JP3096907B2 - Working machine at height - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an aerial work machine in which a basket is supported on an upper end of a column standing upright from a support base.

[0002]

2. Description of the Related Art In general, there is known an aerial work machine in which a basket is supported on an upper end of a support portion standing upright from a support base. Can be.

[0003] By the way, the conventional high-altitude working machine is disadvantageous in that the operating conditions are limited such that when installed on an inclined surface, there is a high risk of falling over, and when the inclination angle is increased, it cannot be used. was there. On the other hand, in order to be able to install on an inclined surface, it is necessary to correct the angle of the entire high-altitude work machine with a lifter, etc.
The fix was also inaccurate.

The present invention has been made to solve the problem existing in the prior art, and even when the apparatus is installed on an inclined surface, the supporting column can be accurately adjusted in the vertical direction without any troublesome repair work. It is an object of the present invention to provide an aerial work machine capable of reliably avoiding the danger of falling down and expanding the use place.

[0005]

SUMMARY OF THE INVENTION The present invention relates to a construction of an aerial work machine 1 in which a basket 4 is supported on an upper end of a column 3 standing upright from a support base 2. And a plurality of telescoping actuators provided between the support portion and the support base portion at different positions in the circumferential direction of the support portion. 5a, 5b,
Pressure sensors 6a and 6b for detecting loads applied to the telescopic actuators 5a and 5b from the column 3 side,
Pressure detection values Pa, Pb obtained from the respective pressure sensors 6a, 6b
Is provided with a control unit 7 that controls the driving of each of the telescopic actuators 5a and 5b so that the two are matched.

In this case, according to a preferred embodiment, the column 3 expands and contracts up and down. In addition, the telescopic actuator 5
A pair of a and 5b is disposed at a position 180 ° opposite to the column 3 and hydraulic cylinders 5ac and 5bc are used as telescopic actuators 5a and 5b so that the pair of hydraulic cylinders 5ac and 5bc operate in opposite directions. Can be connected to the hydraulic circuit 8.

As a result, if the column 3 is inclined with respect to the vertical direction, the pressure detection value Pa (Pb) of the pressure sensor 6a (6b) disposed on the inclined side becomes relatively large, so that the control unit 7 One telescopic actuator 5a arranged on the inclined side
(5b) and the other telescopic actuator 5
Control to shorten b (5a) is performed. As a result, the column 3 is displaced by the telescopic actuators 5a and 5b in the direction in which the inclination angle becomes zero, and when the column 3 becomes vertical in the direction in which the inclination angle of the column 3 becomes zero, the pressure detection value Pa is obtained. Since Pb matches, the control unit 7 performs control to stop the expansion and contraction of each of the expansion and contraction actuators 5a and 5b. Therefore, even when the support portion 3 is inclined, it is automatically corrected so as to stand upright in the vertical direction.

[0008]

Next, preferred embodiments according to the present invention will be described in detail with reference to the drawings.

First, the structure of a high-altitude working machine 1 according to this embodiment will be described with reference to FIGS.

Reference numeral 2 denotes a support base portion. A plurality of wheels 11 and a plurality of fixing lifters 12 are provided on the lower surface of the support base portion 2, and a pivot type The support portion 13 supports the lower end portion 3d of the support portion 3 in a tiltable manner. The support portion 3 is configured to be telescopic by a first support portion 14, a second support portion 15, and a third support portion 16, and is opened upward at the upper end of the support portion 3, that is, the upper support portion of the third support portion 16. Support the basket 4. The basket 3 has a plurality of frame parts 17 and an operation part 18 at the upper end.

On the other hand, a pair of hydraulic cylinders 5ac and 5bc constituting the telescopic actuators 5a and 5b are installed between the support 3 and the support base 2 at positions 180 ° opposite to each other in the front-rear direction of the support 3. I do. In this case, bracket portions 19a and 19b are provided on the upper surface of the support base portion 2 which is separated from the support portion 13 in the front and rear directions, and the lower ends of the link portions 20a and 20b are rotatably mounted on the bracket portions 19a and 19b, respectively. , Link section 20
The ends of the cylinder bodies 21a and 21b of the hydraulic cylinders 5ac and 5bc are rotatably mounted on the upper ends of the cylinders a and 20b. The distal ends of the drive rods 22a and 22b of the hydraulic cylinders 5ac and 5bc are rotatably attached to brackets 23a and 23b provided on the upper part of the first pillar 14, respectively.

