JPH0242718Y2 - - Google Patents

Description

[Detailed Description of the Invention] (1) Field of Industrial Application The present invention relates to a wall work device that performs work while the work implement is always pressed against the work surface with a constant pressing force.

(2) Prior art In a device that performs work while moving with a work machine pressed against a work surface, a device that automatically follows the work surface and presses the work machine is disclosed, for example, in Japanese Patent Application Laid-Open No.
It is conventionally known as described in Japanese Patent No. -253609.

(3) Problems that the invention aims to solve However, in the conventional method, the hydraulic cylinder that presses the work equipment is automatically controlled by hydraulic pressure, and the pressing force of the work equipment against the work surface is controlled. The problem was that the response was poor, and if the work surface had uneven parts, the work machine could move away from the work surface, making it impossible to maintain a constant pressing force.

(4) Means for solving the problem In order to solve the above problem, the present invention has a cylinder attached to a bracket provided at the tip of the boom, and a cylinder attached slidably to the bracket parallel to the cylinder. A pushing device consists of a frame to which a working machine can be attached to the tip, a spring that is attached at both ends to the tip of the cylinder and the base of the frame and slides the frame back and forth as the cylinder expands and contracts, and a pushing force of the working machine. A setting device for setting, a detector for detecting the pressing force of the working equipment, a comparator for comparing the signals of the setting device and the detector, and a signal from the comparator controlling the cylinder to adjust the pressing force of the working equipment. and a control device that maintains the set value.

(5) Effect With the above configuration, when performing work with the work equipment attached to the end of the frame attached to the work surface, the pressing device is positioned so that the work equipment and the work surface are parallel, and the pressing force is set. input to the device to extend the cylinder, move the work machine along the work surface while pressing the work machine against the work surface with the set pressing force.
At this time, when the distance between the work surface and the pressing device increases, the frame moves toward the work surface due to the force of the spring and presses the work equipment against the work surface, and the spring contracts and the pressing force decreases, allowing control. The device extends the cylinder to stretch the spring and increase the pressing force to match the set point. Also, as the distance between the work surface and the pressing device approaches, the spring stretches and the pressing force increases, so the control device contracts the cylinder to compress the spring and reduce the pressing force to match the set value. Automatically keeps pressing force constant.

(6) Examples Examples of the present invention will be described below with reference to the drawings.

As shown in FIG. 4, in the aerial work vehicle, a turntable 2 is rotatably placed on a movable trolley 1, and the base of a telescopic boom 3 is pivotally supported on the turntable 2. Raising equipment (not shown)
At the same time, the workbench 4 is held in balance at the tip of the telescopic boom 3 so as to be able to swing from side to side, and a pushing device is installed on the back side of the floor of the workbench 4. 5 is attached in the lateral direction of the workbench 4, and a working device 6 such as a sandblast is attached to the tip of the pressing device 5.

As shown in FIGS. 1 and 2, the pressing device 5 is
Two rods 10 are slidably attached in parallel to two brackets 7 and 8 attached parallel to the lower surface of the workbench 4, a support bracket 11 is attached to the base end of these rods 10, and a support bracket 11 is attached to the tip end of the rods 10. A frame 9 is constituted by a mounting bracket 12 to which a working machine 6 for sandblasting or the like can be removably mounted. cover 14 located parallel to
Both ends of the spring 17 are attached between the shaft 15 attached to the tip of the hydraulic cylinder 13 and the locking piece 16 attached to the support bracket 11.
causes the frame 9 to slide forward as the hydraulic cylinder 13 expands. A rack 1 is attached to the tip of the hydraulic cylinder 13 in the front-rear direction on the upper inner surface of the cover 14.
A pinion 20 that meshes with the pinion 9 is pivotally supported, and the pinion 2
A detector 22 is attached to the shaft 15 to detect the amount of extension of the spring 17 which is a pressing force due to the rotation of the pinion 20, and a slider 18 is attached to both ends of the shaft 15 to contact the inner circumferential side of the cover 14.
A slider 28 is attached to the lower surface of the tip of the cover 14 through a bracket 27, and this slider 28 slides on the lower inner surface of the cover 14 as the hydraulic cylinder 13 contracts. It comes into contact with the stopper 29 attached to the lower surface of the inner circumference,
Furthermore, by contracting the hydraulic cylinder 13, the frame 9 is slid rearward.

