boom 3 has an insulating section, and light is used for signal transmission in this insulating section. Moreover, optical transmission in the insulation section requires two systems, a transmission path from the bucket 4 to the swivel base 2 and a transmission path from the swivel base 2 to the bucket 4.
There is a problem that the cost of the optical transmission line is high. Further, even if the transmission path is one path, it is necessary to use one that can transmit and receive the transmitters to and from each other. If such a transmitter is arranged, the cost is further increased as compared with the case where the two transmission paths are arranged. .

An object of the present invention is to provide a control device for an aerial work vehicle that solves the above problems.

(Means for Solving Problems) In order to achieve the above object, the control device for an aerial work vehicle of the present invention is a swivel mounted on a vehicle so that the base end of the swivel can be undulated. A boom with an insulation section attached to the
In addition, a bucket that is attached to the tip of the boom so that it can swing horizontally can be provided, and a boom-related operation including the swing movement of the boom and the swing operation of the bucket can be controlled in a predetermined relationship by a control signal from one operation input end attached to the bucket. An aerial work vehicle that is originally driven, and an electromagnetic proportional control valve for controlling boom-related operations and an electromagnetic proportional control valve for controlling bucket swing operation are mounted on a swivel base, and the one operation input end is provided. The control signal from the control unit is guided to the calculation means attached to the swivel base via an optical signal, and the calculation means operates the operation signal of the electromagnetic proportional control valve for boom-related operations and the operation of the electromagnetic proportional control valve for bucket swing operation. It is characterized in that the signal is calculated and output, and the corresponding electromagnetic proportional control valve is controlled by each output.

(Operation) Since the control device for an aerial work vehicle of the present invention configured as described above is such that the electromagnetic proportional control valve for controlling the bucket swing operation is attached to the swivel base, the bucket output from the computing means is used. The operation signal of the electromagnetic proportional control valve for the swing operation can be directly transmitted as an electric signal without the need for an optical transmission path for transmitting from the swing base side to the bucket side. Therefore, there is no need for two optical transmission lines, and the cost can be reduced.

(Embodiment) A control device for an aerial work vehicle according to the present invention will be described below with reference to FIGS. 1 and 2. The aerial work vehicle illustrated in FIG. 3 and described in the related art will be described below as an example. Therefore, the reference numerals 1 to 15 illustrated in FIG. 3 are the same in the following description and the description thereof is omitted. In explaining an embodiment of the control device for an aerial work vehicle according to the present invention with reference to FIG. 1, what is shown in FIG. 1 is the same as that shown in FIG. Since the electromagnetic proportional control valve 25 for use on the swivel base 2 side is disposed and the lower transmitter transmitter 29, the optical fiber cable 30, and the upper receiver transmitter 31 are abolished, the other points are the same. The same reference numerals are used in the description of 1 and the description is omitted. Since the bucket swing electromagnetic proportional control valve 25 is arranged on the swivel base 2 side as shown in FIG. 1, conventionally, the bucket swivel electromagnetic proportional control valve 25 is provided with an insulating hose from the swivel base 2 side as an oil pressure source. Although supplied to the bucket 4 side, an insulating hose 33 connecting the bucket swing electromagnetic proportional control valve 25 and the hydraulic motor 13 is arranged between the swivel base 2 side and the bucket 4 side.
The control device for an aerial work vehicle of the present invention configured as described above is
Since the bucket swing electromagnetic proportional control valve 25 for controlling the bucket swing operation is attached to the swivel base 2, the operation signal of the bucket swivel electromagnetic proportional control valve 25 output from the computing means 23 is set to the swivel base. Even if optical transmission is not performed from the 2 side to the bucket 4 side, it can be directly transmitted by an electric signal. Therefore, there is no need for two optical transmission lines, and the cost can be reduced.

In addition, operate the operation lever of the operation input end 32 to move the boom 4
In order to improve the accuracy, the swing angle detector 34 of the bucket 4 and the swivel base 2 should be moved in parallel when the bucket swivel posture for detecting the swivel angle of the bucket 4 is always moved in parallel with respect to the wall surface regardless of the swivel movement. A swivel swivel angle detector 35 for detecting a swivel angle is arranged, and it is detected with the detector whether or not the swivel base 2 and the bucket 4 are swiveling faithfully with respect to a command signal from the operation input end 32, It can be carried out even when it is transmitted to the calculating means 23 as a feedback signal, and the calculating means 23 corrects and outputs the operation signal output based on the feedback signal. That is, the signal from the bucket turning angle detector 34 is transmitted through the upper transmitter 20, the optical fiber cable 21, and the lower receiver 22 for transmission together with the signals of the operation input end 32 and the operation input ends 16, 17, 18, and 19. It may be transmitted to the calculating means 23. Further, the signal from the swivel swivel angle detector 35 may be directly transmitted to the computing means 23 as an electric signal because the swivel swivel angle detector 35 is arranged on the swivel base 2.

