JPH047297A - Synchronous structure of control unit for aerial operation vehicle - Google Patents

Abstract

PURPOSE:To keep a worker's sense of operating an aerial operation vehicle constant by turning a control means in accordance with the compensation made by the rotating angle detected by a detecting means while the control means is being supported to permit rotation in the horizontal direction. CONSTITUTION:A worker boards a bucket 11 and controls the movement of the entire aerial operation vehicle by operating a control means 16 in the bucket 11. In other words, this control means 16 permits a vehicle body 1 to travel forward and backward, to steer to the right and left direction and to rotate a revolving superstructure 5 in the horizontal direction to the vehicle body 1. The control means 16 is supported in a freely rotatable manner by a rotation supporting structure 25 and is constantly compensated to be parallel with the vehicle body 1 by a detecting means 26. For this reason, the direction of a travelling level 20, which makes the vehicle body 1 travel, can be kept to the same direction of the vehicle body 1. The worker's sense of operation thereby can be kept constant regardless of the position of the revolving superstructure 5 to the vehicle body 1.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to an aerial work vehicle that loads workers and materials into a bucket and is used for building construction at a height, highway repair, and painting. In particular, when a worker riding on a bucket moves the vehicle body, the direction of the vehicle body and the operating direction of the control means can always be made to match, regardless of the relative positional relationship in the horizontal direction with the vehicle body on the revolving structure. This invention relates to a synchronization device for a control device for an aerial work vehicle.

[Conventional technology]

For assembly, painting, and repair at high places such as highways and building construction, aerial work vehicles that raise and lower platforms and buckets are often used, and workers and materials are placed on these platforms and buckets. They were tasked with lifting materials to high places and loading and unloading unnecessary materials.

As for the conventional aerial work vehicle, those with various mechanisms have been provided, such as a boom type aerial work vehicle, a scissor type aerial work vehicle, and an X-type aerial work vehicle. Both mechanisms have a common feature in that a bucket is provided to lift the vehicle upward, and a control device for controlling the vehicle body is provided within this bucket. A worker rides inside this bucket and operates a control device installed in a part of the bucket to make the aerial work vehicle perform various movements and lift the bucket to the required height position. It was something that could be done.

The operating mechanism of these conventional control devices often uses a lever-type mechanism (also called a joystink), in which the lever is pushed down or pulled forward to operate a switch and switch the hydraulic switching valve. I was letting it happen. By controlling this switching valve, the supply of hydraulic pressure to each mechanism of the aerial work vehicle was controlled and the amount of hydraulic pressure was adjusted.

By using this aerial work vehicle, it is possible to eliminate scaffolding at the construction site, and the workability is extremely comfortable.
When a worker riding in the bucket operates the aerial work vehicle, it is easy to cause an unexpected accident for the worker.

In particular, the boom-type aerial work vehicle, which has been widely used in the past, has a structure that allows a revolving body placed above the vehicle body to rotate in the entire circumferential direction of 360 degrees with respect to the vehicle body. This special structure tends to cause accidents to workers when moving the vehicle forward or backward.

For example, consider moving the vehicle body forward when the rotating body faces forward with respect to the vehicle body. In this case, the vehicle body can move forward by pushing the moving lever forward. However, the operating direction of the moving lever for this maneuver can be controlled only in relation to the vehicle body, and has no relation to the direction in which the revolving structure and the bucket are facing.

Therefore, when the rotating body rotates 180 degrees with respect to the vehicle body and the vehicle body is moved with the rotating body set in the opposite direction to the normal direction, the operator's sense of operation is completely reversed. In other words, in this state, if you push the aforementioned moving lever forward in the same way as before, the vehicle body itself will move forward.However, since the rotating body is located on the opposite side of the vehicle body, the bucket will move backward. Therefore, in such a situation, the normal sense of control does not apply, and the operator must operate with a sense of control that is opposite to normal.

Furthermore, when the revolving body rotates 180 degrees with respect to the vehicle body, accidents such as personal injury are likely to occur. If they approached each other, a collision would occur and it would be extremely dangerous. That is, an operator may push down the control lever in the forward direction in an attempt to move the rotating structure (that is, the vehicle body) forward using a normal control feeling. As a result, the vehicle itself moved forward, but the revolving structure moved in the opposite direction, resulting in an accident in which a worker was caught between the bucket and a beam or building.

