JP2545323B2 - Aerial work vehicle connection structure - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure for connecting a plurality of aerial work vehicles.

[0002]

2. Description of the Related Art When a heavy object is mounted on a ceiling at a building construction site, the heavy object may be lifted and lowered by a lift machine. As such a lifting machine for lifting and lowering heavy objects, there is known one in which a loading platform is attached to a machine base so that it can be lifted and lowered by an elevating mechanism, and a heavy load is placed on the loading platform and lifted.

In such a lift machine, the weight of a heavy object is
Since it acts on the machine base via the lift mechanism, the weight of the heavy machine and the lift machine concentrate on the part of the floor that supports the machine base, and when the weight becomes heavier than the load capacity of the floor, the floor falls out. However, conventional lift machines cannot lift large and heavy objects. In addition, the lift force of the lift mechanism that lifts and lowers heavy objects must be large enough to support the weight of the heavy objects. To lift large and heavy objects, the lift force of the lift mechanism becomes extremely large and Since a high pressure fluid is supplied to the cylinder while using the cylinder, the lift machine is large and heavy, and the floor may fall out as described above, or it is very expensive. Becomes

Therefore, the applicant of the present invention has proposed a lift machine for vertically moving a heavy object using two aerial work vehicles. However, when two aerial work vehicles are used, the two lifting machines are used. Since a heavy object is placed on the workbench of an aerial work vehicle to move up and down and travel, the two aerial work vehicles must be moved up and down in synchronization.

Therefore, it is an object of the present invention to provide a structure for connecting aerial work vehicles, which enables a plurality of aerial work vehicles to move up and down in synchronization with each other.

[0006]

A first aspect of the present invention is to install a plurality of aerial work vehicles 6 in which a work platform 4 is attached to a travel vehicle 1 by an elevating mechanism 3 so that the work platforms 4 can move up and down. 1 is connected by a lower connecting member 22 and a workbench height detecting mechanism 40 for detecting the height of the workbench 4 of each aerial work vehicle 6 is attached, and the workbench height detecting mechanism 40 detects the workbench height. This is a structure for connecting an aerial work vehicle, which is provided with a lifting / lowering mechanism lifting / lowering means for lifting / lowering each lifting / lowering mechanism 3 on the basis of the height of the working table to form a working table synchronized lifting / lowering mechanism.

A second invention is a lift cylinder 44 for moving up and down the workbench 4 in the first invention, a means for supplying pressure oil to the lift cylinder 44, and a workbench of an aerial work vehicle 6. This is a structure for connecting aerial work vehicles, which is provided with means for controlling pressure oil supply means of other aerial work vehicles based on the height and is used as a lifting mechanism elevating / lowering means.

[0008]

[Operation] According to the first invention, the traveling trolleys 1 of the plurality of aerial work vehicles 6 travel synchronously via the lower connecting member 22, and the work pedestals of the plurality of aerial work vehicles 6 are driven. Since 4 moves up and down in synchronization, it is suitable when a plurality of aerial work vehicles can travel and move up and down in synchronization and are used as a lifting machine for long heavy objects.

According to the second invention, one aerial work vehicle 6
It is easy to control the pressure oil supply means of other aerial work vehicles 6 based on the height of the workbench so that the worktables 4 of the plurality of aerial work vehicles 6 are synchronously moved up and down.

[0010]

[Example] As shown in FIG. 1, a traveling carriage 1 has a plurality of steering and driving wheels 2, and a lift mechanism 3 is attached to the traveling carriage 1.
A work table 4 is provided to be movable up and down, and handrails 5 are detachably attached around the work table 4 to form an aerial work vehicle 6, and a turn table is mounted on the work table 4 of the aerial work vehicle 6. Attached lifter 7 is attached. The lifter with the turntable 7
Is the X-shaped first and second links 8 and 9 and the lifter cylinder 1.
A turntable 12 is rotatably attached to a table 11 which is moved up and down at zero. The roller 13 provided on the lower part of the first link 8 is slidably supported along a guide groove (not shown) of the horizontal frame 14 on the work table 4, and the roller 15 provided on the upper part of the second link 9 is The table 11 is slidably supported along a guide groove (not shown).