Further, lever portions 24a and 24b are integrally protruded from the link portions 20a and 20b, respectively.
Pressure sensors 6a and 6b using a piezoelectric element or the like are arranged between a and 24b and the support base 2. Thereby, each pressure sensor 6a, 6b is connected to each hydraulic cylinder 5ac, 5bc.
, The load pressure applied from the column 3 side can be detected. In addition, 25a and 25b are each lever part 24.
A stopper 26 that regulates the upward displacement of a and 24b is a lifting / lowering device attached to the basket 4.

On the other hand, in FIG.
The control unit 7 drives and controls the ac and 5bc. The control unit 7 includes a hydraulic circuit 8 for driving the hydraulic cylinders 5ac and 5bc, and a controller 30 for controlling the hydraulic circuit 8. In this case, a pair of hydraulic cylinders 5ac, 5bc
Are connected in series so as to operate in opposite directions to each other and connected to the hydraulic circuit 8. That is, the rear oil chamber of one hydraulic cylinder 5ac is connected to the hydraulic circuit 8 and the front oil chamber of the hydraulic cylinder 5ac is connected to the front oil chamber of the other hydraulic cylinder 5bc. The oil chamber is connected to the hydraulic circuit 8. Therefore, if the controller 30 controls the hydraulic circuit 8, the hydraulic circuit 8 can selectively supply forward or reverse pressure oil to the series circuit of the hydraulic cylinders 5ac and 5bc. The series circuit of the hydraulic cylinders 5ac and 5bc can simplify the control system including the hydraulic circuit 8 and reduce the cost.

Next, the operation of the aerial work machine 1 according to this embodiment will be described with reference to the drawings and the flowchart shown in FIG.

First, in each of the pressure sensors 6a and 6b, a load pressure applied from the column 3 to the hydraulic cylinders 5ac and 5bc is detected, and pressure detection values Pa and Pb obtained from the pressure sensors 6a and 6b are detected. Is given to the controller 30 (step S1). Thereby, the controller 30 monitors the magnitude of the applied pressure detection values Pa and Pb.

If the column 3 is completely upright in the vertical direction, all the loads on the column 3 are received by the support 13, so that the pressure detection values Pa, 6
Pb is minimized and the magnitudes are the same. Therefore, the controller 30 monitors the detected pressure values Pa and Pb. If Pa = Pb, the controller 30 can determine that the column 3 is completely upright in the vertical direction.
0 stops the supply of the pressure oil to the hydraulic cylinders 5ac and 5bc, that is, controls to stop the expansion and contraction of the hydraulic cylinders 5ac and 5bc (steps S2 and S3).

On the other hand, as shown in FIG. 1, it is assumed that the aerial work machine 1 is installed on an inclined surface Es inclined at a predetermined angle with respect to a horizontal plane Eo. In this case, since the support 3 is inclined rightward in FIG. 1, a part of the load on the support 3 is added to the pressure sensor 6a on the inclined side, and the pressure detection value P
a becomes larger than the detected pressure value Pb. That is, Pa> P
b. Therefore, the hydraulic circuit 8 is controlled by the controller 30.
Is supplied to the series circuit of the hydraulic cylinders 5ac and 5bc in the direction of arrow Fa (forward direction) in FIG. 3 (steps S4 and S5). Accordingly, the hydraulic cylinder 5ac extends and the hydraulic cylinder 5bc shortens, so that the support portion 3 is displaced so that the inclination angle becomes zero. Then, when the inclination angle becomes zero and stands in the vertical direction V, the detected pressure values Pa and Pb coincide with each other, that is, Pa = Pb, so that the controller 30 sets the hydraulic cylinders 5ac, 5b
The control to stop the supply of the pressure oil to c is performed (steps S1, S2, S3).