In order to prevent such accidents, the relative position of the rotating body with respect to the vehicle body may be displayed on the display board of the control device. However, when operating an aerial work vehicle, workers often overlook such displays, and it is not until they operate the movement lever that they realize that they are caught between the beam and the bucket. (It was something.

In this way, a mechanism that allows the rotating body to rotate in the entire circumferential direction relative to the vehicle body is highly convenient when working at high places where there is no scaffolding, but on the other hand, if the rotating body is oriented in the opposite direction relative to the vehicle body,
The sense of control was reversed and it was extremely dangerous.

[Problems to be Solved by the Invention] In the present invention, the control means provided in the control device is held so as to be able to turn in the horizontal direction, and the turning angle detected by the detection means arranged between the vehicle body and the rotating structure is used. , the steering means is rotated while being corrected. This mechanism keeps the vehicle body and control lever in a parallel position at all times.

For this reason, regardless of the relative turning position of the revolving structure with respect to the vehicle body, the operator's sense of control is always the same, and by operating the control lever in the direction in which it faces, the worker can move the vehicle body or steer the vehicle. can do.

[Means for solving problems]

The present invention provides a movable vehicle body, a revolving body placed on the vehicle body that can rotate in the entire circumferential direction, an elevating mechanism provided on the revolving body that expands and contracts vertically, and an elevating mechanism that extends and retracts vertically. It has a bucket that is connected to carry a worker, and an operating means that is provided inside the bucket to control the forward and backward movement of the vehicle body. In an aerial work vehicle that can move the vehicle body forward or backward, there is a detection means for detecting the relative circumferential position of the vehicle body and the revolving body, and a rotation holding device that allows the control means to rotate horizontally with respect to the control device. and driving the rotation holding means by a relative position detection signal from the detection means,
The present invention provides a synchronization device for a control device for an aerial work vehicle, which is characterized by comprising position correction means for correcting the control means so that the control means always maintains a position parallel to the vehicle body.

[Effect]

In the present invention, the movement of the entire aerial work vehicle can be controlled by a worker riding on the bucket and operating the control means inside the bucket. With this steering means, the vehicle body can be moved forward and backward, steered in the left and right directions, and furthermore, the rotating body can be turned in a horizontal direction with respect to the vehicle body. The steering means is rotatably held by a rotation holding mechanism, and is constantly corrected in a direction parallel to the vehicle body by a detection means.

Therefore, the direction of the moving lever that moves the vehicle body can be maintained in the same direction as the vehicle body. Therefore, if this moving lever is pushed forward or backward, the vehicle body will move only in the pushed direction. Therefore, it is not necessary to take into account the angle at which the revolving body has turned with respect to the vehicle body, and to reverse the sense of control of the control tool. Therefore, the person taking over the vehicle does not have to worry about the feeling of operation while working, and the vehicle body can be moved in the direction in which the moving lever is facing, thereby preventing the occurrence of personal injury or the like.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view showing an entire embodiment in which a synchronization mechanism of a control mechanism for a high-altitude work vehicle according to the present invention is applied to a boom-type high-place work vehicle.

This boom-type aerial work vehicle has a front wheel 2 and a rear wheel 3 on the front and rear, left and right sides of a vehicle body 1 that has a drive mechanism and a steering mechanism.
is pivotally supported, and there is a protruding pivot shaft (described later) on the upper center surface of the vehicle body 1, so as to cover this pivot shaft,
A cylindrical skirt portion 4 is positioned above the skirt portion 4, and a revolving body 5 housing an engine, a hydraulic pressure generating device, etc. is placed on the top of the skirt portion 4 so as to be freely rotatable in the horizontal direction with respect to the vehicle body l. .

A pair of triangular shaft support pieces 6 are fixed to the upper part of the revolving body 5, and between the apexes of the two wheel support pieces 6 is a lower boom having an elongated rectangular cross section with a hollow interior. 7 is pivotally supported by a pin 8.

The lower boom 7 is pivotally supported by a pin 8 so as to be swingable in the vertical direction. Inside the hollow lower boom 7, an upper boom 9 having a rectangular cross section elongated from the opening at the top thereof is inserted in a telescopic manner. These booms7.
A boom body 10 is formed by 9, and a hydraulic cylinder (not shown) is housed inside the boom body 10, and the boom body 10 can freely extend and contract in length by this hydraulic cylinder.