In order to connect the two aerial work vehicles 6, 6 to each other, as shown in FIG. 2, two traveling carriages 1 are connected to a pair of lower connecting rods 2.
H-shaped lower connecting member 2 in which 0 and 20 are connected by a horizontal rod 21
The two worktables 4 are connected by an H-shaped upper connecting member 25 in which a pair of upper connecting rods 23, 23 are connected by a horizontal rod 24. The lower connecting rod 20 and the upper connecting rod 2
In order to connect 3 to the traveling carriage 1 and the workbench 4, it may be directly tightened with bolts, or mounting flanges may be fixed to both longitudinal ends of the lower and upper connecting rods 20 and 23, and the mounting flanges may be bolted. It may be tightened or may be connected with a pin hole. That is, the lower connecting rod 20 and the upper connecting rod 23 may be detachably connected to the traveling carriage 1 and the worktable 4. The lower connecting rod 20 is a hollow long member, and a control signal wiring 26 is disposed inside the hollow. The control signal wiring 26 is provided with a pair of traveling carriages 1 and 1 for steering and driving wheels 2 and a lifting mechanism 3. Is connected to a controller 27 for controlling the operation of the left and right steering / driving wheels 2 and 2 in synchronization with each other.

For example, when the operation lever 29 of the operation box 28 connected to one controller 27 is operated to input a forward / backward signal and a left / right turning signal to the controller 27, as shown in FIG. A pair of front and rear steering / driving wheels 2a and 2b respectively provided at opposite corners of one are rotationally driven in the same direction, and front or rear steering / driving wheels 2a or 2b are steered in the same direction. When an oblique traveling signal is output to the controller 27, the steering and driving wheels 2a and 2b are steered in the same direction as shown in FIG. Controller 27
When a lateral traveling / horizontal turning signal is input to the vehicle, the steering / driving wheels 2a and 2b are turned sideways, and one of the front and rear steering / driving wheels 2a or 2b is turned sideways and the other steering / driving wheel 2b or 2a is turned on, as shown in FIG. Steer. When a super-spinning turn signal is input to the controller 27, the steering and drive wheels 2a and 2b are steered as shown in FIG.

That is, as shown in FIG. 3, the steering / driving wheel 2 is supported on the traveling carriage 1 by a bracket 30 which is pivotally supported.
A drive wheel 31 is rotatably provided on the bracket 30, and a motor 32 for driving the drive wheel 31 is attached to a bracket 30. The bracket 30 is turned by a drive source such as a steering cylinder or a steering motor. A control signal is output to the motor 32 and the drive source to steer and move forward and backward.

When using two connected aerial work vehicles 6, 6 as a lifting machine, as shown in FIG.
The handrail 5 is removed, an upward U-shaped loading platform 33 is attached on the turntable 12, and a heavy load 34 is laid across the loading platform 33.
Should be placed. Although two aerial work vehicles are connected in the above embodiment, three or more aerial work vehicles may be connected.

Next, with reference to FIGS. 7 and 8, a description will be given of an embodiment in which the work platforms 4 of the two aerial work vehicles 6 are moved up and down in synchronization without being connected by the upper connecting member. As shown in FIG. 7, two aerial work vehicles 6 and 6 are installed side by side, the traveling carriage 1 is connected by a lower connecting member 22, and the height detection mechanism 40 of the workbench 4 is attached to each aerial work vehicle 6. Install each. The workbench height detection mechanism 40 includes a linear encoder 41 provided on the traveling carriage 1,
The rope 4 wound around the rotating portion of the linear encoder 41
2, the rope 42 is connected to one end of the link 3a of the elevating mechanism 3, and when the link 3a of the extension mechanism 3 is extended and retracted to raise and lower the workbench 4, the rope 42 moves and the linear encoder The rotating unit 41 rotates to output a pulse, and the controller 27 counts the output pulse to detect the height of the workbench 4.

