JP5235115B2 - Operation equipment for aerial work platforms - Google Patents

Description

  In the present invention, the bucket is attached to the tip of the telescopic boom so that the posture in the plan view can be changed by swinging operation, and the posture is maintained even if the bucket is in any posture. The present invention relates to an operating device for an aerial work vehicle in which the bucket can be accurately horizontally and vertically moved by an operator's operation.

  An aerial work vehicle is configured by attaching a bucket to the tip of a telescopic boom that is driven to extend, retract, and turn (see, for example, Patent Document 1). In this case, the bucket is attached so as to be able to swing (that is, turn) at the tip of the telescopic boom, and the bucket can be swung independently by operating a dedicated operating member regardless of the posture of the telescopic boom. The posture of the bucket in plan view can be changed.

Japanese Utility Model Publication No. 61-59296

  However, the posture of the bucket in plan view can be changed by the single operation of the bucket as described above, but, in addition, it changes with the turning operation of the telescopic boom.

  For this reason, for example, when working at a high place while operating the telescopic boom and the bucket at the same time, the operator should operate in the head while organizing the relationship between the operation direction and the posture of the bucket. In some cases, the bucket may not be accurately moved in a desired posture and in a desired movement direction, and there is room for improvement in terms of work accuracy and ease of operation. .

  Therefore, the present invention makes it possible to accurately move the bucket horizontally and vertically by the operator's operation while maintaining the posture, regardless of the posture of the bucket. In addition, the present invention has been made for the purpose of providing an operation device for an aerial work vehicle capable of ensuring the simplicity of operation.

  In the present invention, the following configuration is adopted as a specific means for solving such a problem.

  In the first invention of the present application, the swivel base 2 is disposed on the vehicle 1 so as to be turnable, the swivel base 2 is swiveled by the swivel drive unit 43, and the telescopic boom 3 that is telescopically driven by the telescopic drive unit 41 is provided above. The telescopic boom 3 is disposed on the swivel base 2 such that the telescopic boom 3 can be moved up and down by the hoisting drive unit 42, while the bucket 4 is disposed at the tip of the telescopic boom 3 so as to be swingable. In an aerial work vehicle that is driven to swing by 44, an expansion / contraction amount sensor 11 that detects the amount of expansion / contraction of the telescopic boom 3, a undulation angle sensor 12 that detects an undulation angle of the telescopic boom 3, and the telescopic boom A swing angle sensor 13 for detecting a swing angle of 3, a swing angle sensor 14 for detecting a swing angle of the bucket 4, and an operation lever 7 disposed in the bucket 4, wherein The operation lever 7 that can be tilted and can be expanded and contracted in the axial direction and can be rotated about the vertical axis Lc, and the tilt operation direction associated with the tilt operation of the operation lever 7 are detected, and the tilt operation signal “Sf” is detected. ”, A telescopic operation sensor 52 for detecting an expansion / contraction operation direction accompanying the expansion / contraction operation of the operation lever 7 and outputting an expansion / contraction operation signal“ Sg ”, and a rotation operation of the operation lever 7. The rotation operation sensor 53 that detects the accompanying rotation operation direction and outputs the rotation operation signal “Sh”, the expansion / contraction amount signal “Sa” from the expansion / contraction amount sensor 11, and the undulation angle signal from the undulation angle sensor 12. In response to “Sb”, the turning angle signal “Sc” from the turning angle sensor 13 and the swing angle signal “Sd” from the swing angle sensor 14, the current position and posture of the bucket 4 are determined as the current position “Ps”. As The present position calculation means 21 to be output, the speed instruction means 55 for instructing the moving speed of the bucket 4, the speed signal “Sv” from the speed instruction means 55, and the extension operation signal “Sg” from the extension operation sensor 52. In response to the rotation operation signal “Sh” from the rotation operation sensor 53, the bucket 4 is moved from the current position “Ps” at a speed corresponding to the speed signal “Sv” and the expansion / contraction operation signal “Sg”. And a horizontal movement toward a target position “Pe” virtually set on a target movement direction line L3 in the horizontal direction obtained based on the rotation operation signal “Sh”, or from the speed instruction means 55 Upon receiving the speed signal “Sv” and the tilt operation signal “Sf” from the tilt operation sensor 51, the bucket 4 is moved from the current position “Ps” to a speed corresponding to the speed signal “Sv” and Each of the drive units 41, 42, so as to vertically move toward the target position “Pe” virtually set on the target movement direction line Ld in the vertical direction obtained based on the tilt operation signal “Sf”. 43 and 44 are provided with a control means 25 for outputting a control signal "Q1, Q2, Q3, Q4".

