JP3138375B2 - Aerial work vehicle - 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 vehicle, and particularly to an autonomous vehicle which is optimal for labor-saving equipment construction work at a site having a very high floor such as an airport or a factory or an intelligent office. It relates to a traveling aerial work vehicle.

[0002]

2. Description of the Related Art In recent years, automatic construction machines such as construction robots have been actively promoted in order to make construction work more efficient and to reduce labor shortages. For example, concrete floor finishing robots, outer wall inspection robots, outer wall inspection robots, etc. Models such as a painting robot, an automatic sling removal device, a concrete spraying robot, a robot drill jumbo, a shield automatic control device, an automatic segment assembling robot, and a one-man control asphalt finisher are actually operating on site.

[0003]

Generally, many of these construction automatic machines are based on forklifts.
Therefore, the bogie itself was large and the weight tended to be heavy. In particular, in the case of machines that replace construction work, it is necessary to lift heavy construction materials, and the weight of the machine has to be heavier in relation to the balance weight. .

[0004] Further, even in the case of a machine for replacing equipment construction work, the machine currently on the market is too heavy, it is difficult to lift it to a higher floor, and it is difficult to lift a pipe or a sprinkler unit. No alternative automatic machine suitable for installation of equipment has been developed so far. Furthermore, in recent years, there has been a demand for the development of an automatic machine for replacing a facility construction work applicable to a site having a very high floor, such as an airport or a factory, or a site such as an intelligent office.

The present invention has been made in view of the above-mentioned technical situation, and has as its object the purpose of the present invention is to have a light weight, a shape suitable for carrying out to a site, and a strong structure. Yes, pipes can be easily lifted and vertically constructed on high floors, and various facilities can be operated simply by changing tools. It is to provide a new and improved aerial work vehicle capable of being operated.

[0006]

According to a first aspect of the present invention, there is provided an aerial working vehicle, wherein the aerial work vehicle extends substantially vertically upward at least at two points of a base having driving wheels. Erect reference frames, a work floor supported by the reference frames, and at least two outriggers attached to at least two of the reference frames so as to be able to pivot about the reference frames. It is characterized by having a wheel frame and outrigger wheels respectively attached to the tips of the respective outrigger wheel frames.

In the aerial work vehicle according to a second aspect of the present invention, a rotary boom is further provided on the base so as to extend substantially vertically upward through a work floor so as to extend and contract. I have.

According to a third aspect of the present invention, a wire hoist is mounted above the rotary boom.

According to a fourth aspect of the present invention, a pipe supporting device is supported between at least two outrigger wheel frames, and the pipe supporting device includes at least two outriggers on which the device is supported. It is configured to be able to pivot around an axis connecting at least two bearing points of the wheel frame.

[0010] In the aerial work vehicle according to claim 5, at least a part of the work floor is configured as a flip-up floor.

According to a sixth aspect of the present invention, there is provided an aerial work vehicle, wherein a tool attachment is provided above the rotary boom, and a tool drive line is accommodated in the rotary boom. I have.

According to a seventh aspect of the present invention, there is provided an aerial work vehicle for tracking a track mark drawn on a work surface such as a floor or a ceiling, and driving the wheels in response to a signal from the tracking device. And a driving device that performs the driving.

[0013]

According to the first aspect of the present invention, the aerial work vehicle can be housed in the base by turning at least two outrigger wheel frames to which the wheels are attached in the direction of the base. It is possible to carry it in and out of the site or to house it. In use, the work vehicle is fixed by at least two outrigger wheel frames by turning the outrigger wheel frame away from the base, so that the work vehicle is stabilized even when the work floor is high above the floor. be able to. Further, since the stabilization is achieved by opening the outrigger wheel frame, it is not necessary to use a balance weight as in the conventional work vehicle, and the work vehicle at a height can be reduced in weight.

In the aerial work vehicle according to the second aspect of the present invention, a rotary boom is provided to extend and contract in a vertical direction, so that the work can be easily performed even at a high floor such as an airfield or a factory. It is possible to proceed.

According to the third aspect of the present invention, since the wire hoist is mounted above the rotary boom that extends and contracts vertically, the material such as a tube can be easily placed at a desired position. It is possible to lift up.

In the aerial work vehicle according to the fourth aspect, first, the base of the pipe material lying in the horizontal direction is supported and fixed by the pipe material support device capable of turning movement, and then mounted above the rotary boom while turning the tube material support device. Since the leading end of the tube can be pulled up by the wire winding device provided, the tube can be easily set up in a substantially vertical direction, and facility work can be easily performed. At this time, since the pipe supporting device is supported between at least two outrigger wheel frames, the stability during operation is sufficiently secured without using a balance weight or the like.