An output signal of the operation box 28 is sent to the controller 27 of one traveling vehicle 1 and the operating lever 43 is raised and lowered to operate the elevating mechanism 3 to raise and lower the workbench 4, and work at that time. The table height H ₁ is the controller 2
7, the controller 27 of the other aerial work vehicle 1
The work platform height H ₂ calculated by the above is input to the controller 27 of the traveling vehicle 1 on one side, and the input work platform height H ₂ and the work platform height H ₁ on the _one aerial platform 6 are calculated on the basis of the input work platform height H ₂ and the work platform height H ₁ . In comparison with the controller 27, when H ₁ <H ₂ when rising, a stop command is output to the controller 27 on the other side (H ₂ side) to operate the lifting mechanism 3 of the other aerial work vehicle 6 to move the work table 4 When H ₁ > H ₂ is stopped, a stop command is output to the controller 27 on _one side (H ₁ side) to operate the elevating mechanism 3 of the other aerial work vehicle 6 to stop the workbench 4, and The work table heights H ₁ and H ₂ are made to match. In this case worktable heights H ₁ and H
_A dead zone α is provided in the difference from _2, and, for example, | H ₁ −H ₂ | <α
Sometimes it may be a match.

FIG. 8 is a control circuit diagram, in which the discharge pressure oil of the hydraulic pump 45 is supplied to the expansion chamber 44a of the lift cylinder 44 that expands and contracts the link a of the lifting mechanism 3, and the expansion chamber 44a is expanded.
An electromagnetic switching valve 46 for connecting / disconnecting the fluid to / from the tank and an electric motor 47 for driving the hydraulic pump 45 are provided, and the controller 2
7, the solenoid 48 of the electromagnetic switching valve 46 and the electric motor 47 are energized.

The operation box 2 is provided on one controller 27.
When a raising signal is input by 8, the electric motor 47 is energized to supply the discharge pressure oil of the hydraulic pump 45 to the extension chamber 44a of the lift cylinder 44 to extend the workbench 4, thereby raising the operation box 28. When a lowering signal is input, the power supply to the electric motor 47 is stopped and the solenoid 48 is stopped.
To the communication position b from the shut-off position a
As a result, the pressure oil in the extension chamber 44a of the lift cylinder 44 flows out into the tank, and the lift cylinder 44 is lowered by the weight of the workbench to lower the workbench 4.

When the workbench 4 of one of the aerial work vehicles 6 is moved up and down as described above, the workbench height H ₁ is changed to the controller 2
7, when the height H ₂ of the work table of the work vehicle 6 on the other side is H ₁ > H ₂ , a raising command is output to the other controller 27 and a stop command is output to the one controller 27. Then, the work table 4 is stopped by operating in the same manner as described above.
That is, the higher workbench is stopped when rising, and the lower workbench is stopped when descending.

FIG. 9 shows a state in which four aerial work vehicles 6 are connected. For the sake of explanation, the aerial work vehicle on the left side is the parent aerial work vehicle 6 ₁ ,
1st, 2nd, 3rd child high-altitude work vehicle 6 ₂ , 6 ₃ , 6
_Set to ₄ . An operation box 28 is connected to the traveling carriage 1 of the work vehicle for high altitude 6 ₁ , and a traveling mode changeover switch 49 is provided in the operation box 28. The traveling mode changeover switch 49 is used for the straight traveling position c and the oblique traveling position. d, it is switched to the lateral traveling position e and the straight traveling mode, the oblique traveling mode,
It can be switched to the lateral running mode.

FIG. 10 is a control circuit diagram for controlling four aerial work vehicles. Each controller 27 has a straight traveling mode circuit 51, an oblique traveling mode circuit 52, and a lateral traveling mode circuit 5.
3, a speed control circuit 54, an ascending / descending determination circuit 55, etc. are provided respectively, and the left and right motors 32, the steering motor 50, the electric motor 47, the solenoid 4 of the electromagnetic switching valve 46 are provided.
The energization is controlled for each of the numbers 8. 56 is a speed controller,
Reference numeral 57 is a steering driver.