  In a second invention of the present application, in the operating device for an aerial work platform according to the first invention, the control means 25 is connected to a point “Xs, Ys on the polar coordinates of the operating lever 7 at the current position“ Ps ”. , Zs ”and the points“ Xe, Ye, Ze ”on the polar coordinates of the target position“ Pe ”virtually set, the movement amounts“ Xa1, Xa2, Xa3, Xa4 "is calculated, and control signals" Q1, Q2, Q3, Q4 "corresponding to the respective movement amounts" Xa1, Xa2, Xa3, Xa4 "are calculated. .

  According to the operation apparatus for an aerial work vehicle according to the present invention, the current position and posture of the bucket 4 are always based on the expansion / contraction amount signal “Sa” from the expansion / contraction amount sensor 11 and the undulation from the undulation angle sensor 12. The angle signal “Sb”, the turning angle signal “Sc” from the turning angle sensor 13 and the swing angle signal “Sd” from the swing angle sensor 14 are received and calculated as the current position “Ps”.

  In this state, when the operation lever 7 is operated in the required expansion / contraction operation direction and rotation operation direction and the movement speed is instructed by the speed instruction means 55, the control means 25 causes the bucket 4 to move to the current position. From the position “Ps” to the target position “Pe” virtually set on the target movement direction line L3 in the horizontal direction obtained based on the expansion / contraction operation signal “Sg” and the rotation operation signal “Sh”. In addition, the control signals “Q1, Q2, Q3, Q4” are output to the respective drive units 41, 42, 43, 44 so as to move horizontally at a speed corresponding to the speed signal “Sv”, whereby the bucket 4 Is horizontally moved while maintaining its posture in plan view. The target position “Pe” is sequentially updated as the bucket 4 moves.

  On the other hand, in the above state, when the operation lever 7 is operated in the required tilting operation direction and the moving speed is instructed by the speed instructing means 55, the control means 25 moves the bucket 4 to the current position “Ps. ”To the target position“ Pe ”virtually set on the target movement direction line Ld in the vertical direction obtained based on the tilt operation signal“ Sf ”from the tilt operation sensor 51 and the speed signal“ A control signal “Q1, Q2” is output to each of the telescopic drive unit 41 and the undulation drive unit 42 so as to move vertically at a speed corresponding to “Sv”, and the bucket 4 is kept vertical while maintaining its posture in a side view. Moved. In this case, the control signals “Q3, Q4” for the turning drive unit 43 and the swing drive unit 44 are not output. The target position “Pe” is sequentially updated as the bucket 4 moves.

  As described above, according to the operation device for an aerial work vehicle of the present invention, the operator simply needs the operation lever 7 without envisioning the relationship between the operation of the telescopic boom 3 and the posture of the bucket 4. The bucket 4 can be moved horizontally in the required direction while maintaining the posture in the plan view, or vertically moved in the required direction while maintaining the posture in the side view. The accuracy of high-altitude work and the ease of operation are ensured, and as a result, the commercial value of the high-altitude work vehicle is improved.

  Hereinafter, the present invention will be specifically described based on preferred embodiments.

A: Configuration of an aerial work vehicle Z FIG. 1 shows a plan view of an aerial work vehicle Z provided with an operating device according to an embodiment of the present invention, and FIG. The side view is shown.

  In this aerial work vehicle Z, a turntable 2 is disposed on a vehicle 1 so as to be turnable, and is driven to turn by a turning drive unit 43 (see FIG. 6). In addition, the swivel base 2 can be raised and lowered by a fulcrum shaft 5 at the base end portion 3a of the telescopic boom 3 which is composed of a base end side boom 3A and a tip end side boom 3B and is driven to extend and contract by a telescopic drive unit 41 (see FIG. 6). In addition, the telescopic boom 3 is driven up and down by a hoist driving unit 42 (see FIG. 6).

  On the other hand, the bucket 4 is swingably attached to the distal end portion 3b of the telescopic boom 3 by a bucket support shaft 6, and the bucket 4 is driven to swing by a swing drive portion 44. The bucket 4 is configured to always maintain a horizontal posture by a leveling mechanism (not shown) regardless of the undulation angle of the telescopic boom 3 (see FIG. 6).

  Moreover, in the aerial work vehicle Z, a bucket-side operation lever 7 described later is provided on the bucket 4 in addition to the vehicle-side operation unit 20 disposed on the vehicle 1 as the operation means. .

  The vehicle-side operation unit 20 includes a telescopic operation unit 16 that performs the telescopic operation of the telescopic boom 3, a hoisting operation unit 17 that performs the hoisting operation of the telescopic boom 3, and a turning operation unit that performs the turning operation of the telescopic boom 3. 18 and a bucket operation unit 19 for performing a swing operation of the bucket 4 are arranged side by side. Each of the operation units 16 to 19 is composed of a lever that is tilted, and indicates an operation direction (that is, an expansion / contraction direction, a undulation direction, a turning direction, and a swinging direction) according to the tilting direction, and the tilting thereof. The operation speed (that is, the expansion / contraction speed, the undulation speed, the turning speed, and the swing speed) is indicated by the amount.