On the other hand, the column 3 is inclined leftward in FIG. 1, and a part of the load on the column 3 is changed to the pressure sensor 6 on the inclined side.
The same applies to the case where b is added. In this case, the detected pressure value Pb is larger than the detected pressure value Pa, and Pa <Pb
Therefore, the controller 30 controls the hydraulic circuit 8 and
For the series circuit of the hydraulic cylinders 5ac and 5bc, FIG.
Medium, pressure oil in the direction of arrow Fb (reverse direction) is supplied (steps S6, S7). As a result, the hydraulic cylinder 5bc extends and the hydraulic cylinder 5ac shortens, so that the column 3 is displaced so that the inclination angle becomes zero. Then, when the inclination angle becomes zero and stands in the vertical direction V, the detected pressure value Pa
Since c and Pbc match, that is, Pa = Pb, the controller 30 performs control to stop the supply of the hydraulic oil to the hydraulic cylinders 5ac and 5bc (steps S1 and S1).
2, S3).

As described above, the aerial work machine 1 according to the present embodiment
According to this, even in the case of installation on the inclined surface Es, the support portion 3 is moved in the vertical direction V without any troublesome correction work.
Automatic correction can be performed accurately, so that the danger of falling can be reliably avoided, and the use place can be expanded.

The embodiment has been described in detail above.
The present invention is not limited to such an embodiment,
The configuration, shape, quantity, method, etc. of the details can be arbitrarily changed, added, or deleted without departing from the gist of the present invention. For example, although the hydraulic cylinders 5ac and 5bc have been exemplified as the telescopic actuators 5a and 5b, electric actuators and the like having the same function may be used. In the embodiment, the pair of hydraulic cylinders 5ac and 5bc are arranged at a position 180 ° opposite to the column 3, but the hydraulic cylinders 5ac and 5bc are further arranged.
A similar structure may be added in a direction orthogonal to the arrangement direction of bc so as to be able to correct the front, rear, left, and right inclinations of the column 3 respectively. Further, although the embodiment has exemplified the case where the pair of hydraulic cylinders 5ac and 5bc are connected to the hydraulic circuit 8 so as to operate in opposite directions, the respective hydraulic cylinders 5ac and 5bc may be individually driven and controlled. .

[0021]

As described above, the aerial work machine according to the present invention comprises: a support having a lower end tiltably supported by a support base; a support extending between the support and the support base; A plurality of telescopic actuators respectively arranged at different positions in the circumferential direction of the part, and a pressure sensor for detecting a load applied from the support part side to each telescopic actuator,
In order to include a control unit that drives and controls each telescopic actuator so that the pressure detection values obtained from each pressure sensor match,
It has the following remarkable effects.

Even in the case of installation on an inclined surface, the support portion can be automatically and accurately corrected in the vertical direction without any troublesome correction work, so that the danger of falling down can be reliably avoided, and The place can be expanded.

According to a preferred embodiment, if a hydraulic cylinder is used as a telescopic actuator and a pair of hydraulic cylinders are connected to a hydraulic circuit so as to operate in opposite directions to each other, the control system including the hydraulic circuit can be simplified and low power can be achieved. Cost can be reduced.

[Brief description of the drawings]

FIG. 1 is a side view showing a state in which an aerial work machine according to an embodiment of the present invention is installed on an inclined surface;

FIG. 2 is a side view showing a state where the aerial work machine is installed on a horizontal surface;

FIG. 3 is a system diagram showing a configuration of a drive control system in the work equipment at a high place;

FIG. 4 is a flowchart for explaining an operation of a drive control system in the aerial work machine,

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Height working machine 2 Support base part 3 Support part 3d Lower end part 4 Basket 5a ... Telescopic actuator 5ac ... Hydraulic cylinder 6a ... Pressure sensor 7 Control part 8 Hydraulic circuit Pa ... Pressure detection value

Claims (4)

(57) [Claims] An aerial work machine in which a basket is supported on an upper end of a support portion rising from a support base, a support having a lower end tiltably supported by the support base, and the support having a lower end. A plurality of telescoping actuators installed between the support base portions and arranged at different positions in the circumferential direction of the strut portion, and a pressure sensor for detecting a load applied to the telescopic actuator from the strut side. And a control unit for driving and controlling each of the telescopic actuators so that the pressure detection values obtained from each of the pressure sensors coincide with each other. 2. The aerial work machine according to claim 1, wherein the support portion extends and contracts up and down. 3. The high work machine according to claim 1, wherein the telescopic actuator is provided in a pair at a position 180 ° opposite to the support portion. 4. The high work machine according to claim 3, wherein a hydraulic cylinder is used as the telescopic actuator, and the pair of hydraulic cylinders are connected to a hydraulic circuit so as to operate in opposite directions.