Each signal of the operation box 28 is input to the controller 27 of the parent work vehicle 6 ₁ , and the controller 27 connects the first, second and third child work vehicles 6 ₂ , 6 through the control signal wiring 26. _3, 6 is sent to the _fourth controller 27 energized, the operation direction of the running mode changeover switch 49 running mode signal operation by selecting mode circuit by the lever 29 by the respective motors 32, as will be described later by operating stroke, the steering motor 50 Control, 1st, 2nd, 3rd
Raise the platform height of the parent Aerial ₆₁ based workbench height of the child Aerial 6 _2, 6 _3, 6 ₄ is input to the controller 27 of the parent Aerial 6 _1, It judges the descending and outputs the raising command and the lowering command to the controller 27 of the first, second, and third child high-altitude work vehicles 6 ₂ , 6 ₃ , 6 ₄ to output the respective worktables 4
Move up and down synchronously. As shown in FIG. 9, since each workbench 4 is connected by the upper connecting member 25, it is not necessary to synchronize the workbench 4 as described above. However, when four aerial work vehicles are connected, this is not possible. Since it is stable, it is synchronized for safety and it is not always necessary to provide this synchronization system.

Next, the traveling control operation of the four aerial work vehicles 6 will be described. As shown in FIG. 11, when the traveling mode changeover switch 49 is set to the straight traveling position c and the operation lever 29 is operated straight ahead, each drive wheel 31 is made straight, and the normal rotation drive is performed at a rotation speed proportional to the lever operation stroke. When the operating lever 29 is operated straight rearward, it is reversely driven in the same manner as described above and travels forward.

As shown in FIG. 12, when the traveling mode changeover switch 49 is set to the straight traveling position c and the operation lever 29 is operated in the forward rightward direction, each traveling carriage 1 is proportional to the tilt size of the operation lever 29. The front drive wheel 31 is steered to the right, and the drive wheel 31 is normally driven at a speed proportional to the operation stroke of the operation lever 29 to turn to the right. At this time, the steering wheels α ₁ in front of the traveling carriages 1 α ₁ ,
α ₂ , α ₃ and α ₄ are closest to the center X of turning, and are successively reduced based on the connecting distance L of the work vehicle at high places and the width of the traveling carriage, and the center of the drive shaft of each drive wheel 31 matches the center X of turning. I am doing it. In the case of FIG. 12, α ₁ <α ₂ <α ₃
<Α ₄ . When the operation lever 29 is operated to the left obliquely forward, the front drive wheel 31 is steered to the left side in the same manner as described above, and when the operation lever 29 is operated to the left oblique rearward and the right oblique rearward, the rear drive wheel 31 is similar to the above. Steer to reverse drive.

As shown in FIG. 13, when the traveling mode changeover switch 49 is set to the oblique traveling position d and the operation lever 29 is operated to the right and the front, the drive wheels 31 are moved to the right by the inclination angle α of the operation lever 29. By steering and driving in the forward direction, the vehicle runs diagonally forward to the right. The same applies when the operation lever 29 is operated to the front to the left, the front to the right, and the rear to the right.

As shown in FIG. 14, when the traveling mode changeover switch 49 is set to the lateral traveling position e and the operation lever 29 is operated to the right and rearward, the rightmost side, for example, the third child high-altitude work vehicle 6
_{The four} drive wheels 31 are steered to the right rear by a steering angle β that is proportional to the tilt angle α of the operating lever 29, and the drive wheels 31 of other aerial work vehicles are turned to the right side and right to the rear. To run. At this time, the rotation speed of the drive wheel 31 on the inside of the turn is made slower than the rotation speed of the drive wheel 31 on the outside of the turn. When the traveling speed is slow (when the operation stroke of the operation lever 29 is small), the drive shafts 31 are directed to the right side so that the rotation speed on the inside of the turn is slower than the rotation speed on the outside of the turn, and is directed to the right rear side. You may turn around.