In the aerial work vehicle according to the fifth aspect, at least a part of the working floor is configured as a flip-up floor, so that even if the pipe material is set up in a substantially vertical direction as described above, the working floor is raised. By raising the floor, the work floor does not become an obstacle, and the work can be easily performed.

According to the sixth aspect of the present invention, since the tool mounting attachment is installed above the rotary boom, all necessary operations can be performed by appropriately changing necessary tools on site. It is.
Further, since the electric line or the hydraulic or pneumatic line for driving the tool is housed in the rotating boom, it does not hinder the work, and the work efficiency can be improved.

According to the seventh aspect of the present invention, the aerial work vehicle is provided with a tracking device and a driving device for driving wheels in accordance with a signal from the tracking device. By recording an appropriate path mark on the surface in advance, the path mark can be tracked by the tracking device, and the aerial work vehicle can be unmanned and moved to a desired work site.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of an aerial work vehicle constructed according to the present invention will be described below in detail with reference to the accompanying drawings.

First, an outline of the aerial work vehicle 1 will be described with reference to FIGS. FIG. 1 is a schematic side view of the aerial work vehicle 1, FIG. 2 is an explanatory view showing a rotary boom portion thereof, and FIG. 3 is a sectional view taken along line AA of FIG. 4 is a cross-sectional view taken along the line BB of FIG. 1, FIG. 5 is a cross-sectional view taken along the line CC of FIG. 1, FIGS. 6 and 7 are explanatory views of a tube supporting device, and FIGS. FIG. 4 is an explanatory view schematically showing an outrigger opening / closing leg mechanism.

As shown in FIGS. 1 and 4, an aerial work vehicle 1 constructed according to the present invention has a substantially rectangular base 2 and extends substantially vertically in four corners of the base. Four stainless steel first reference frames 3a, 3b, 3c,
3d is erected. In the illustrated example, the base 2 having a substantially rectangular shape is used. However, in the present invention, the shape of the base is not limited to a rectangle, and an arbitrary shape such as a circle or a polygon may be used as necessary. It is possible. In the example shown, 4
Although the number of reference frames is set up, the number of reference frames is not limited to four in the present invention, and any number of reference frames can be set up.

These first reference frames 3a, 3b,
3c and 3d are connected to each other by horizontal reinforcing frames 4a, 4b and 4c made of, for example, stainless steel to form a strong structure. The work floor 5 is supported on, for example, the horizontal reinforcing frame 4b. As shown in FIG. 3, the work floor 5 includes a fixed floor 5a fixed on the horizontal reinforcing frame 4b, and a hinge 5b with respect to the fixed floor 5a.
A flip-up floor 5 that can be flipped up
In the case of performing an operation of erecting a tube material in a substantially vertical direction, as will be described later, the operation can be easily performed by lifting the flip-up floor 5b.

The first reference frames 3a, 3b, 3
c, the first outrigger rotating frame 6 substantially parallel to 3d
a, 6b, 6c, 6d are connecting members 7a, 7b, 7c, 7
d. From the first outrigger rotating frames 6a, 6b, 6c, 6d, four first outrigger horizontal frames 8 each having the same dimensions are provided.
a, 8b, 8c, 8d are mounted, and these first outrigger horizontal frames 8a, 8b,
First outrigger wheel mounting frames 9a, 9b, 9c, 9d are attached to the distal ends of 8c, 8d substantially in parallel with the first outrigger rotating frames 6a, 6b, 6c, 6d. Then, the first outrigger wheel mounting frames 9a, 9b, 9c, 9d can be pivoted 360 ° at the lower ends thereof so that the first outrigger wheels 10a, 10b, 10c, 10d can rotate.
Is attached. This first outrigger wheel 10
a, 10b, 10c, and 10d each have a wheel stopper 11
a, 11b, 11c, and 11d are attached, and the work can be stabilized by fixing the outrigger wheels during the work. As described above, the first outrigger rotating frame 6, the first outrigger horizontal frame 8, and the first outrigger wheel mounting frame 9
Ladder-shaped first outrigger wheel frame 12
a, 12b, 12c, and 12d correspond to the first reference frame 3
a, 3b, 3c, and 3d.

