JP2544381Y2 - Steering mechanism for aerial work vehicles - Google Patents

Description

[Detailed description of the invention]

[0001]

[Industrial application field] The present invention is used in a room of a building.
This is a technique related to a special steering mechanism of a high-altitude working vehicle, which is used when performing work such as ceiling piping and ceiling wiring, and when performing wiring work outdoors.

[0002]

2. Description of the Related Art Conventionally, in a special steering vehicle, a technique of performing steering operation by using two diagonal wheels as drive wheels and the other two diagonal wheels as driven wheels has been known. .
For example, Japanese Utility Model Publication No. 63-35900 and Japanese Unexamined Patent Publication No.
Such techniques are described in Japanese Unexamined Patent Publication No. 223559 and Japanese Unexamined Patent Publication No. Sho 56-8758. Japanese Patent Application Laid-Open No. Sho 64-3 discloses a technique for moving the body in the turning direction of the steering operation lever.
No. 5177, Japanese Utility Model Publication No. 57-88632,
A technique as disclosed in Japanese Utility Model Laid-Open No. 57-32579 is known.

[0003]

According to the present invention, in the above-described steering mechanism of an aerial work vehicle, the steering drive wheel can be controlled by rotating a single steering joystick in a 360-degree direction. In the configuration of the steering control mechanism that performs arbitrary positioning at an angle to be performed, since the work is performed while moving in a narrow place, various special steering modes are provided. For example, there are "front wheel steering", "skew steering", and "lateral S-shaped steering". Even when the steering mode is changed in this way, if the operating direction of the steering joystick that controls the steering is different from the traveling direction of the aircraft, the operator needs to consider the turning direction of the steering joystick each time. There is. In order to prevent such a problem from occurring, the present invention always applies even if the steering mode is changed.
The steering drive wheel angle is controlled so that the turning direction of the steering joystick becomes the traveling direction as it is, and the traveling speed constantly increases and decreases at a constant rate depending on the magnitude of the steering joystick tilt angle. It is.

[0004]

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described. Between the lower traveling cart 12 and the upper working platform 11
4 that supports the traveling carriage 12 by interposing an extension mechanism 13
Of the wheels, two diagonal wheels are a front drive wheel 2 and a rear drive wheel 3
And the other two diagonal wheels are a front driven wheel 1 and a rear driven wheel 4
By operating the steering selection switch 6, "front wheel steering"
And "Skew steering" and "Horizontal S-shaped steering" steering modes can be selected.
Noh, running by turning the steering joystick 7
The steering mechanism of an aerial work vehicle that performs both steering and steering operations
The turning operation of the steering joystick 7 causes
All of "front wheel steering", "skew steering" and "horizontal S-shaped steering"
, Running in the direction of turning the steering joystick 7
The vehicle speed according to the tilt angle of the steering joystick 7
It is configured so that

[0005]

Next, the operation will be described. The steering selection switch 6 selects "front wheel steering", "skew steering", and "lateral S-shaped steering". When the steering mode is changed, the movements of the front drive wheel 2 and the rear drive wheel 3 are different from each other. It becomes. As described above, even when the respective steering modes are different, the aircraft advances in the direction in which the steering joystick 7 is rotated, and the traveling speed increases or decreases according to the rotation angle of the steering joystick 7.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The problems to be solved and means to be solved of the present invention are as described above. Next, the configuration of the embodiment shown in the attached drawings will be described. FIG. 1 is a side view when the aerial work vehicle of the present invention is raised, FIG. 2 is a side view when it is similarly lowered, FIG. 3 is a rear view thereof, FIG. 4 is a plan view of a part of the traveling vehicle 12, FIG. 6 is a board view of the upper operation box B, and FIG.

A description will be given with reference to FIGS. 1, 2, 3 and 4. The aerial work vehicle has a telescopic scissor mechanism 13 interposed between a lower traveling carriage 12 and an upper work table 11, and the telescopic scissor mechanism 13 is expanded and contracted by a telescopic cylinder 14 to move the work table 11. It is configured to go up and down. The work table 1
1, a foot switch 5 and an upper operation box B are arranged, and a lower operation box C is also arranged on the traveling carriage 12, so that control can be performed by either of them. The steering joystick 7 is arranged vertically, while the steering selection switch 6 is arranged only at the upper part.
The present invention relates to a four-wheel rotation drive mechanism that supports the traveling vehicle 12. The traveling trolley 12 is supported by the front driving wheel 2 and the rear driving wheel 3 which are diagonally opposite to each other, and the front driven wheel 1 and the rear driven wheel 4 which are at other diagonal positions.