As shown in FIG. 15, when the operating lever 29 is operated to the right in the above-described state, each drive wheel 31 is directed to the side and travels straight to the right.

[0028]

According to the first aspect of the invention, the traveling carriages 1 of the plurality of aerial work vehicles 6 travel in synchronization via the lower connecting member 22, and the work of the plurality of aerial work vehicles 6 is performed. Since the platform 4 moves up and down in synchronization, a plurality of aerial work vehicles travel in synchronization,
It is suitable when it can be lifted and used as a lifting machine for long heavy objects.

Further, a plurality of aerial work can be carried out by raising and lowering each elevating mechanism 3 based on the workbench heights detected by the respective workbench height detection mechanisms 40 provided on the plurality of aerial work vehicles 6. Since the workbench 4 of the vehicle 6 moves up and down in synchronization, the workbench of a plurality of aerial work vehicles can be reliably moved up and down in synchronization.

According to the second invention, one aerial work vehicle 6
It is easy to control the pressure oil supply means of other aerial work vehicles 6 based on the height of the workbench so that the worktables 4 of the plurality of aerial work vehicles 6 are synchronously moved up and down.

[Brief description of drawings]

FIG. 1 is a front view of an aerial work vehicle.

FIG. 2 is a side view showing a state in which two aerial work vehicles are connected to each other.

FIG. 3 is a steering explanatory diagram of steering and driving wheels.

FIG. 4 is a steering explanatory diagram of steering and driving wheels.

FIG. 5 is a steering explanatory diagram of steering and driving wheels.

FIG. 6 is a steering explanatory diagram of steering and driving wheels.

FIG. 7 is a side view of a synchronization mechanism of a workbench.

FIG. 8 is a circuit diagram of a lifting mechanism control operation.

FIG. 9 is a side view showing a state in which four aerial work vehicles are connected to each other.

FIG. 10 is a control circuit diagram of an aerial work vehicle.

FIG. 11 is a travel explanatory diagram of four aerial work vehicles.

FIG. 12 is a travel explanatory diagram of four aerial work vehicles.

FIG. 13 is a travel explanatory diagram of four aerial work vehicles.

FIG. 14 is a travel explanatory diagram of four aerial work vehicles.

FIG. 15 is a travel explanatory diagram of four aerial work vehicles.

[Explanation of symbols]

1 ... Traveling vehicle, 2 ... Steering and driving wheels, 3 ... Lifting mechanism, 4 ...
Workbench, 6 ... Aerial work vehicle, 22 ... Lower connecting member, 25 ...
Upper connection member, 26 ... Control signal wiring, 27 ... Controller.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tetsuya Fujimura 3-20-1 Nakase, Kawasaki-ku, Kawasaki-shi, Kanagawa Komatsu Ltd. Kawasaki Plant (72) Masayuki Nagahama 3-20 Nakase, Kawasaki-ku, Kawasaki-shi, Kanagawa -1 Komatsu Mfg. Co., Ltd. Kawasaki Plant (56) References: Actual Development 4-122590 (JP, U) Actual Development 3-107493 (JP, U)

Claims (2)

(57) [Claims] 1. A work platform 4 is lifted by a lifting mechanism 3 onto a traveling carriage 1.
Plural aerial work vehicles 6 installed freely to be installed side by side
Connect the traveling carriages 1 in contact with each other with the lower connecting member 22.
And a workbench that detects the height of the workbench 4 of each aerial work vehicle 6
The height detection mechanism 40 is attached to each work table height.
Each elevator based on the workbench height detected by the detection mechanism 40
Work by raising and lowering mechanism raising and lowering means for raising and lowering the structure 3
A structure for connecting aerial work vehicles with a platform-synchronized lifting mechanism. 2. A lift cylinder 44 for raising and lowering a work table 4.
And means for supplying pressure oil to the lift cylinder 44,
Based on the worktable height of one of the aerial work vehicles 6
Providing a means to control the pressure oil supply means of other aerial work vehicles
The aerial work vehicle according to claim 1, wherein the lifting mechanism is a lifting operation means.
Connection structure.