JP2562013Y2 - 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 steering mechanism of an aerial work vehicle, which is used when performing work such as ceiling piping and ceiling wiring and 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 a technique is disclosed in Japanese Unexamined Patent Publication No. 223559 and Japanese Patent Laid-Open Publication No. 56-8758. Further, as a technique for moving the aircraft in the turning direction of the steering operation lever, Japanese Utility Model Application Laid-open No.
Techniques such as JP 88632 and JP 57-32579 are known.

[0003]

SUMMARY OF THE INVENTION The present invention provides a steering mechanism for an aerial work vehicle as described above, in which one steering joystick is operated to rotate a steering drive wheel in a 360-degree direction. In a steering control mechanism that performs arbitrary positioning at an angle corresponding to that direction, turning the steering joystick forward is forward rotation of the steering drive wheel, and turning the steering joystick backward is steering. If it is determined that the driving wheel is to be rotated in reverse, the rotation just to the side is a branch point of either of them, and the control judgment mechanism may be lost.
In the present invention, the steering joystick is rotated from the forward direction so that when the steering joystick is in the sideways position, the forward or backward movement is eliminated, and the switching can be reliably performed.
When the vehicle is turned forward from the reverse
Is provided with an overlapping extension area so as to move in reverse.
Also, when the steering joystick is
Set to rotate forward first when turned sideways
It is doing.

[0004]

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described. According to a first aspect of the present invention, there is provided a steering mechanism for an aerial work vehicle that determines a steering angle of a wheel based on a change in a plane operation angle due to a rotation operation of a steering joystick.
When the stick is in the side position, steer the joystick.
When the vehicle comes from the forward,
When moving, the weight of forward and reverse
A multiple extension area is provided . In the請Motomeko 2,
The steering mechanism for an aerial work vehicle according to claim 1, wherein
The joystick is turned from the upright neutral position to the side
In this case, the vehicle is set to be in the forward state .

[0005]

Next, the operation will be described. When "front wheel steering" and "skew steering" are selected by the steering selection switch 6, when the steering joystick 7 is first turned rightward from the neutral position in the upright position, in either case, , The rotation on the forward side. When the steering joystick 7 is rotated beyond the forward / rearward boundary line expanded to the reverse side by 6 degrees from the forward side, reverse rotation is performed. Next, when reverse rotation is performed, the reverse rotation range is expanded, and the vehicle enters only 6 degrees from the position right beside to the forward side. When "horizontal S-shaped steering" is selected by the steering selection switch 6, first, the steering joystick 7 is turned on.
Is rotated forward and backward from the neutral position, the rotation is on the left advancing side of the forward / backward boundary line. Then, when the vehicle crosses the left / right traveling boundary line expanded by 6 degrees from the left traveling side to the right traveling side, the vehicle enters the right traveling side, and when returning to the left traveling side,
A 6 degree widened left / right travel boundary is created.

[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 the same is lowered, and FIG.
Is a rear view, FIG. 4 is a plan view of a portion of the traveling vehicle 12,
5 is a plan view of the upper operation box B, and FIG. 6 is a plan view of the lower operation box C.

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 that is not arranged in the lower operation box C is arranged, so that “front wheel steering”, “diagonal steering”, and “lateral S-shaped steering” can be performed. It is configured to be selected.
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.

An operation position up / down switch D is disposed in the lower operation box C.
Thus, it is possible to select which of the upper operation box B and the lower operation box C to operate the steering joystick 7 and the lift elevating switch 8. 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. The rear drive wheel 3 performs a stationary operation (wheel positioning operation in a running stop state).

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 traveling direction, the front drive wheel 2 is set forward,
By operating the steering joystick 7, only the front drive wheel 2 rotates thereafter. In the case of "skew driving", both the front drive wheel 2 and the rear drive wheel 3 are turned in the same direction, but the initial setting positions are both set in the straight forward direction. In the case of "lateral S-shaped steering", as shown in FIG.
Is fixed to the side and the rear drive wheel 3 is rotated within the range of regulation, and the rear drive wheel 3 is fixed to the side and the front drive wheel 2 is fixed.
May be rotated within the range of regulation, but in both cases, they are set to the sideways position in the initial setting. At the initial setting position, the angle correction adjustment of the above-described initial tire position adjustment mechanism A by the angle adjustment start switch 20 and the adjustment position determination switch 21 is possible.