The front drive wheel 2 is rotated by a front wheel rotation cylinder 15, and the rotation angle can be detected by a front wheel rotation angle sensor 16. The rear drive wheel 3 is rotated by a rear wheel rotation cylinder 17 and can be detected by a rear wheel rotation angle sensor 18. Front driven wheel 1 and rear driven wheel 4
Is rotated to the optimum position following the steering rotation of the front drive wheel 2 and the rear drive wheel 3. A lower operation box C is disposed on a part of the traveling vehicle 12. The upper operation box B is placed on the workbench 11, and a foot switch 5 is disposed below the upper operation box B.

Next, FIGS. 5 and 6 will be described. The lower operation box C shown in FIG.
Is arranged. This is achieved by checking the turning positions of the front drive wheel 2 and the rear drive wheel 3 arranged at the lower part of the traveling vehicle 12 while adjusting the adjustment knobs POT1, POT2, POT3, and PO.
Since it is necessary to adjust T4, POT5, POT6, POT7, and POT8, if the initial tire position adjustment mechanism A is provided in the upper operation box B, the front drive wheel 2 and This is because the position of the rear driven wheel 4 cannot be confirmed. However, in the upper operation box B, a steering selection switch 6 not arranged in the lower operation box C is arranged, and “front wheel steering”, “skew steering”, and “lateral S-shaped steering” are selected. It is configured to Since the steering selection switch 6 is located in the upper operation box B, the steering selection switch 6 can be operated only when the operator actually performs the steering operation on the work table 11. It is.

In the lower operation box C, an operation position up / down switch D is disposed.
With the lower switch D, it is possible to select which of the upper operation box B and the lower operation box C the steering joystick 7 and the lift elevating switch 8 are operated. An angle adjustment start switch 20 is provided in a portion of the initial tire position adjustment mechanism A provided in the lower operation box C. The steering selection switch 6 provided in the upper operation box B selects "front wheel steering", "skew steering", or "horizontal S-shaped steering". When the steering selection switch 6 is operated, the corresponding lamp of the steering switching mode lamp 30 in FIG. 5 blinks, and when the front drive wheel 2 and the rear drive wheel 3 have finished rotating to the initial setting positions. The blinking state of the steering switching mode lamp 30 changes to continuous lighting. While the steering switching mode lamp 30 is blinking, the control program is controlled so that the steering operation with the steering joystick 7 and the lifting / lowering operation of the workbench 11 with the lift lifting / lowering switch 8 are disabled. A lock circuit is provided. Conversely, if the steering select switch 6 is operated while driving the front drive wheel 2 or the rear drive wheel 3 while the vehicle is traveling, or while the work platform 11 is being moved up and down by the lift up / down switch 8, it is dangerous. Therefore, the interlock circuit is configured in the control program so that the switching by the steering selection switch 6 is started after the traveling is stopped and after the lifting and lowering of the worktable 11 is completed, and the initial setting is performed. ing. Further, since the steering selection switch 6 is operated and then the foot switch 5 is depressed, the vehicle cannot run while the front drive wheel 2 and the rear drive wheel 3 are rotating to the initial setting positions. Rear drive wheel 3
Is a stationary operation (wheel positioning operation when the traveling is stopped)
Is to be performed.

FIG. 7 is a drawing showing the initial set positions of the front drive wheel 2 and the rear drive wheel 3 in each mode. FIG. 8 is a diagram showing the rotation angle of the front drive wheel 2 in "front wheel steering". Drawing shown, FIG.
FIG. 10 is a drawing showing the forward / rearward boundary line in “front wheel steering” and “skew steering”, FIG. 10 is a drawing showing an initial running dead zone in “front wheel steering”, and FIG. 11 is “front wheel steering”. FIG. 12 is a drawing showing the turning range of the front driving wheel 2 and the rear driving wheel 3 in the case of “skew steering”, and FIG. 13 is a drawing showing “horizontal S-shaped steering”. 14 is a drawing showing a turning range of the front driving wheel 2 and the rear driving wheel 3 of FIG. 14, FIG. 14 is a drawing showing a steering state in the case of “lateral S-shaped steering”, and FIG. FIG. 16 is a drawing showing a left / right steering boundary line in the case, and FIG. 16 is a drawing showing a steering dead zone in the case of “horizontal S-shaped steering”.