In the middle of one long side (left side shown in FIG. 4) of the base 2, a second reference frame 13 is erected so as to extend substantially vertically. The length of the second reference frame 13 in the longitudinal direction is shorter than that of the first reference frame 3, and the second outrigger rotating frame 14 having substantially the same dimensions as the second reference frame 13 is formed of a second reference frame 13. The connecting members 15a, 1a are rotatable about the reference frame 13 as axes.
5b. From the upper and lower ends of the second outrigger rotating frame 14, the second outrigger rotating frame 14 has a second horizontal frame 8 having substantially the same size as the first outrigger horizontal frame 8.
Outrigger horizontal frames 16a, 16b are extended, and their second outrigger horizontal frames 1
The second outrigger wheel mounting frame 1 having the same dimensions as the second outrigger rotating frame 14 is provided at the tips of 6a and 16b.
7 are mounted substantially vertically. This second
A second outrigger wheel 18 is attached to the lower end of the outrigger wheel mounting frame 17 so as to be able to turn 360 °. In this way, the second outrigger wheel frame 19, similar to the first outrigger wheel frame 12, but having a low height, and having a substantially ladder-shaped second outrigger rotating frame 14 and a second outrigger horizontal frame 16. The second outrigger wheel mounting frame 17 is rotatable with respect to the second reference frame 13.

FIGS. 8 and 9 show that the first and second outrigger wheel frames 12 and 19 configured as described above are closed. According to the present invention, the first and second outrigger wheel frames 12, when loading / unloading the aerial work vehicle to the site or storing the aerial work vehicle,
19 can be accommodated as shown, so that space can be saved. Also, at the time of use, as shown in FIGS. 1 to 4, by opening the first and second outrigger wheel frames 12, 19, even when working at a high place as described later, Or even when performing work such as standing the pipe in a substantially vertical direction,
A stable operation can be ensured without using a balance weight as in the related art.

As shown in FIGS. 1 and 5, a drive unit 20 is provided below the base 2. This drive unit 20
As shown in detail in FIG. 5, a driving device 21 and a driving shaft 22 are installed in the longitudinal direction, and horizontal shafts 23a and 23b extending in the lateral direction are installed at both ends of the driving shaft 22, and tips of the horizontal shafts 23a and 23b are installed. And driving wheels 24a, 24b, 24c, 24d. A wheel direction changing shaft 25 is disposed substantially in parallel with the drive shaft 22, and transmits the power from the wheel direction changing drive device 26 to the horizontal shafts 23a and 23b via the worm gears 27a and 27b. By moving the positions of 23a and 23b in the horizontal direction, it is possible to change the direction of the wheels to any direction via the gears 28a, 28b, 28c and 28d.
With such a configuration, by transmitting control signals from a control device (not shown) to the driving device 21 and the wheel direction changing driving device 26, the aerial work vehicle 1 can be driven in a desired direction.

Next, with reference to FIGS. 4, 6 and 7, the structure of the tube supporting device 27 mounted on the aerial work vehicle 1 constructed according to the present invention will be described. As shown in FIG. 4 and FIG.
Is supported between the first outrigger wheel frame 12 and the second outrigger wheel frame 19. That is, in the illustrated example, the bearing members 28 installed on the first outrigger horizontal frame 8b of the first outrigger wheel frame 12 and the second outrigger horizontal frame 16 of the second outrigger wheel frame 19, respectively. (FIG. 6
(See (b)). The tube support device 27 is rotatably supported in the tube. This tube material support device 27 is provided in FIG.
As shown in (a), two substantially semicircular complementary members 27
a, 27b and connecting members 30a, 30b for connecting the complementary members 27a, 27b, and the complementary members 27a, 27b are provided with projections 29a, 29b to be fitted to the bearing member 28, respectively. .
The inner diameter of the circle formed by 27a and 27b can be adjusted by adjusting the connecting members 30a and 30b, as shown in FIG.
As shown in (b), it can be adjusted to the outer diameter of the tube material 31.

Next, a schematic structure of the rotary boom 32 mounted on the aerial work vehicle 1 constructed according to the present invention will be described with reference to FIGS. As shown in the figure, the rotary boom 32 is placed, for example, from the center left of the base 2 and is composed of an inner cylinder 32a and an outer cylinder 32b, and is moved up and down by a driving device (not shown) according to a required working height. Is possible. Further, the outer cylinder 32b can be configured to rotate in an arbitrary direction by a driving device (not shown) accommodated in the drive 20. A lid member 32c is attached to the top of the rotating boom 32, and an attachment 34 for detachably attaching a tool such as a multifunctional unit 33 described later is installed on the top of the lid member 32c. Further, a drive circuit for driving a tool attached via the attachment 34, for example, an electric line, a hydraulic line, a pneumatic line, etc.
2 can be accommodated.

