JP5403876B2 - Control system for aerial work platforms - Google Patents

Description

  The present invention relates to a control system for an aerial work platform, and more particularly to an automatic storage control system for a workbench at the end of work.

  An aerial work vehicle is equipped with a work table at the tip of a boom that swings, undulates, and expands and contracts, and the work table can be moved to a three-dimensional position suitable for work. To do this. Considering the ease of working at a high place, the work table is configured to be able to turn freely with respect to the boom. Then, after the work is completed, the boom and the workbench are compactly stored at predetermined positions so that they can be safely run.

  This storing operation is preferably performed automatically. The automatic storage is introduced in detail in Patent Document 1. That is, as shown in FIG. 9, the aerial work vehicle 110 includes a swivel base 130 that is turnably mounted on the vehicle body 120, a telescopic boom 140 that is movably mounted on the swivel base 130, and the boom 140. And a workbench 150 provided so as to be turnable with respect to the boom 140 at the front end.

  In the case of automatic storage, a system is formed in which the turning of the boom 140 does not interfere with the control box 126, the tool box 127, the cabin 128, or the like. That is, an undulation angle that allows turning is set according to the turning position (turning angle) of the boom 140 at that time, and when the undulation angle is equal to or less than the allowable turning undulation angle, the undulation angle is the allowable turning angle. After raising the boom 140 so as to be equal to or greater than the undulation angle, the system starts turning.

  However, the factors that determine the turning allowable undulation angle are not limited to the above-mentioned vehicle equipment (control box 126, tool box 127, cabin 128, etc.). Extendable and retractable outriggers 171 and 172 are provided at the front and rear portions of the vehicle body 120, and the swivel allowable undulation angle is also defined by the overhang width. In other words, in order to avoid interference with the outriggers 171 and 172 and to avoid the overturning of the aerial work vehicle, the smaller the overhang width, the larger the allowable turning angle.

When working in an alley or working without blocking one side lane, the overhang width of the outriggers 171 and 172 must be reduced. For this reason, the undulation angle becomes too large, and there may be a negative effect such as contact with the electric wire. In spite of the provision of the automatic storage system, there is a problem that manual operation is required up to the stage where such fear of adverse effects is eliminated.
JP 2000-185900 A

  An object of the present invention is a control system for automatically storing a work table or the like after completion of work in an aerial work vehicle having a work table at the tip of a boom that swings, undulates, and expands and contracts. Another object of the present invention is to provide a control system capable of turning with the smallest possible undulation angle. And it is providing the system which can be stored in a short time, without producing bad effects, such as contacting an electric wire.

In order to solve the above-described problems, a control system according to claim 1 of the present invention includes an outrigger provided at a front portion and a rear portion of a vehicle body, a swivel mounted on the vehicle body so as to be pivotable, and the swivel wherein a telescopic boom mounted for relief above Oite the aerial with a workbench provided pivotally relative to the boom at the tip of the boom, after work mode and work end And a storage mode for automatically storing a workbench and a boom , wherein after the position of the workbench with respect to the boom is set to a storage position, the workbench is in the storage position with respect to the boom. Means is provided for performing the automatic storage based on the turning allowable undulation angle in the storage mode calculated on the condition that it is smaller than that in the work mode .

According to a second aspect of the present invention, there is provided a control system comprising: an outrigger that is provided at a front portion and a rear portion of a vehicle body and that can be extended in the vehicle body width direction; a swivel that is rotatably mounted on the vehicle body; and telescopic boom mounted for relief on the platform, Oite the aerial with a workbench provided pivotally relative to the boom at the tip of the boom, after the end of work and the work mode A control system having a storage mode for automatically storing the work table and the boom , wherein the work table is based on a protruding width of the outrigger after the position of the work table with respect to the boom is set as a storage position. based but a small turning permission hoisting angle than in the working mode a turn permission hoisting angle in storage mode, which is calculated on the condition that it is in the storage position relative to the boom It employs a means for performing the automatic retraction.

  The control system according to claim 3 of the present invention is the control system according to claim 1 or 2, wherein the work platform of the aerial work platform is provided on the boom via an arm, and the arm is In an aerial work vehicle that is capable of turning with respect to the boom and in which the work table is capable of turning with respect to the arm, means for carrying out the automatic storage after the completion of work is employed.

  A control system according to a fourth aspect of the present invention is the control system according to any one of the first to third aspects, wherein the turning allowable undulation angle is determined corresponding to the turning angle of the boom. Is adopted.