Furthermore, at the tip of the upper boom 9, a rectangular box-shaped bucket 11 on which a worker can ride and materials can be loaded is connected by a bin 12, and between the upper boom 9 and the bucket 11 A correction hydraulic cylinder 13 for correcting the posture is interposed. In addition, the rotating body 5
A hydraulic cylinder 14 for elevation is interposed between the lower boom 7 and the lower boom 7, and the lower boom 7 and the hydraulic cylinder 14 are connected by a pin J5. Said bucket 11
It is formed by processing round pipes by welding, etc., and has a skeleton shape, the lower half of which is covered with a wire mesh to prevent it from falling.

Next, FIG. 2 shows an enlarged view of the vicinity of the bucket 11.

This bucket) 11 has a ripple shape formed by a combination of a metal pipe and a steel plate, and is open at the top.
The bottom surface is constructed with iron plates, etc. to prevent workers and materials from falling. A three-dimensional steering mechanism 16 is installed inside the bucket 11, and an electric circuit for controlling a hydraulic wave path and an electric circuit is built into the steering mechanism 16.

The panel on the top of this control mechanism 16 includes the vehicle body 1
a moving lever 20 for moving the vehicle forward or backward; and a steering lever 2 for steering the front wheels 2 pivotally supported on the vehicle body 1 left and right.
1 is a protrusion. The moving lever 20 is held by a rotating panel 22 that is rotated horizontally on the top surface of the steering mechanism 16, and the steering lever 23 is held by a rotating panel 23 that is similarly rotated horizontally on the top surface of the steering mechanism 16. is held by.

In this embodiment, only the moving lever 20 and the steering lever 21 are shown on the upper surface of the control mechanism 16, and the explanation of other control means for raising and lowering the boom body 10 and extending and contracting it will be omitted. be.

Next, FIG. 3 shows a pivot shaft 2 protruding from the center of the vehicle body 1.
5 will be explained in detail.

A rotating shaft 25 fixed to the center of the vehicle body 1 and used to hold the rotating body 5 has a ring-shaped protrusion, and a detection hole 26 is opened at the top and bottom in the center.

Grooves 27 for synchronization are formed inside and above the detection hole 26. A rotary encoder 28 is fixed inside the skirt portion, which rotates together with the rotating body 5 and detects the rotation angle of the rotating body 5 in the horizontal direction with respect to the vehicle body 1. This rotary encoder 2
A detection shaft 29 protruding from the lower part of the detection shaft 8 is inserted into the detection hole 26, and a pin 30 protruding from the side surface of the detection shaft 29 is fitted into the groove 27.
9 relative angle errors do not occur.

Next, FIG. 4 shows the detailed structure of the synchronization mechanism 35 provided inside the control mechanism 16.

On this synchronization side 15, the moving lever 20.1! Although the structure of the one-rotation panel 22 will be explained, the steering lever 21
The structure of the rotating panel 23 is also similar.

Below the front panel 36 of the control mechanism 16, the front panel 36
A middle panel 37 is provided parallel to the middle panel 37.
Two retainers 1138 are fixed at a distance from each other on the upper surface of the holder. An intermediate plate 39 is provided on the upper surface of this holding 113B.
is mounted and fixed, and this intermediate plate 39 is positioned parallel to the front panel 36 and the middle panel 37.

Further, a circular opening 40 is formed in the center of the intermediate plate 39, a bearing 41 is provided around the opening 40, and a slightly cup-shaped holder 42 is rotatably mounted on the upper surface of the bearing 41. It is posted on. This holding body 42
The upper end thereof protrudes from an opening 43 opened in the front panel 36, and the rotating panel 22 is fixed to the upper end of the front panel 36 of this holder 42.

The opening 43 is closed by the rotating panel 22 to prevent rain and wind from entering the operating mechanism 16.

A switch body 44 from which the movable lever 20 is projected is fixed to the rotating panel 22. This holding body 42
An opening 45 is formed in the center of the bottom of the opening 45, and a cylindrical extension tube 46 is connected to the lower part of the opening 45 through a bearing 41 and a hole 40. It is designed to be able to rotate together with the holder 42.