Next, referring to FIGS. 10 to 14,
Among the tools that can be attached to the rotating boom 32, the multifunctional unit 3 for automatically attaching a sprinkler head
3 will be described as an example.

As shown in FIGS. 10 and 11, on the attachment 34, a support 36 for supporting a wire hoisting machine 35, and a sprinkler head mounting unit 41
Is installed. The joints 37a, 37b on the support 36,
A horizontal column 39 is supported via joints 38a, 38b, 38c having a horizontal column 3c.
The configuration is such that the wire hoisting machine 35 installed at the end of the wire 9 can be moved in any direction. A hook 40 is suspended from the wire hoisting machine 35, and it is possible to perform a work of lifting a pipe horizontally or setting the pipe in a substantially vertical direction as described later at the time of work. A light 36a for irradiating the work point with light is attached to the top of the column 36.

At the lower end of the sprinkler head mounting unit 41, an XY working axis conversion mechanism 43 having a laser spot 42 is mounted. As shown in FIGS. 15 and 16, the XY working axis conversion mechanism 43 includes a spot laser 42 capable of irradiating a spot laser from a laser irradiation port 44 and a through hole 45 for penetrating the spot laser light. And a reference plate 46 having the same. Further, the spot laser 42 has an X-direction stage 47 and a Y-direction stage 47.
It is housed in a mounting frame 49 provided with a directional stage 48, and by appropriately operating the mounting frame 49, it is possible to irradiate a spot laser beam to a desired position. During operation, spot laser light is emitted from the spot laser 42 through the through hole 45 to a path mark drawn on the ceiling, for example, and the reflected light is detected by an optical sensor (not shown), so that the path laser spot light is always drawn. The X-direction stage 47 and the Y-direction stage 48 are driven so as to irradiate the mark, coordinate signals are obtained therefrom, and the signals are sent to the drive unit 20 installed below the base 2 via a control device (not shown). And driving the drive wheels 24, it is possible to move while tracking the path mark drawn on the ceiling. In the illustrated example, a configuration is adopted in which the spot laser light is irradiated toward the ceiling where the sprinkler head is installed. However, the present invention is not limited to such a configuration, and for example, a path mark drawn on the floor surface. It is also possible to adopt a configuration in which a spot laser beam is directed toward the floor surface to obtain a coordinate signal so as to enable tracking.

Further, the attachment 34 is provided with a sprinkler head mounting unit 41 as shown in detail in FIGS. The sprinkler head mounting unit 41 includes a piercing drill 50 for piercing a ceiling and a sprinkler head mounting device 51. As shown in FIGS. 13 and 14, the sprinkler head mounting device 51 includes a pressing device 53 for pressing the sprinkler head 52, a fixing device 54 for fixing the sprinkler head 52, and a drawing for pulling out the sprinkler head 52. The pressing device 53 and the fixing device 54 can be moved up and down by hydraulic cylinders 56 and 57, respectively.

At the time of mounting the sprinkler head 52, first, a sprinkler mounting hole is pierced at a predetermined position with a piercing drill 50, and the sprinkler head 52 is mounted on piping above the ceiling by a pressing device 53 while pushing up the coupler ring. The mounting operation is completed by returning the coupler ring while pulling down the sprinkler head 52 by the pulling-out device 55.

Next, referring to FIG. 17 and FIG.
The operation when the pipe 60 is set up in a substantially vertical direction by the aerial work vehicle according to the present invention will be described. First, the tip of the tube 60 is supported by the auxiliary carriage 61, and the tube 6
The root portion of No. 0 is supported and fixed by the tube material supporting device 27.
Further, a fastener 62 is attached above the pipe material, and the rotating boom 32 is extended to a predetermined height.
After the wire 63 is extended and fixed to the fastener 62, the wire winding machine 35 is driven to pull the wire 63. At this time, according to the present invention, since the tube supporting device 27 is pivotally fixed between the first and second outrigger wheel frames 12, 19, the tube supporting device 27 is
The tube 62 can be set up in a substantially vertical direction around the axis 7 as a fulcrum. At that time, according to the present invention, the aerial work platform 1 includes the first and second outrigger wheel frames 12,
19, the operation can be stably performed without using a balance weight as in the conventional device.