As shown in FIG. 7, the initial setting positions of the front drive wheel 2 and the rear drive wheel 3 in the case of "front wheel steering", "skew steering", and "lateral S-shaped steering" are determined. ing. That is,
In the case of “front wheel steering”, the rear drive wheel 3 is fixedly positioned in the forward straight direction, the front drive wheel 2 is set in the forward straight direction, and only the front drive wheel 2 is operated by operating the steering joystick 7. , Then rotate. In the case of “skew steering”, both the front drive wheel 2 and the rear drive wheel 3 are turned in the same direction, but both of the initial setting positions are set in the straight forward direction. In the case of "horizontal S-shaped steering", as shown in FIG. 14, the front drive wheel 2 is fixed to the side, and the rear drive wheel 3 is rotated within the regulation range. And the front drive wheel 2 may be rotated within the regulation range, but both are set to the sideways position in the initial setting. At the position of the initial setting, the initial tire position adjusting mechanism A described above,
Angle adjustment start switch 20 and adjustment position determination switch 21
The angle correction can be adjusted by using

Next, "front wheel steering" will be described with reference to FIGS. 8, 9, 10 and 11. FIG. In the case of "front wheel steering", the rear drive wheel 3 is fixedly determined in the forward direction. By rotating the steering joystick 7, the front drive wheel 2 is moved.
Only when the front drive wheel 2 is turned, the front drive wheel 2 is controlled so as not to turn when the turning angle to the left is 56 degrees or more. Similarly, as shown in FIG. 11, the steering dead zone of the steering joystick 7 is configured within a range of 66 degrees in total, each of which is 33 degrees up and down on the left side of the steering joystick 7. Even if the steering joystick 7 is operated within the steering dead zone, it is a dead zone and the front drive wheel 2 does not rotate within the range of 66 degrees. As a result, the rear drive wheel 3 is left-facing to the left, so that it is easy to overturn, but it is impossible to steer to the part where this problem occurs. Further, as shown in FIG. 10, the range of a total of 12 degrees from the position right beside the steering joystick 7 by 6 degrees up and down, when the steering joystick 7 is first operated from the upright neutral position,
The front drive wheel 2 is operated to that position, but the traveling is configured to be an initial traveling dead zone that does not start traveling unless it is operated outside the range. Since the aircraft is rolled over or the operator is shaken down, the steering operation in this direction is avoided. If the vehicle is gradually driven in this direction during the steering, the above-described problem does not occur, and the steering operation is enabled. Also, the 12 degrees on the left side is also included in the driving dead zone described above,
During the "front wheel steering", once the vehicle goes out of the 66 degrees, the front drive wheel 2 cannot rotate in the zone.

FIG. 9 shows a case where the steering joystick 7 is first operated from the upright position and a case where the steering joystick 7 is moving forward.
Is a forward / backward boundary line which is enlarged 6 degrees downward from the side of the vehicle. When the steering joystick 7 crosses the forward / backward boundary expanded by 6 degrees and enters the reverse zone, it switches to the forward / backward boundary shown in FIG. Next, when the vehicle enters the forward zone beyond the forward / backward boundary line, it is switched to the forward / backward forward boundary line. However, once the vehicle crosses the 6-degree forward / rearward boundary and enters the reverse zone from the forward zone, the reverse-forward / rearward boundary is 6 degrees + 6 degrees = 1.
Since it is possible to move into the forward zone which has risen twice, the vehicle will not enter the next forward unless it is turned by 12 degrees, so that the forward and backward can be switched on the forward / backward boundary line. The chattering phenomenon does not occur, and the running of the joystick when the joystick is operated right and left when the vehicle is moving forward and backward is stabilized.