  On the other hand, the bucket-side operation lever 7 corresponds to the “operation lever 7” in the claims, and includes a lever body 71 having a predetermined length as shown in FIG. Is done. The lever main body 71 has a telescopic structure including a proximal end member 71a and a distal end side member 71b that can be expanded and contracted with respect to the proximal end member 71a.

  The bucket side operation lever 7 has a base end portion 7a (that is, a base end side of the base end side member 71a) connected to a base 74 by a support pin 75 extending in the horizontal direction. It can be tilted up and down around 75. Further, the bucket side operation lever 7 can be rotated around the vertical axis “Lc” extending in the vertical direction integrally with the base 74 in the entire circumference range. In this embodiment, the center position of the base 74 is set as the “control reference point” of the bucket side operation lever 7 in the movement control described later.

  Further, a grip 72 is attached to the tip 7b of the bucket-side operation lever 7 (that is, the tip of the tip-side member 71b), and the bucket-side control lever 7 grips the grip 72. A telescopic operation for moving the lever body 71 forward and backward (in this embodiment, the direction in which the lever body 71 is extended is “front” and the direction in which the lever body 71 is reduced is “backward”); A tilting operation to the “down side” and a rotating operation to the right or left side about the vertical axis “Lc” are performed.

  The bucket side operation lever 7 includes a tilt operation sensor 51 for detecting the tilt operation direction (corresponding to the moving direction) of the bucket side operation lever 7 and outputting the tilt operation signal as a tilt operation signal. An expansion / contraction operation sensor 52 for detecting the direction and outputting it as an expansion / contraction operation signal, and a rotation operation sensor 53 for detecting the rotation operation direction and outputting it as a rotation operation signal are provided.

  In this embodiment, as will be described later, the accelerator 55 (see FIG. 2) of the hydraulic system driving engine is used as the moving speed instruction means for instructing the moving speed of the bucket 4. However, in another embodiment of the present application, the bucket-side operation lever 7 can be used as the moving speed instruction means. For example, the amount of expansion / contraction operation of the bucket side operation lever 7 is used as a movement speed signal for horizontal movement, the amount of tilting operation is used as a movement speed signal for vertical movement, and the grip 72 of the bucket side operation lever 7 is The main body 71 can be twisted around the axis of the main body 71 (in the direction of the arrow U-V), and the amount of twisting operation of the grip portion 72 can be used as the swing speed of the bucket 4.

  A push button 73 is provided on the outer end surface of the grip portion 72 of the bucket side operation lever 7. When the push button 73 is pushed, the operation signals output from the tilt operation sensor 51 and the telescopic operation sensor 52 based on the tilt operation and the telescopic operation of the bucket side operation lever 7 are invalidated. It functions to validate only the operation signal based on the rotation operation of the bucket side operation lever 7. That is, even when the push button 73 is operated even in an operating state based on the operation of the bucket side operation lever 7, the expansion and contraction movements of the expansion boom 3 are restricted, and the bucket side operation lever 7 is controlled. Only the swinging motion of the bucket 4 based on the pivoting operation is effective, and the bucket 4 can be swung independently.

On the other hand, in order to grasp the state of the telescopic boom 3 and the bucket 4 at the present time and give feedback to the control system, the height of the telescopic work vehicle Z is set to the amount of expansion / contraction of the telescopic boom 3 as shown in FIG. An expansion / contraction amount sensor 11 that detects and outputs an expansion / contraction amount signal “Sa”, a undulation angle sensor 12 that detects an undulation angle and outputs a undulation amount signal “Sb”, and detects a turning angle and a turning angle signal A swing angle sensor 13 for outputting “Sc” and a swing angle sensor 14 for detecting the swing angle of the bucket 4 and outputting each swing signal “Sd” are provided.
B: Operation form of the aerial work vehicle Z In the aerial work vehicle Z in this embodiment, as the movement form of the bucket 4, the first movement form based on the operation of the vehicle-side operation unit 20 and the bucket side The operator can arbitrarily select the second movement form based on the operation of the operation lever 7.

  The first movement mode is performed by individually operating each of the operation units 16 to 19 of the vehicle side operation unit 20 or by operating several operation units at the same time. The bucket 4 can be moved to an arbitrary position along an arbitrary route.

  On the other hand, in the second movement mode, as shown in FIG. 4 and FIG. 5, “horizontal movement” in which the bucket 4 is moved in a straight line shape in plan view with a constant height, and as shown in FIG. The operator can arbitrarily select two movement modes of “vertical movement” in which the bucket 4 is linearly moved in the vertical direction along one vertical line.