A slip ring is provided on the side surface of this extension [46], and this slip ring and the switch body 44 are electrically connected by a cable 47. A current collector 48 is in contact with the outer periphery of the slip ring.

Further, a rotary encoder 49 for electrically detecting the rotational angular position is fixed between the two retainers 38, and a detection shaft 50 of the rotary encoder 49 is engaged with the lower part of the extension tube 46. It is.

A large diameter gear 51 is provided on the lower outer periphery of the holding body 42.
is fixed, and a small-diameter gear 52 is attached to the outer periphery of this gear 5I.
are in mesh with each other, and this gear 52 is driven by a step motor 53 fixed to the intermediate plate 39.

FIG. 5 is a perspective view showing an overview of the main parts of the synchronization mechanism 35.

Next, FIG. 6 is a control circuit diagram for driving the synchronization mechanism 35.

The output from the rotary encoder 28 is input to an angle detection circuit 60, and the angle signal electrically converted by the angle detection circuit 60 is sent to a comparison circuit 61.6.
It is output to 2. The outputs of the comparison circuits 61 and 62 are respectively transmitted to drive circuits 63 and 64, and the output of the drive circuit 63 is transmitted to the stepping motor 53. Further, the output of the drive circuit 64 is output to a stepping motor 53' that drives the synchronous circuit 35 of the steering lever 21. The output of the rotary encoder 49 in the synchronization mechanism 35 of the moving lever 20 is output to the comparison circuit 61 as a correction signal. Further, the output of the rotary encoder 49' provided in the synchronization mechanism 35 of the steering lever 21 is outputted to the comparator circuit 62 as a correction signal.

Next, the operation of this embodiment will be explained.

The engine in the revolving body 5 is operated to generate hydraulic pressure. Then, by supplying the generated hydraulic pressure to each part of the aerial work vehicle and operating the control mechanism 16 provided in the bucket 11, the aerial work vehicle can be freely operated.

That is, by a worker riding on the bucket 11 and operating the steering mechanism 16, the vehicle body 1 can move forward and backward in the A direction, and by steering the front wheels 2, the vehicle body 1 can be moved in either direction B. can also change direction. Also, boom 1
By extending and contracting the hydraulic cylinder 14, the upper boom 9 can be extended and contracted in the C direction, and the bucket 11 can be moved to a higher position.
The elevation angle of the boom 10 can be changed by raising and lowering the boom 10 in the following directions. Furthermore, it becomes possible to rotate the rotating body 5 in the E direction with respect to the vehicle body 1, and to rotate the bucket 11 in any angular direction of 360 degrees in the plane direction.

The operation of these aerial work vehicles is exactly the same as that of conventional aerial work vehicles, and is a well-known function.

Next, in this embodiment, as shown in FIG.
The operation when the rotating body 5 is rotated 36,060 degrees clockwise relative to the vehicle will be described.

When the rotating body 5 is rotated with respect to the vehicle body 1, the rotary encoder 28 fixed to the rotating body 5 will rotate relative to the detection axis 29 since the detection shaft 29 is connected to the vehicle body l side.
rotates, and the rotation angle is detected by the rotary encoder 28.

The output detected by the rotary encoder 28 is transmitted to the angle detection circuit 60, which determines the angle at which the vehicle has been turned based on the state shown in FIG. 7J, and is transmitted as a control signal to the comparison circuits 61 and 62.

The comparator circuit 61.62 transmits the signal of the turning angle to the drive circuit 63.64, which drives the stepping motor 53.53'.
drive. Then, the rotation of the stepping motor 53 is transmitted to the gear 52, which drives the large diameter gear 51. Then, the gear 51 and the holding body 42
Since it is supported by the bearing 41, the gear 51, the holder 42, the extension cylinder 46, and the rotating panel 22 which is the top cover are rotated.

At the same time as this holding body 42 rotates, the rotation angle is detected by a stepping motor 49 connected to the extension cylinder 46, and the detected signal is fed back to the comparison circuits 61 and 62. Therefore, the stepping motor 53 .
53' is driven, and the rotation angle of the gear 51, the holder 42, the extension tube 46, and the rotating panels 22 and 23 matches the rotation angle of the rotating body 5.