Next, "skew steering" will be described with reference to FIG. The forward / backward boundary line in the case of “skew steering” is shown in FIG.
This is the same as the case of “front wheel steering”. In the case of the "skew steering", there is no zone of the driving dead zone, and the front drive wheel 2 and the rear drive wheel 3 rotate 180 degrees within the entire range of the rotation angle 360 degrees of the steering joystick 7. When the vehicle moves backward, the running direction is switched to reverse, which corresponds to 180 degrees of reverse. Also in the case of the "skew steering" mode, the chattering phenomenon of the control in which the forward rotation and the reverse rotation are switched vigorously on the forward / backward boundary line because the enlarged overlap area of the forward / backward boundary line is formed. It does not happen.
In the case of the "skew steering" mode, the initial driving dead zone is not configured.

Next, in FIG. 13 to FIG.
The case of the “horizontal S-shaped steering” mode will be described. "Horizontal S
In the case of "character steering", the front drive wheel 2
Alternatively, the rear drive wheel 3 is fixed, and the other front drive wheel 2 or the rear drive wheel 3 can be turned up to a maximum angle of 32 degrees from a position right beside the left. When the rotation angle of the drive wheels 2 and 3 is small, the vehicle steers S-shaped as shown on the left side of FIG.
When the angle approaches 32 degrees, as shown on the right side of FIG.
It is in a pivot turn state. Further, as shown in FIG. 15, a left / right traveling boundary line is formed. That is, when the steering joystick 7 is operated for the first time from the neutral position in the upright position, and when the vehicle is traveling leftward, the left and right traveling boundary lines are as shown in FIG.
Is applied to the left and right traveling boundary line when traveling left. In addition, when the vehicle crosses the left / right traveling boundary and enters the right side, the right / left traveling boundary for right traveling is applied. Even on the left and right traveling boundary,
Since the overlapped enlarged area is formed by digging right and left by 6 degrees, the chattering phenomenon of control in which the leftward traveling and the rightward traveling are sharply switched by reciprocating on the left / right traveling boundary line does not occur. Also, within the range of 90 degrees as in the arrangement of the oblique lines shown in FIG. 16, a traveling dead zone is formed. When the steering joystick 7 is turned within a range of 90 degrees each in the upper and lower directions, the rear drive wheel 3 has a maximum angle of 32 degrees when in the upper dead zone of 90 degrees. Wheel 2 is at 0 degrees, and within the dead zone of 90 degrees behind, front drive wheel 2 is at a maximum angle of 32 degrees and rear drive wheel 3 is fixed at 0 degrees.

FIG. 20 is a rear view of the steering joystick 7 and the X-axis potentiometer 36, FIG. 21 is a plan view of the steering joystick 7, the X-axis potentiometer 36, and the Y-axis potentiometer 37, and FIG. 4 is a diagram illustrating a relationship between a rotation angle and an output voltage. The traveling speed is determined by selectively using one of the potentiometers 36 and 37 as speed command information so that the speed becomes proportional to the operation angle of the steering joystick 7 from the vertical axis. The stepless speed change of the traveling speed is performed by increasing or decreasing the duty ratio of the energizing pulse of the electromagnetic proportional valve coil for controlling the oil supply amount to the hydraulic motor in accordance with the operation angle from the vertical axis of the operation lever. .

FIG. 17 is a plan view showing the turning direction and the initial traveling direction of the steering joystick 7 in the case of "front wheel steering", and FIG. 18 is the rotation of the steering joystick 7 in the case of "skew steering". FIG. 19 is a plan view showing a moving direction and an initial traveling direction.
FIG. 4 is a plan view showing the turning direction of the steering joystick 7 and the initial traveling direction in the case of “horizontal S-shaped steering”. Fig. 17
In FIGS. 18 and 19, in most cases, the turning direction of the steering joystick 7 becomes the initial traveling direction of the aircraft as it is, except for the "front wheel steering" shown in FIG.
In the case of, when the steering joystick 7 existing on the rear side is rotated to the right and left 90-degree positions,
In some cases, the turning direction and the traveling direction of the steering joystick 7 are different. However, in the case of the other "skew steering" and "horizontal S-shaped steering", the turning direction of the steering joystick 7 is completely the initial traveling direction.