A control system according to a fifth aspect of the present invention is the control system according to any one of the first to fourth aspects, wherein the storage sequence after the position of the work table with respect to the boom is set as the storage position is the control system. When the boom undulation angle is equal to or larger than the turning allowable undulation angle, the boom is shrunk, the boom is turned, and the boom is laid down in this order, and the boom undulation angle is the turning allowable undulation angle. If the angle is less than the angle, a means is employed in which the boom is reduced, the boom is lifted, the boom is turned, and the boom is laid down in this order. A control system according to a sixth aspect of the present invention is the control system according to any one of the first to fifth aspects, wherein the swivel allowable undulation angle is increased by a moment due to a swivel angle of the boom and a load on the work table. A means is used that is a boom up-and-down angle that allows the work vehicle to turn without causing a fall.

  The control system of the present invention employs the above-described means, and in an aerial work vehicle equipped with a workbench at the tip of a boom that turns and expands and contracts, when the workbench is automatically stored after the work is completed, The boom can be turned with a small undulation angle. Therefore, automatic storage can be performed in a short time without causing any adverse effects such as contact with the electric wires.

  Regarding the turning allowable undulation angle, it is necessary to carefully examine the influence of the outrigger extension width, the boom turning angle, the boom length, and the like. As a result of intensive studies on the automatic storage system, the present inventors have found that the swivel allowable undulation angle is greatly affected by the position of the workbench with respect to the boom, and that the swivel is allowed when the position of the workbench with respect to the boom is the retracted position. The inventors have found that the undulation angle is minimized and have reached the present invention.

  The present invention is a control system for automatically storing a work table or the like after completion of work in an aerial work vehicle. First, an example of an aerial work vehicle that is an object of the present invention will be described with reference to the drawings. FIG. 1 shows a schematic front view of a target aerial work platform 10, FIG. 2 shows a schematic plan view thereof, and FIG. 3 shows a schematic side view thereof.

That is, the aerial work vehicle 10 of the present invention includes the outriggers 71 and 72 provided at the front and rear portions of the vehicle body 20, so that the work posture required for the high-altitude work can be obtained. Create a posture that can respond. As shown in the figure, when the outriggers 71 and 72 are freely projectable in the width direction of the vehicle body 20, the leg portions are extended to the working posture after setting the appropriate projecting width. The overhang width detectors 73 and 74 can detect the overhang widths. When the outriggers 71 and 72 are fixed in the width direction of the vehicle body 20, the respective leg portions are extended to the working posture.

A swivel base 30 is mounted on the vehicle body 20, and the swivel base 30 includes a swivel base swivel control valve 32 and a swivel base swivel device 33, and is turnable. In addition, a turning angle detector 31 is provided so that the turning angle of the turntable 30 can be detected.
A boom 40 is mounted on the swivel base 30 and swivels together as the swivel base 30 turns. Therefore, in the following description, “turning of the boom 40” means turning of the boom 40 by turning of the turntable turning device 33, and “turning angle of the boom 40” is detected by the turning angle detector 31. Means the turning angle.

  The boom 40 includes a boom raising / lowering control valve 42 and a boom raising / lowering cylinder 43, and can be raised / lowered with respect to the swivel base 30. Moreover, the boom raising / lowering angle detector 41 is provided, and the raising / lowering angle with respect to the horizontal (or the turntable 30) can be detected. Further, the boom 40 includes a boom expansion / contraction control valve 45 and a boom expansion / contraction cylinder 46, and is extendable / contractible. Further, a boom length detector 44 is provided so that the boom length can be detected.

  A work table 50 that can turn with respect to the boom 40 is provided at the tip of the boom 40. As shown in the conventional example of FIG. 9, the work table 50 may be provided at the tip of the boom 40 so as to be able to turn directly. Here, a case is shown in which the boom 40 is provided at the tip of the boom 40 via a pivotable arm 60 so as to be pivotable.

  That is, the arm 60 includes an arm turning control valve 62 and an arm turning device 63 and can turn with respect to the boom 40. Further, an arm angle detector 61 is provided so that the turning angle with respect to the boom 40 can be detected. Further, the work table 50 includes a work table turning control valve 52 and a work table turning device 53, and can turn with respect to the arm 60. In addition, a work table angle detector 51 is provided so that the turning angle with respect to the arm 60 can be detected.

  The operation table 54 is provided on the work table 50, and an operator performs operations such as turning the boom 40, expanding and contracting the boom 40, raising and lowering the boom 40, turning the arm 60, and turning the work table 50 by lever operation or the like. It can be performed. Therefore, the work table 50 can be freely moved in three dimensions during work. An automatic storage switch 55 for performing automatic storage is also provided here.