Here, in the state shown in FIG. 7 in which the rotating body 5 has turned 45 degrees in the direction R-1 with respect to the vehicle body l, the rotating panel 22, 23
are rotated by 45 degrees in the directions of S-1 and T-1, respectively. Therefore, the operating direction of the moving lever 20 provided on the rotary panel 22 is maintained at a position parallel to the longitudinal direction of the vehicle body 1. Further, the steering lever 21 provided on the rotating panel 23 is rotated to a position perpendicular to the longitudinal direction of the vehicle body 1. Therefore, the vehicle body 1 moves forward or backward in the direction in which the operator pushes down the moving lever 20 on the rotating panel 22. Furthermore, if the steering lever 21 is tilted left or right on the rotating panel 23,
It becomes possible to steer the vehicle body 1 in the direction in which it is tilted.

Furthermore, the revolving body 5 is R-2, R-3, R-4, R-5, R
Even if the rotating panels 22 and 23 are rotated 360 degrees to the right like -6, R-7, and R-8, the rotating panels 22 and 23 are S-2 and T-
2, S-3, T-3, etc., and the angular positions of the moving lever 20 and the steering lever 21 are always parallel to the vehicle body 1 or at right angles. Crab is retained.

In particular, when the control mechanism 16 turns 180 degrees with respect to the vehicle body 1 and faces in the opposite direction, as shown in FIG. The direction of movement also changes 180 degrees.

Therefore, in the state shown in FIG. 7N, the rotating body 5
When the moving lever 20 is tilted forward in the opposite direction, the vehicle body 1 will move backward,
The direction in which the moving lever 20 is pushed down and the direction in which the vehicle body 1 moves completely match.

For this reason, the steering mechanism provided in the control mechanism 16 follows the bucket 11 so that it can always be operated in the same direction as the direction in which it is facing. Therefore, regardless of the position of the rotating body 5 with respect to the vehicle body 1, the operator's sense of control is always kept constant.

〔Effect of the invention〕

Since the present invention is configured as described above, the control mechanism can always be directed in the same direction regardless of the direction in which the rotating body is turning with respect to the vehicle body, and the control mechanism can be moved in the direction in which the control lever is pushed down. or be steered.

For this reason, the operator must take into consideration the angle at which the rotating body has turned with respect to the vehicle body to determine the control direction of the steering mechanism, as in the past. The operator does not have to consider the direction of the revolving body with respect to the vehicle body, and does not feel uncomfortable in the operation. Therefore, when a beam or structure is close to the bucket, the worker will not mistakenly operate the control lever for forward or backward, and this will prevent personal injury caused by the operator being caught in the beam or structure. can be prevented from occurring.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing an example in which an embodiment of the present invention is applied to a boom type aerial work vehicle, Fig. 2 is an enlarged perspective view showing the vicinity of the bucket, and Fig. 3 shows the relationship between the revolving structure of the vehicle body. FIG. 4 is a sectional view showing the configuration of the synchronizing mechanism, FIG. 5 is an exploded perspective view with a part of the synchronizing mechanism removed for explanation, FIG. 6 is a block diagram showing the control system of the synchronizing mechanism, FIG. 7 is an explanatory diagram showing the operation of this embodiment. 1... Vehicle body, 5... Working body, 16... Control mechanism,
20... Moving lever, 21... Steering lever, 28.
49... Rotary encoder, 42... Holder, 51.52... Gear, 53... Stepping motor

Claims (1)

[Claims] A movable vehicle body, a revolving body placed on the vehicle body that can rotate in all circumferential directions, an elevating mechanism installed on the revolving body that extends and contracts up and down, and a worker connected above and below the elevating mechanism. It has a bucket on which the vehicle is mounted, and an operation means provided inside the bucket to control the forward and backward movement of the vehicle body.The bucket can be lifted to a higher position above the ground by the lifting mechanism, and the vehicle body can be moved forward or backward by the control means. A high-altitude working vehicle that can be operated, comprising: a detection means for detecting the relative circumferential position of the vehicle body and the revolving body; a rotation holding means for enabling the control means to rotate in a horizontal direction with respect to the control mechanism; An aerial work vehicle characterized by comprising position correction means for driving the rotation holding means in response to a relative position detection signal from the means and correcting the operation means so that the control means always maintains a position parallel to the vehicle body. control unit synchronizer.