[0036]

As described above, the aerial work vehicle constructed on the basis of the present invention supports the work vehicle with the openable and closable outrigger wheel frame, so that the work vehicle can be stably raised without using a balance weight. Work can be performed. Further, by closing the outrigger wheels, loading and unloading becomes easy, and storage space can be saved. The telescopic rotary boom makes it easy to work in high places, and the wire hoisting machine installed above the horizontal boom makes it possible to hang pipes or the like horizontally, or to work vertically. it can. In particular, in the case of performing the operation of setting the pipe in a substantially vertical direction, the base of the pipe is supported by the pipe support capable of turning motion between the first and second outrigger wheel frames, and the pipe support is used as a fulcrum. Since the upper part of the pipe is pulled up by the wire, the work can be stably performed without using the balance weight. Also, at this time, since a part of the work floor is a flip-up floor, it does not hinder the work. Further, by tracking the path mark drawn on the work surface, the work vehicle can be moved to a desired position. As described above, the aerial work vehicle configured based on the present invention provides a self-propelled facility machine excellent in labor saving and work efficiency.

[Brief description of the drawings]

FIG. 1 is a side view schematically showing an aerial work vehicle configured based on the present invention.

FIG. 2 is a side view of the rotating boom portion of the aerial vehicle constructed according to the present invention.

FIG. 3 is a sectional view taken along line AA of the aerial work vehicle shown in FIG.

FIG. 4 is a sectional view taken along line BB of the aerial work vehicle shown in FIG.

5 is a cross-sectional view of the aerial work vehicle shown in FIG. 1, taken along line CC.

FIG. 6 is an explanatory view showing an outline of a pipe supporting device for an aerial work vehicle configured based on the present invention.

FIG. 7 is an explanatory view showing an outline of a pipe supporting device for an aerial work vehicle configured based on the present invention.

FIG. 8 shows a first example of an aerial work vehicle constructed based on the present invention.
It is a side view which shows the leg closing state of the 2nd outrigger wheel frame.

FIG. 9 shows a first example of an aerial work vehicle constructed based on the present invention.
FIG. 8 is a plan view showing a closed state of the second and third outrigger wheel frames.

FIG. 10 is a side view schematically showing a multifunctional unit that can be attached to an aerial work vehicle configured based on the present invention.

FIG. 11 is a plan view schematically showing a multifunctional unit that can be attached to an aerial work vehicle configured based on the present invention.

FIG. 12 is a side view schematically showing a sprinkler head mounting unit that can be mounted on an aerial work vehicle configured based on the present invention.

FIG. 13 is a side view schematically showing a sprinkler head mounting device that can be mounted on an aerial work vehicle configured based on the present invention.

FIG. 14 is a partial cross-sectional view schematically showing a sprinkler head mounting device that can be mounted on an aerial work vehicle configured based on the present invention.

FIG. 15 is a plan view schematically showing an XY work axis conversion mechanism attachable to an aerial work vehicle configured according to the present invention.

FIG. 16 is an explanatory view schematically showing an XY work axis conversion mechanism attachable to an aerial work vehicle configured based on the present invention.

FIG. 17 is an explanatory view showing an operation of erecting a pipe material in a substantially vertical direction by an aerial work vehicle configured according to the present invention.

FIG. 18 is an explanatory view showing an operation of erecting a pipe in a substantially vertical direction by an aerial work vehicle configured according to the present invention.

[Explanation of symbols]

 Reference Signs List 1 aerial work platform 2 base 5 work floor 12 first outrigger wheel frame 19 second outrigger wheel frame 20 drive unit 27 pipe support device 32 rotating boom 33 multifunctional unit 35 wire hoist

Claims (7)

(57) [Claims] At least two of a base having driving wheels
Reference frames, which are erected so as to extend substantially vertically upward at points, a work floor supported by the reference frames, and at least two of the reference frames so as to be able to pivot about the reference frames. An aerial work vehicle comprising: at least two outrigger wheel frames attached to two reference frames; and outrigger wheels respectively attached to tips of the outrigger wheel frames. 2. The altitude according to claim 1, wherein a rotating boom is installed on the base so as to extend substantially vertically upward through the work floor so as to extend and contract. Working vehicle. 3. The aerial work vehicle according to claim 2, wherein a wire hoist is mounted above the rotating boom. 4. A tubing support device is supported between said at least two outrigger wheel frames, said tubing support device being pivotable about an axis connecting at least two bearing points of said at least two outrigger wheel frames. The aerial work vehicle according to claim 3, wherein: 5. The aerial work platform according to claim 1, wherein at least a part of the work floor is a flip-up floor. 6. A tool mounting attachment is provided above the rotating boom, and a tool driving line is accommodated in the rotating boom.
The aerial work vehicle according to any one of claims 2, 3, 4, and 5. 7. The apparatus according to claim 1, further comprising: a tracking device that tracks a path mark drawn on a work surface; and a driving device that drives the wheels according to a signal from the tracking device. The aerial work vehicle according to any one of 1, 2, 3, 4, 5, and 6.