  The work platform 50 or the like has a storage position, and is intended to travel on the road in a state where the whole is stored compactly. In other words, the boom 40 is placed on the boom rest 21 in a state slightly inclined with respect to the axis of the vehicle body 20 with the shortest length. The work table 50 is folded so as to be close to the boom 40 and placed on the support table 22. As the order of the storage operation, the position of the work table 50 with respect to the boom 40, the turning angle of the boom 40, and the like are set as the storage position, and the boom 40 is finally lowered to complete the storage operation.

  An outline of a system for automatically storing the work table 50 and the like is shown in FIG. That is, the control system includes a work table angle detector 51, an arm angle detector 61, a turning angle detector 31, a boom hoisting angle detector 41, a boom length detector 44, a front and rear outrigger extension width detector 73, Measurement values such as 74 are input. Then, the swing allowable undulation angle is calculated by AMC (Automatic Moment & Motion Controller), and the work table turning device 53, the arm turning device 63, the turning table turning device 33, the boom raising and lowering cylinder 43, the boom telescopic cylinder 46, etc. The drive command is output.

  An outline of the automatic storage program is shown in FIG. Automatic storage starts when the automatic storage switch 55 is turned on, the program proceeds by holding the automatic storage switch 55 on, and ends when the automatic storage switch 55 is turned off. The type of the automatic retracting switch 55 is arbitrary, but it is preferable to use a self-return type toggle switch. And if it turns on while pressing and turns off the state which released the hand, operativity and safety | security can be improved. As an example of another switch, a push button type may be used.

  S100 and S200 are steps in which the position of the work table 50 relative to the boom 40 is set as the storage position. The order of S100 and S200 may be reversed or simultaneously. S100 is a step in which the position of the work table 50 with respect to the arm 60 is set as the storage position, and S200 is a step in which the position of the arm 60 with respect to the boom 40 is set as the storage position. In many cases, the storage position is a position where the work table 50 and the arm 60 are fully turned to one side. Further, in the case of the aerial work vehicle 110 shown in FIG. 9, since the arm is not provided, the step corresponding to S200 may be omitted.

  S300 is a step of switching the AMC mode for calculating the allowable turning angle, and is the most important step in the present invention. That is, the present invention is characterized in that two modes (working mode and storage mode) are switched and used for calculation of the allowable turning angle. The work mode is a mode for performing a normal work, and is a mode in which the work table 50 and the arm 60 can freely turn with respect to the boom 40.

  On the other hand, the storage mode is a mode used only in automatic storage, and is a mode determined on the condition that the work table 50 is in the storage position with respect to the boom 40. In the retracted mode, the moment applied to the boom 40 is reduced, so that the overturning moment is reduced. Therefore, the turning allowable undulation angle can be made smaller than that in the work mode. As a result, automatic storage is performed at a small undulation angle.

  S400 is a step in which the length of the boom 40 is reduced to the shortest to obtain the storage position. S400 is a step to be performed before turning the boom 40, and may be performed before S300 described above.

  S500 calculates the allowable turning angle in the retracted mode, and raises the boom 40 when the rising angle is less than the allowable turning angle compared to the rising angle of the boom 40 at this time. This is a step for setting the angle to be greater than the allowable turning angle. The turning allowable undulation angle may be calculated up to the previous stage and stored in the storage device, and the stored value may be called up at this stage.

  The control system includes an extension width of the outriggers 71 and 72 measured by the extension width detectors 73 and 74, a turning angle of the boom 40 measured by the turning angle detector 31, and a boom undulation angle detector 41. Measurement values such as the undulation angle of the boom 40 and the length of the boom 40 measured by the boom length detector 44 are input, and the turning allowable undulation angle is calculated based on these measurement values.

  A judgment item when calculating the allowable turning angle is that the aerial work vehicle 10 can turn without causing a fall due to a moment due to the load of the work table 50 or the like. For this purpose, the allowable turning angle is calculated in consideration of the outrigger overhang width and the like. Moreover, it is possible to turn without interfering with a mounted tool box or the like. For this reason, the turning allowable undulation angle is to be determined in accordance with the turning angle of the boom 40 when it changes depending on the angle range on the plane that passes during turning.