Further, by operating the operation lever of the operation input end 32 described above,
Not only when the swinging posture of the bucket 4 is constantly translated in parallel with respect to the wall surface despite the swinging motion of the boom 4, a horizontal movement in which one side of the bucket 4 translates parallel to the wall surface at equal distances and equal heights, Even if one side of the bucket 4 is configured to be able to perform vertical movement on the wall surface in the same vertical plane at the same distance, the same operation can be performed. That is, in this case, the operation input end 36 including an operation lever that issues a command signal for horizontally moving the bucket 4 and a potentiometer that operates in conjunction with the operation lever, and a command signal for vertically moving the bucket 4 Operation input end 37 equipped with an operating lever that emits and a potentiometer that operates in conjunction with this operating lever
May be attached to the bucket 4, and these signals may also be transmitted to the calculating means 23 via the transmitting upper transmitter 20, the optical fiber cable 21, and the receiving lower transmitter 22. Then, a boom hoisting angle detector 38 for detecting the hoisting angle of the boom 3 and a boom telescopic length detector 39 for detecting the telescopic length of the boom 3 are arranged, and are directly transmitted to the computing means 23 by an electric signal. Then, in the computing means 23, the bucket 4 is appropriately moved horizontally or vertically based on the signal from the operated operation input end 36 or 37 and the signal from each of the detectors 34, 35, 38, 39. The operation signal may be output to each electromagnetic proportional control valve 25, 26, 27, 28 by calculation.

Further, the electromagnetic proportional control valve 25 for bucket swing of the above embodiment
Has been described as being equipped with both a directional control valve that determines the rotation direction of the hydraulic motor 13 and a proportional control valve that controls the rotation speed, but it may be separate. In this case, as shown in FIG. 2, an electromagnetic directional control valve
It is also possible to dispose 40 on the bucket 4 side and dispose the electromagnetic proportional control valve 41 on the swivel base 2. That is, since the turning direction of the bucket 4 is already determined by the direction of the operation lever of each operation input end 19, 32, 36, 37 related to the turning of the bucket 4, the operation upper transmitter 20
An operation signal for directly operating the electromagnetic directional control valve 40 is output by an electric signal. Then, the operation signal calculated by the calculation means 23 is output to the electromagnetic proportional control valve 41.

(Advantages of the Invention) Since the present invention is configured and operates as described above, the operation signal of the electromagnetic proportional control valve for bucket swing operation output from the computing means is transmitted from the swivel base side to the bucket side. It can be directly transmitted by an electric signal without requiring an optical transmission line. Therefore, there is no need for two optical transmission lines, and the cost can be reduced, which is a great effect.

[Brief description of drawings]

FIG. 1 is an explanatory view of a control device for an aerial work vehicle according to the present invention, and FIG. 2 is another explanatory view of a control device for an aerial work vehicle according to the present invention.
FIG. 3 is an explanatory view of an aerial work vehicle, and FIG. 4 is an explanatory view of a conventional control device for an aerial work vehicle. 1: vehicle, 2: swivel base, 3: boom, 4: bucket, 23: computing means, 24: electromagnetic proportional control valve for boom-related operation, 25: electromagnetic proportional control valve for bucket swing operation, 32, 36, 37: Operation input terminal

Claims (1)

(57) [Scope of utility model registration request] 1. A swivel mounted rotatably on a vehicle, a boom having an insulating section in which a base end portion of the swivel is rotatably attached to the swivel, and a bucket attached to the tip of the boom so as to be horizontally rotatable. An aerial work vehicle configured to drive a boom-related motion including a swing motion of the boom and a swing motion of the bucket in a predetermined relationship by a control signal from one operation input end attached to the bucket. An electromagnetic proportional control valve for controlling boom-related operations and an electromagnetic proportional control valve for controlling bucket swing operations are attached to the swivel base, and a control signal from the one operation input end is attached to the swivel base via an optical signal. The operation signal of the electromagnetic proportional control valve for boom-related operation, and
Control of an aerial work vehicle characterized in that the operation signal of the electromagnetic proportional control valve for bucket swing operation is calculated and output, and the corresponding electromagnetic proportional control valve is controlled by each output. apparatus.