In the second movement mode, whether the movement is “horizontal movement” or “vertical movement”, the operation is performed using the bucket-side operation lever 7 provided on the bucket 4. The bucket 4 is moved linearly in the operation direction of the bucket side operation lever 7 (the axial direction of the bucket side operation lever 7) while maintaining the posture of the bucket 4 in a plan view at the time of starting operation. In this case, the moving speed of the bucket 4 is controlled based on the operation amount of the accelerator 55.

  That is, in the “horizontal movement” shown in FIG. 4, the pulling operation (that is, the operation to the front side) is performed so that the lever direction line L3 of the bucket side operation lever 7 is parallel to the bucket direction line L2 of the bucket 4 at the present time. In this case, the bucket 4 maintains its posture in plan view (that is, along the bucket direction line L2) from the current position (bucket position indicated by reference numeral 4s). It moves linearly at the same height to the target position (the bucket position indicated by reference numeral 4e, which is one point virtually set on the lever direction line L3). In this horizontal movement, the expansion and contraction movement and the turning movement of the telescopic boom 3 and the swing movement of the bucket 4 are executed in association with each other.

  In the “horizontal movement” shown in FIG. 5, the lever direction line L3 of the bucket side operation lever 7 is pulled in a direction different from the bucket direction line L2 of the bucket 4 at the present time (that is, operated forward). In this case, in this case, the bucket 4 maintains its posture in plan view (that is, maintains the direction of the bucket direction line L2 in plan view), and the current position (indicated by reference numeral 4s). From the bucket position) to the target position (the bucket position indicated by reference numeral 4e, which is one point virtually set on the lever direction line L3), linearly moves at the same height along the lever direction line L3. To do. Even in this horizontal movement, the expansion and contraction movement and the turning movement of the telescopic boom 3 and the swing movement of the bucket 4 are executed in association with each other.

The “vertical movement” shown in FIG. 6 is an example in which the bucket-side operation lever 7 is operated in the raising direction (upward direction of the bucket 4) in the horizontal lying down state of the telescopic boom 3, and in this case, The bucket 4 is virtually set on the vertical line Ld from the current position (bucket position indicated by reference numeral 4s) to the target position (bucket position indicated by reference numeral 4e) while maintaining the posture (horizontal attitude) in the side view. It is a vertical straight line movement to a single point. In this vertical movement, the expansion and contraction movement and the undulation movement of the telescopic boom 3 are executed in association with each other.
C: Basic Idea of Operation Control Here, the basic idea of the operation control of the aerial work vehicle Z based on the operation of the bucket side operation lever 7 will be described with reference to FIGS. 1, 3, and 6.

  First, in FIG. 1, the relative relationship between the telescopic boom 3, the bucket 4, and the bucket side operation lever 7 in a plan view will be described.

  The telescopic boom 3 is in a position that is turned by an angle “θ1” to the side with respect to the vehicle length direction line L1a of the vehicle 1. This angle “θ1” is detected by the turning angle sensor 13. Accordingly, if the turning position of the telescopic boom 3 is considered with reference to the vehicle width direction line L1b, the angle “θc = (90 ° −θ1)” from the vehicle width direction line L1b, and this angle “θc” is Calculated by calculation.

  The swing angle “θ 2” of the bucket 4 with respect to the boom center line L 0 of the telescopic boom 3 is detected by the swing angle sensor 14. Therefore, the swing angle “θ4” of the bucket 4 with respect to the swing reference line L5 passing through the bucket support shaft 6 and parallel to the vehicle width direction line L1b is obtained by calculation as “θc−θ2”.

  A turning operation angle “θ3” of the bucket side operation lever 7 with respect to a lever reference line Lb parallel to the bucket direction line L2 of the bucket 4 is detected by the turning operation sensor 53. Therefore, the operation angle “θB” of the bucket side operation lever 7 with respect to the swing reference line L5 is obtained by calculation as “180− (θ3−θ4)”. This turning operation angle “θB” indicates the moving direction of the bucket 4 in plan view.

  On the other hand, in FIG. 6, when the bucket side operation lever 7 is operated in the “raising direction”, the movement amount corresponds to the movement speed based on the operation amount of the accelerator 55. Therefore, in FIG. 6, the undulation angle “θd” when the bucket 4 moves from its current position (position indicated by reference numeral 4s) to the target position (position indicated by reference numeral 4e) is not obtained by calculation. The undulation angle sensor 12 detects the undulation movement.

  Next, with reference to FIG. 3, the relationship between the expansion / contraction, undulation and turning operations of the telescopic boom 3 when the bucket 4 is actually moved horizontally or vertically will be described.