[0019]

[Effect of the Invention] The present invention is constructed as described above, and has the following effects. First, "front wheel steering"
Which of the steering modes "Skew steering" and "Horizontal S-shaped steering"
In any case, only one operation of the steering joystick 7
It is not possible to perform both traveling and steering operations of aerial work vehicles.
Coming, so operator operations have been simplified.
You. Second, the direction in which the steering joystick 7 is turned
In addition, this is a running mode in which the initial progress of the aircraft is performed.
A work vehicle that travels in a hazardous area, such as an aerial work vehicle
Operation mechanism that is easy for operators to understand in vehicles
I was able to. Third, the steering joystick
The vehicle speed according to the tilt angle of the
As a result, the operator's
This reduces the number of malfunctions that can be made faster.

[Brief description of the drawings]

FIG. 1 is a side view of an aerial work vehicle according to the present invention when the work vehicle is raised.

FIG. 2 is a side view of the case where the height is lowered.

FIG. 3 is a rear view of the same.

FIG. 4 is a plan view of a part of the traveling vehicle 12;

FIG. 5 is a plan view of the upper operation box B.

6 is a plan view of the lower operation box C. FIG.

FIG. 7 shows a front drive wheel 2 and a rear drive wheel 3 in each mode.
5 is a drawing showing an initial setting position of the.

FIG. 8 is a drawing showing a rotation angle of the front drive wheel 2 in “front wheel steering”.

FIG. 9 is a drawing showing a forward / backward boundary line in “front wheel steering” and “skew steering”.

FIG. 10 is a drawing showing an initial running dead zone in “front wheel steering”.

FIG. 11 is a drawing showing a steering dead zone of “front wheel steering”.

FIG. 12 is a diagram showing a rotation range of the front drive wheel 2 and the rear drive wheel 3 in the case of “skew steering”.

FIG. 13 is a drawing showing a range of rotation of the front drive wheel 2 and the rear drive wheel 3 in the case of “lateral S-shaped steering”.

FIG. 14 is a drawing showing a steering state in the case of “horizontal S-shaped steering”.

FIG. 15 is a drawing showing left and right steering boundaries in the case of “horizontal S-shaped steering”.

FIG. 16 is a diagram illustrating a steering dead zone in the case of “horizontal S-shaped steering”.

FIG. 17 is a plan view showing a turning direction of the steering joystick 7 and an initial traveling direction in the case of “front wheel steering”.

FIG. 18 is a plan view showing a turning direction of the steering joystick 7 and an initial traveling direction in the case of “skew steering”.

FIG. 19 is a plan view showing the turning direction of the steering joystick 7 and the initial traveling direction in the case of “horizontal S-shaped steering”.

FIG. 20 is a rear view of the steering joystick 7 and the X-axis potentiometer 36;

21 is a plan view of the steering joystick 7, the X-axis potentiometer 36, and the Y-axis potentiometer 37. FIG.

FIG. 22 is a drawing showing the relationship between the rotation angles of the potentiometers 36 and 37 and the output voltage.

[Explanation of symbols]

 B upper operation box C lower operation box D operation position up-down switch 1 front driven wheel 2 front drive wheel 3 rear drive wheel 4 rear driven wheel 6 steering select switch 7 steering joystick 8 lift up / down switch

Continued on the front page (72) Inventor Etsuo Onishi 428 Enami, Okayama City In-house (72) Inventor Yuji Inoue Yanmar Diesel Co., Ltd. 1-32 Chayacho, Kita-ku, Osaka-shi, Osaka (56) Reference Literature Japanese Utility Model Showa 64-35177 (JP, U)

Claims (1)

(57) [Scope of request for utility model registration] 1. A lower traveling cart 12 and an upper working platform 1.
1 with a telescopic mechanism 13 interposed therebetween to support the traveling carriage 12.
Of the four wheels held, the two opposite wheels are the front drive wheel 2 and the rear
The other two diagonal wheels are the front driven wheel 1 and the rear
By setting the driven wheel 4 and operating the steering select switch 6,
Steering mode of "wheel steering", "skew steering", and "lateral S-shaped steering"
Can be selected for turning the joystick 7
The steering mechanism of an aerial work vehicle that performs both traveling and steering operations
, The turning operation of the steering joystick 7
The "front wheel steering", "skew steering" and "lateral S-shaped steering"
Of the steering joystick 7
Direction, depending on the tilt angle of the steering joystick 7
A steering mechanism for an aerial work vehicle, wherein the steering mechanism is configured to have a different vehicle speed .