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 fixed in the forward direction. Only the front drive wheel 2 is turned by the turning operation of the steering joystick 7, but the front drive wheel 2 is controlled so as not to turn when the turning angle to the left is more than 56 degrees. Regulated. Similarly, as shown in FIG.
A steering dead zone of the steering joystick 7 is formed within a range of 66 degrees in total, each of which is 33 degrees up and down on the left side. 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. Also, as shown in FIG.
When the steering joystick 7 is operated from the upright neutral position for the first time, the front drive wheel 2 is operated at that position, but traveling is out of the range. The initial driving dead zone is configured so that the driving does not start unless the operation is performed. Further, since the left 12 ° is also included in the above-mentioned traveling dead zone, once the vehicle is out of the 66 ° during “front wheel steering”, 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 enters the reverse zone beyond the forward / backward boundary expanded by 6 degrees, the steering joystick 7 is switched 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 = 12 degrees.
Since it can be made in the forward zone that has been raised by a degree, unless it turns by this 12 degrees, it will not enter the next forward, so it is possible to switch between forward and reverse on the forward / backward boundary line. The phenomenon does not occur.

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, the case of the "horizontal S-shaped steering" mode will be described with reference to FIGS. In the case of "lateral S-shaped steering", depending on the steering direction, the front drive wheel 2 or the rear drive wheel 3 is fixed, and the other front drive wheel 2 or the rear drive wheel 3 is moved from the position immediately to the left. Rotation is possible up to a maximum angle of 32 degrees. When the rotation angles of the drive wheels 2 and 3 are small, the S-shaped steering is performed as shown on the left side of FIG. 14, but when the angle approaches 32 degrees, the state of the pivot turn is changed as shown on the right side of FIG. It becomes. Further, as shown in FIG. 15, a left / right traveling boundary line is formed. That is, the left and right traveling boundary lines shown in FIG. 15 are applied to the left and right traveling boundary lines when the steering joystick 7 is initially operated from the neutral position in which the steering joystick is upright and when the vehicle is traveling leftward. When the vehicle crosses the left / right traveling boundary and enters the right side, the right / left traveling boundary for right traveling is applied. The chattering phenomenon of the control, in which the leftward traveling and the rightward traveling are sharply switched by reciprocating on the left / right traveling boundary line, is also formed in the left / right traveling boundary line because the overlapping enlarged area is formed by penetrating 6 degrees each side. It does not happen. 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 a dead zone of 90 degrees behind, front drive wheel 2 is at a maximum angle of 32 degrees,
The rear drive wheel 3 is fixed at 0 degrees.

[0017]

[Effect of the Invention] The present invention is constructed as described above, and has the following effects. In a steering mechanism of an aerial work vehicle that determines a steering angle of a wheel by a change in a plane operation angle due to a rotation operation of the steering joystick 7, a steering drive is performed by rotating the steering joystick 7 forward. The wheels rotate forward, and the steering drive wheel 7 rotates backward by the backward rotation of the steering joystick 7, but if this switching position is provided opposite to the sideways portion, the steering position of the steering wheel will be reversed. In the case of turning to the position, the turning just to the side is a branch point of the forward or the reverse, and the control determining mechanism may be lost. In addition, the steering drive wheel repeats forward rotation and reverse rotation. In the present invention, the steering joystick is
Steering joystick moves forward
If it is turned from the front, it will be in the forward state, and it will turn from the reverse
In the event of a collision, the forward and reverse
Since the tension area is provided , the steering joystick can be reliably switched in a position beside the driver without any doubt of forward or backward movement. Further, since the enlarged front-rear traveling boundary line is formed at the position just beside, the chattering control state in which the forward and the reverse are continuously switched at the position can be eliminated. Also, once entering forward from reverse, the position to enter the next reverse is a position separated by a certain angle, so that the chattering state of control does not occur on the enlarged forward / backward boundary line. is there. Therefore, the forward / backward switching can be reliably performed. Note that the angle setting is variable by a program, and the above numerical values are one setting example. In claim 2,
The steering mechanism for an aerial work vehicle according to claim 1, wherein
The joystick is turned from the upright neutral position to the side
Was set to be in the forward state,
An unexpected situation such as the aerial work vehicle retreating occurred
Move forward in a direction that is likely to be ergonomically anticipated.
Start moving, so you won't surprise the operator
It has become.

[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 control box B.

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

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”.

[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

Claims (2)

(57) [Scope of request for utility model registration] By 1. A change in the planar operation angle according to the rotational operation of the steering joystick 7, the steering mechanism of the aerial platforms to determine the steering angle of the wheels, steering joystick
When the steering joystick is
If it is turned, it will be in the forward state,
In the case of a backward movement, the forward and backward overlap
A steering mechanism for an aerial work vehicle, characterized by an area . 2. A steering mechanism for an aerial work vehicle according to claim 1.
Then, when the steering joystick is upright and neutral,
Set to move forward when turned right beside
Aerial steering mechanism, characterized in that the.