  First, in FIG. 3, a state at the time of starting the movement of the telescopic boom 3 is indicated by a symbol “BLs”. That is, the telescopic boom 3 is at a turning angle “θ1” with respect to the vehicle length direction line L1a and at a undulation angle “θds”. At this time, the control reference point of the bucket side operation lever 7 (ie, the base The position on the polar coordinates (ie, the current position “Ps”) of the center point of the stand 74 is “Xs, Ys, Zs”.

  The horizontal movement from the current position “Ps” is performed as follows. That is, if the bucket-side operation lever 7 is operated at the operation angle “θB” to perform horizontal movement at the current position “Ps”, the control reference point has a constant height in the direction of the operation angle “θB”. The telescopic boom 3 is moved in a straight line, has a boom length indicated by a symbol “BLe1”, is turned by an angle “θn”, and is tilted by an angle “θds−θde1”, and is set at a target position “Pe1”. The position on the polar coordinate of the control reference point is “Xe, Ye, Ze”.

  On the other hand, the vertical movement from the current position “Ps” is performed as follows. That is, at the current position “Ps”, the control reference point is “Xs, Ys, Zs” on the polar coordinates, and the telescopic boom 3 having the boom length “BLs” and the undulation angle “θds” is lifted and extended. As a result, the boom length changes from “BLs” to “BLe2”, the undulation angle changes from “θds” to “θde2”, and the control reference point becomes “Xe, Ye, Ze on the polar coordinates at the target position“ Pe2 ”. ”Is reached.

As described above, in both horizontal movement and vertical movement, the position of the current position “Ps” on the polar coordinates is the same as the undulation angle “θds (θds1, θds2)” of the telescopic boom 3 at the current position “Ps”. The position on the polar coordinates of the target position “Pe1, Pe2” by the length “BLs (BLs1, BLs2)” is the undulation angle “θde (θde1, θde2)” of the telescopic boom 3 at the target position “Pe1, Pe2”. And the expansion / contraction length “BLe (BLe1, BLe2)”. Such horizontal movement and vertical movement are both realized by the control system described below. Hereinafter, the control system will be specifically described with reference to FIG.
D: Configuration of Control System As shown in FIG. 2, the control system includes a sensor group 10, a bucket side operation lever 7, a vehicle side operation unit 20, a control unit 25, a drive unit group 40, and an accelerator 55.

  As described above, the sensor group 10 includes the expansion / contraction amount sensor 11, the undulation angle sensor 12 and the turning angle sensor 13 provided on the telescopic boom 3 side, and the swing angle sensor provided on the bucket 4 side. 14, and the detection signals of these sensors 11 to 14 are respectively input to a current position calculation means 21 and a movement amount calculation means 23 of the control means 25 described later.

  As described above, the bucket-side operation lever 7 is provided with the tilt operation sensor 51, the expansion / contraction operation sensor 52, and the rotation operation sensor 53, and operation signals from these sensors 51 to 53 are transmitted from the control means 25 described later. Input to the target position calculation means 22. Further, a signal relating to the current position of the bucket 4 is input from the current position calculation means 21 to the target position calculation means 22.

  Further, the bucket side operation lever 7 is provided with the push button 73, and an operation signal of the push button 73 is input to the movement amount calculating means 23 of the control means 25. As described above, when the moving speed of the bucket 4 is instructed by the twisting amount of the grip portion 72 of the bucket-side operation lever 7, the detection signal of the twisting amount sensor 54 is used as the speed signal. It is input to the quantity calculation means 23.

  As described above, the vehicle-side operation unit 20 includes the telescopic operation unit 16, the hoisting operation unit 17, the rotation operation unit 18, and the bucket operation unit 19, and these operation signals are transmitted from the control unit 25. To the control signal calculation means 24.

  As described above, the drive unit group 40 is configured to include the telescopic drive unit 41, the undulating drive unit 42, the turning drive unit 43, and the swing drive unit 44, and the above-described aerial work vehicle Z is appropriately driven by these. Is done.

  The control unit 25 includes a current position calculation unit 21, a target position calculation unit 22, a movement amount calculation unit 23, and a control signal calculation unit 24 described below.

  The current position calculation means 21 includes a detection signal “Sa” from the expansion / contraction amount sensor 11 of the sensor group 10, a detection signal “Sb” from the undulation angle sensor 12, a detection signal “Sc” from the turning angle sensor 13, In response to the detection signal “Sd” from the swing angle sensor 14, the position “Xs, Ys, Zs” on the polar coordinates of the control reference point at the current position “Ps” when the bucket 4 is moved horizontally or vertically is obtained. This is calculated and output to the target position calculation means 22 described below. The calculation method of the position “Xs, Ys, Zs” on the polar coordinates in the current position calculation means 21 is as described above.