S600 is a step of turning the boom 40 to the storage position. It is preferable that the turning direction is also determined according to the position (turning angle) of the boom 40 at this time. Usually, it turns in the direction where the turning angle is the shortest.
S700 is a step of lowering the boom 40 to the storage position.
S800 is a step of switching the storage mode used for calculating the allowable turning angle to the normal operation mode before ending the program.

  Although specific flowcharts of the automatic storage program are shown in FIGS. 6 to 8, detailed description is omitted because the description is the same as described above. The storage operation is ended when the automatic storage switch is turned off, and at that time, the operation is always switched to the operation mode and ended (S110, S210, etc.). Note that the storage position is not necessarily one location, and can be selected and used as a plurality of locations.

  Although the automatic storage has been described in the above description, control using the above-described turning allowable undulation angle is possible even in the automatic extension from the storage posture to the working posture. Moreover, although the aerial work vehicle has been described, the same control can be applied to other boom type work vehicles.

It is a schematic front view showing an example of an aerial work vehicle that is a subject of the present invention. It is a schematic plan view of the aerial work vehicle shown in FIG. It is a schematic side view of the aerial work vehicle shown in FIG. It is explanatory drawing which shows the outline | summary of the control system of this invention. It is explanatory drawing which shows the outline | summary of an automatic storage program. It is a flowchart which shows the step of S100-S300. It is a flowchart which shows the step of S400-S500. It is a flowchart which shows the step of S600-S800. It is the schematic which shows the aerial work vehicle described in the prior art example.

DESCRIPTION OF SYMBOLS 10,110 High-altitude work vehicle 20,120 Car body 21 Boomrest 22 Support stand 30,130 Swivel base 31 Swivel angle detector 32 Swivel base turning control valve 33 Swivel base turning device 40,140 Boom 41 Boom raising / lowering angle detector 42 Boom Hoisting control valve 43 Boom hoisting cylinder 44 Boom length detector 45 Boom telescopic control valve 46 Boom telescopic cylinder 50, 150 Worktable 51 Worktable angle detector 52 Worktable turning control valve 53 Worktable turning device 54 Operation unit 55 Automatic storage Switch 60 Arm 61 Arm angle detector 62 Arm turning control valve 63 Arm turning device 71, 72, 171, 172 Outrigger 73, 74 Overhang width detector 126 Control box 127 Tool box 128 Cabin

Claims (6)

Outriggers provided at the front and rear of the vehicle body;
A swivel that is pivotably mounted on the vehicle body;
A telescopic boom that can be undulated on the swivel;
Oite the aerial platforms with a workbench provided pivotally relative to the boom at the tip of the boom,
A control system comprising a work mode and a storage mode for automatically storing the work table and the boom after the work is completed ,
After setting the position of the workbench with respect to the boom to the storage position,
The automatic storage is performed based on a swing allowable undulation angle in a storage mode calculated on the condition that the workbench is in the storage position with respect to the boom , which is smaller than that in the work mode. A control system characterized by that. An outrigger that is provided at a front portion and a rear portion of a vehicle body and can be extended in the vehicle body width direction;
A swivel that is pivotably mounted on the vehicle body;
A telescopic boom that can be undulated on the swivel;
Oite the aerial platforms with a workbench provided pivotally relative to the boom at the tip of the boom,
A control system comprising a work mode and a storage mode for automatically storing the work table and the boom after the work is completed ,
After setting the position of the workbench with respect to the boom to the storage position,
The swing allowable undulation angle in the storage mode calculated based on the overhanging width of the outrigger and calculated on the condition that the workbench is in the storage position with respect to the boom and smaller than that in the work mode. A control system that performs the automatic storage based on a corner . The work platform of the aerial work vehicle is provided on the boom via an arm, and the arm can pivot with respect to the boom and the work platform can pivot with respect to the arm. In an aerial work platform,
The control system according to claim 1, wherein the automatic storage is performed after the work is completed. The control system according to any one of claims 1 to 3, wherein the turning allowable undulation angle is determined corresponding to a turning angle of the boom. Regarding the storage order after setting the position of the work table relative to the boom to the storage position,
When the boom undulation angle is equal to or greater than the turning allowable undulation angle, the boom is reduced, the boom is turned, and the boom is laid down in this order.
When the boom undulation angle is less than the turning allowable undulation angle, the boom is reduced, the boom is raised, the boom is turned, and the boom is laid down in this order. The control system according to any one of claims 1 to 4. 6. The boom up-and-down angle is a boom up-and-down angle at which an aerial work vehicle can turn without causing a fall due to a boom turning angle and a moment caused by a load on a workbench. The control system described in.

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