FIG. 3 shows the control circuit of the pressing device 5, 21 is a setting device for setting the pressing force, 22 is a detector, 23 is a comparator for comparing the signals of the setting device 21 and the detector 22, and 24 is a comparator. This is a control device that controls the hydraulic cylinder 13 by switching the electromagnetic switching valve 25 in response to a signal from the hydraulic cylinder 23, thereby maintaining a constant pressing force against the work surface 26 of the work implement 6.

With the above configuration, when performing work by pressing the work implement 6 attached to the tip of the frame 9 against the work surface 26, the trolley 1 is moved against the work surface 26 as shown in FIG.
The work equipment 6 is moved to a predetermined position by rotating the turntable 2, raising/retracting and extending the telescopic boom 3, and swinging the work platform 4. , the work implement 6 is made parallel to the work surface 26. Next, work machine 6
When the pressing force against the work surface 26 is input to the setting device 21, the control device 24 switches the electromagnetic switching valve 25 to the a position and extends the hydraulic cylinder 13 until the signals from the setting device 21 and the detector 22 match. As shown in FIG. 1, by pressing the work implement 6 against the work surface 26 with a set pressing force and moving the cart 1 parallel to the work surface 26 in this state, the work implement 6 is kept constant on the work surface 26. Work on the wall while being pressed with the same pressing force. At this time, if the cart 1 and the work surface 26 are separated from each other when the cart 1 starts running, or if the distance between the work surface 26 and the pressing device 5 becomes longer due to a recess in the work surface 26, etc., the frame 9 will be moved by the force of the spring 17. The work equipment 6 is pressed against the work surface 26 by sliding toward the work surface 26, and the spring 17 is compressed by the sliding of the frame 9 toward the work surface 26, causing the pinion 20 to rotate, and the detector 22 detects the pressing force. Since we detect a decrease in
In response to a signal from the comparator 23, the control device 24 switches the electromagnetic switching valve 25 to the a position to close the hydraulic cylinder 13.
is extended, and the spring 17 is extended to increase the pressing force to match the set value. Furthermore, when the cart 1 and the work surface 26 become closer than when the cart 1 starts traveling, or when the distance between the work surface 26 and the pressing device 5 becomes smaller due to a convex portion of the work surface 26, the frame 9 is pushed backward. The pinion 20 slides, the spring 17 stretches, and the pinion 20 rotates, and the detector 22 detects an increase in the pressing force. Based on the signal from the comparator 23, the control device 24 switches the electromagnetic switching valve 25 to position c to increase the hydraulic pressure. The cylinder 13 is contracted and the spring 17 is compressed to reduce the pressing force to match the set value, and the work equipment 6
automatically maintains the pressing force against the work surface at a constant level.

In addition, in the example, the pressing force of the work equipment on the work surface was detected by detecting the extension of the spring from the rotation of the pinion, but the pressing force of the work equipment on the work surface was directly detected using a load cell etc. can also be detected.

(7) Effects of the invention As described above, according to the invention, with a simple structure, the pressing force can be detected and the amount of spring extension can be adjusted freely, so the accuracy of the pressing force of the work equipment on the work surface can be improved. In addition to being highly controllable, the work equipment is pressed against the work surface using spring force, resulting in good responsiveness.
Smooth copying work is possible regardless of the unevenness of the work surface.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; Fig. 1 is a plan view of the main parts, Fig. 2 is a cross-sectional view of Fig. 1, Fig. 3 is a control circuit diagram, and Fig. 4 is a plan view of the aerial work vehicle. It is a diagram. 3... Telescopic boom, 5... Pushing device, 6... Work equipment, 7, 8... Bracket, 9... Frame,
13... Hydraulic cylinder, 17... Spring, 21...
Setting device, 22...Detector, 23...Comparator, 24
……Control device.

Claims (1)

[Scope of utility model registration request] A cylinder is attached to a bracket provided at the tip of the boom, a frame is slidably attached to the bracket parallel to the cylinder and a work equipment can be attached to the tip, and a cylinder is attached at both ends to the tip of the cylinder and the base of the frame. a pressing device consisting of a spring that slides the frame back and forth as it expands and contracts; a setting device that sets the pressing force of the work equipment; a detector that detects the pressing force of the work equipment; and signals from the setting device and the detector. 1. A wall surface working device comprising: a comparator that compares the pressure of the working device; and a control device that controls the cylinder based on a signal from the comparator to maintain the pressing force of the working machine at a set value.