  In addition to the current position “Xs, Ys, Zs” from the current position calculation means 21, the target position calculation means 22 includes a tilt operation signal “Sf” from a tilt operation sensor 51 provided in the bucket side operation lever 7. ”And the expansion / contraction operation signal“ Sg ”from the expansion / contraction operation sensor 52 and the rotation operation signal“ Sh ”from the rotation operation sensor 53, and the bucket 4 is moved horizontally or vertically from the current position“ Ps ”. The position “Xe, Ye, Ze” on the polar coordinates of the control reference point at the target position “Pe” is calculated and output to the movement amount calculation means 23. The target position “Pe” is sequentially updated as the bucket 4 moves, and the calculation method of the position “Xe, Ye, Ze” on the polar coordinates in the target position calculation means 22 is as follows. As described above.

  The movement amount calculation means 23 is the position “Xe, Ye, Ze” on the polar coordinates of the control reference point at the target position “Pe” from the target position calculation means 22 and the current position from the swing angle sensor 14. Upon receipt of the swing angle signal “Sd” of the bucket 4, the telescopic movement of the telescopic boom 3 necessary for moving the control reference point from the current position “Ps” to the target position “Pe” by horizontal movement or vertical movement. The amount “Xa1”, the undulation movement amount “Xa2”, the turning movement amount “Xa3”, and the swing movement amount “Xa4” of the bucket 4 are calculated and output to the control signal calculation means 24 described below.

  The movement amount calculation means 23 receives the operation signal “Sk” of the push button 73, and when the operation signal “Sk” is input from the push button 73, the bucket As described above, only the swing movement amount “Xa4” based on the turning operation of the side operation lever 7 is output, and thereby the swing movement of the bucket 4 alone is realized.

  Further, the movement amount calculation means 23 includes the detection signals “Sa”, “Sb”, “from the expansion / contraction amount sensor 11, the undulation angle sensor 12, the turning angle sensor 13 and the swing angle sensor 14 of the sensor group 10. “Sc” and “Sd” are directly input. These input signals are used for feedback control of the expansion / contraction amount, the undulation amount and the turning amount of the telescopic boom 3, and the swing amount of the bucket 4. .

  The control signal calculation means 24 includes the movement amounts “Xa1, Xa2, Xa3, Xa4” of the expansion / contraction, undulation, turning and swinging of the bucket 4 output from the movement amount calculation means 23 (description) For convenience, the telescopic boom 3 output from the telescopic operation unit 16, the hoisting operation unit 17, the turning operation unit 18 and the bucket operation unit 19 of the vehicle side operation unit 20 is referred to as “first movement amount”. , Each movement amount “Xb1, Xb2, Xb3, Xb4” (referred to as “second movement amount” for the sake of convenience) is input.

  Then, in the control signal calculation means 24, the first movement amount “Xa1, Xa2, Xa3, Xa4” based on the operation of the bucket side operation lever 7 from the movement amount calculation means 23 side is the vehicle side operation. If the first movement amount “Xa1, Xa2, Xa3, Xa4” is input in preference to the second movement amount “Xb1, Xb2, Xb3, Xb4” from the unit 20 side, Even if the movement amount “Xb1, Xb2, Xb3, Xb4” of 2 is input, the control of the expansion / contraction drive unit 41 required to secure the first movement amount “Xa1, Xa2, Xa3, Xa4” is performed. A signal “Q1”, a control signal “Q2” of the undulation drive unit 42, a control signal “Q3” of the turning drive unit 43, and a control signal “Q4” of the swing drive unit 44 are output.

On the other hand, when the first movement amount “Xa1, Xa2, Xa3, Xa4” is not input, when the second movement amount “Xb1, Xb2, Xb3, Xb4” is input, The control signal “Q1” of the expansion / contraction drive unit 41 and the control signal “Q2” of the undulation drive unit 42, which are required to secure the second movement amount “Xb1, Xb2, Xb3, Xb4”, and the turning drive The control signal “Q3” of the unit 43 and the control signal “Q4” of the swing drive unit 44 are output.
E: Description of Actual Operation Control Here, actual control of horizontal movement or vertical movement in the control system will be described based on the flowchart shown in FIG.

  After the start of control, first, in step S1, it is determined whether or not the bucket side operation lever 7 is being operated.

  Here, when it is determined that the bucket side operation lever 7 is operated, the output of each sensor of the sensor group 10 is read in step S2. That is, the current boom length “Sa”, boom hoisting angle “Sb”, boom turning angle “Sc”, and swing angle “Sd” of the bucket 4 are read.

  Next, in step S <b> 3, the operation state of the bucket side operation lever 7 is read from each of the sensors 51 to 53 provided in the bucket side operation lever 7. That is, the tilt operation signal “Sf”, the expansion / contraction operation signal “Sg”, and the rotation operation signal “Sh” of the bucket side operation lever 7 are read.

  Next, in step S4, it is determined whether or not the push button 73 provided on the bucket side operation lever 7 has been operated. Here, when it is determined that the push button 73 is not operated, that is, the single operation of the swing operation of the bucket 4 is not desired, the horizontal movement or the vertical movement based on the operation of the bucket side operation lever 7 is intended. In step S5, based on the operation signals from the sensors 51 to 53 of the bucket side operation lever 7, the current position of the control reference point on the bucket 4 side, that is, The position “Xs, Ys, Zs” on the polar coordinates of the control reference point at the start of movement control is obtained by calculation. The method for calculating the current position is as described above.

  Furthermore, in step S6, based on the current position “Xs, Ys, Zs” from the current position calculation means 21 and the operation signals from the sensors 51 to 53 of the bucket side operation lever 7, the target position, that is, The position “Xs, Ys, Zs” on the polar coordinates of the control reference point which is virtually set on the movement line to be targeted and which is sequentially updated as the bucket 4 moves is obtained by calculation. The method for calculating the target position is as described above.

  Next, in step S7, based on the target position “Xs, Ys, Zs” from the target position calculation means 22, each movement amount “Xa1” of the expansion / contraction, undulation and turning of the telescopic boom 3 to be targeted. , “Xa2”, “Xa3” and the swing amount “Xa4” to be the target of the bucket 4 are calculated.

  In step S8, based on the calculated movement amounts “Xa1”, “Xa2”, “Xa3”, and “Xa4”, the expansion / contraction drive unit 41, the undulation drive unit 42, the turning drive unit 43, and the swinging motion. Control signals “Q1”, “Q2”, “Q3”, and “Q4” are calculated for each of the drive units 44, and output to the drive units 41 to 44, respectively. The drive units 41 to 44 are operated. Let Thereafter, the control is returned. Accordingly, the series of control is repeated until the operation of the bucket side operation lever 7 is stopped, and the horizontal movement or vertical movement of the bucket 4 corresponding to the operation of the bucket side operation lever 7 (that is, the “first” 2 movement mode ") is realized.

  In addition, when the operation of the bucket side operation lever 7 is stopped, the horizontal movement or the vertical movement based on the operation of the bucket side operation lever 7 is stopped. Even if the operation is stopped, if the vehicle-side operation unit 20 is operated, the operation control based on the operation of the vehicle-side operation unit 20 (that is, the “first operation mode”) is continuously executed. This is as described later (see steps S12 to S14).

  On the other hand, when it is determined in step S4 that the push button 73 is operated, the swing amount of the bucket 4 is received in step S9 in response to the rotation operation signal “Sh” from the rotation operation sensor 53. “Xa4” is calculated, and based on the swing amount “Xa4”, a control signal of the swing drive unit 44 is calculated in step S10, and the bucket 4 is driven to swing.

  If it is determined in step S1 that the bucket side operation lever 7 is not operated, it is further determined in step S11 whether or not the operation on the vehicle side operation unit 20 has been performed. Here, when it is determined that the vehicle-side operation unit 20 is not operated (that is, when it is determined that neither the operation of the bucket-side operation lever 7 nor the operation of the vehicle-side operation unit 20 is performed). Then, the control is returned as it is, but when it is determined that the vehicle-side operation unit 20 is operated, the control is shifted to the control based on the operation of the vehicle-side operation unit 20.

  That is, first, in step S12, an operation signal “Xb1” based on the operation of each operation unit of the vehicle side operation unit 20, that is, the telescopic operation unit 16, the hoisting operation unit 17, the turning operation unit 18, and the bucket operation unit 19, “Xb2”, “Xb3”, and “Xb4” are read.

  Further, in step S13, based on the operation signals “Xb1”, “Xb2”, “Xb3”, “Xb4”, the expansion / contraction drive unit 41, the undulation drive unit 42, the turning drive unit 43, and the swing drive unit 44, respectively. The control signals “Q1”, “Q2”, “Q3”, “Q4” are calculated and output to the drive units 41 to 44, and the drive units 41 to 44 are operated.

  This drive control is continued until all the operations of the operation units 16 to 19 are completed, and the control is returned at the end of these operations.

  With the above control, the operation control in the “first operation mode” based on the operations of the operation units 16 to 19 on the vehicle side operation unit 20 side of the aerial work vehicle Z is realized.

It is an operation state explanatory view of an aerial work vehicle provided with an operating device according to an embodiment of the present invention. It is a functional block diagram of the operating device which concerns on embodiment of this invention. It is explanatory drawing regarding the movement of the bucket in a triaxial direction. It is operation | movement explanatory drawing in the 1st movement form of a bucket. It is operation | movement explanatory drawing in the 2nd movement form of a bucket. It is operation | movement explanatory drawing in the 3rd movement form of a bucket. It is operation explanatory drawing of a bucket side operation lever. It is a control flowchart in the operating device which concerns on embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Vehicle 2 ... Swivel 3 ... Extension boom 4 ... Buckt 5 ... Buckling shaft 6 ... Bucket support shaft 7 ... Hanging wire 11 ... Expansion amount sensor 12 ...... Rolling angle sensor 13 ... Angle sensor 14 ..Swing angle sensor 15 ..Operating lever direction sensor 16 ..Extension / contraction operation part 17 ..Elevation operation part 18 ..turning operation part 19 ..bucket operation part 21 ..current position calculation means 22. Target position calculation means 23 .. Movement amount calculation means 24 .. Control signal calculation means 25 .. Control means 41 .. Extension / contraction drive part 42 .. Elevation drive part 43 .. Turning drive part 44 .. Swing drive part 51.・ Tilt operation sensor 52 ・ ・ Extension / contraction operation sensor 53 ・ ・ Rotation operation sensor 54 ・ ・ Torsion amount sensor 55
71 ·· Lever body 72 ·· Grip portion 73 ·· Push button 74 ·· Base 75 · · Support pin Z · · Work vehicle at height

Claims (2)

A swivel base (2) is disposed on the vehicle (1) so as to be turnable, and the swivel base (2) is swiveled by a swivel drive part (43) and is telescopically driven by a telescopic drive part (41). 3) is arranged on the swivel base (2) so as to be able to be raised and lowered, and the telescopic boom (3) is driven to rise and fall by the hoisting drive part (42), while a bucket is swingable at the tip of the telescopic boom (3). In an aerial work vehicle in which (4) is arranged and the bucket (4) is driven to swing by the swing drive unit (44),
An expansion / contraction sensor (11) for detecting the expansion / contraction amount of the telescopic boom (3);
A hoisting angle sensor (12) for detecting the hoisting angle of the telescopic boom (3);
A turning angle sensor (13) for detecting a turning angle of the telescopic boom (3);
A swing angle sensor (14) for detecting the swing angle of the bucket (4);
An operation lever (7) disposed in the bucket (4), wherein the operation lever is tiltable in the vertical direction and can be expanded and contracted in the axial direction, and is rotatable about the vertical axis (Lc). 7) and
A tilt operation sensor (51) for detecting a tilt operation direction associated with the tilt operation of the operation lever (7) and outputting a tilt operation signal “Sf”;
An expansion / contraction operation sensor (52) for detecting an expansion / contraction operation direction accompanying the expansion / contraction operation of the operation lever (7) and outputting an expansion / contraction operation signal “Sg”;
A rotation operation sensor (53) for detecting a rotation operation direction associated with the rotation operation of the operation lever (7) and outputting a rotation operation signal “Sh”;
The expansion / contraction amount signal “Sa” from the expansion / contraction amount sensor (11), the undulation angle signal “Sb” from the undulation angle sensor (12), the turning angle signal “Sc” from the turning angle sensor (13), and the neck Current position calculation means (21) for receiving the swing angle signal “Sd” from the swing angle sensor (14) and calculating the current position and orientation of the bucket (4) as the current position “Ps”;
Speed instruction means (55) for instructing the moving speed of the bucket (4);
The speed signal “Sv” from the speed instruction means (55), the expansion / contraction operation signal “Sg” from the expansion / contraction operation sensor (52), and the rotation operation signal “Sh” from the rotation operation sensor (53) are received. In the horizontal direction, the bucket (4) is obtained from the current position “Ps” at a speed corresponding to the speed signal “Sv” and based on the expansion / contraction operation signal “Sg” and the rotation operation signal “Sh”. Is moved horizontally toward the target position “Pe” virtually set on the target movement direction line (L3), or the speed signal “Sv” from the speed instruction means (55) and the tilt operation sensor (51 ) To obtain the bucket (4) from the current position “Ps” at a speed corresponding to the speed signal “Sv” and based on the tilt operation signal “Sf”. Vertical direction The drive units (41), (42), (43), (44) are moved vertically to the target position “Pe” virtually set on the target movement direction line (Ld). An operating device for an aerial work vehicle comprising control means (25) for outputting a control signal "Q1, Q2, Q3, Q4". In claim 1,
The control means (25) is arranged on the polar coordinates of the point "Xs, Ys, Zs" on the polar coordinates of the operation lever (7) at the current position "Ps" and the target position "Pe" set virtually. The movement amounts “Xa1, Xa2, Xa3, Xa4” of the drive units (41), (42), (43), (44) are calculated based on the points “Xe, Ye, Ze” of An operating device for an aerial work vehicle, characterized in that the control signal “Q1, Q2, Q3, Q4” corresponding to each movement amount “Xa1, Xa2, Xa3, Xa4” is calculated.

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