JPH0546900U - Control device for flexure type aerial work vehicle - Google Patents

Abstract

(57) [Summary] (Corrected) [Purpose] When starting work on a flexion-type aerial work vehicle,
Make it possible to automatically move the work platform to near the surface of the earth. [Composition] A hoisting angle detector 44 for detecting a hoisting angle of a lower boom, a bending and stretching angle detector 42 and a stretching amount detector 41 for detecting a bending and stretching angle and a stretching amount of an upper boom, and based on detection signals from these detectors. A calculator 31 for calculating the position of the workbench, and an operation controller 32 for controlling the up / down operation of the lower boom, and the bending / extending operation and extension / contraction operation of the upper boom.
And a set switch 25 for outputting a set signal for moving the workbench to a set position set near the ground surface. In this control device, when the set switch 25 is turned on to output a set signal at the start of work,
In response to this, the operation controller 32 controls the raising and lowering operation of the lower boom, the bending operation of the upper boom, and the extending operation of the upper boom to automatically move the workbench 18 from the current position, that is, the position calculated by the calculator to the set position. ..

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention is a flexion-type aerial work including a lower boom that can be raised and lowered with respect to the vehicle body, an upper boom that is flexibly attached to the tip of the lower boom, and a work table that is attached to the tip of the upper boom. More specifically, the present invention relates to a control device for controlling the operation of both booms in this bending-type aerial work vehicle.

[0002]

[Prior Art]

 The flexure-type aerial work platform has a lower boom that is pivotally supported by the vehicle body and is capable of elevating and lowering with respect to this vehicle body, and an upper boom that is pivotally supported by the tip end of this lower boom and is flexible and extendable with respect to this lower boom. And a work platform attached to the tip of the upper boom, and the lower boom and the upper boom are often extendable and retractable. An operator is allowed to board the workbench, and the workbench and the operator on the workbench can be moved to a predetermined height by controlling the raising, lowering, stretching, and extending / contracting operations of both booms. It is like this. In this way, the operation control of the boom for moving the workbench is performed by an operator on the workbench operating the operation device (upper operation device) provided on the workbench or provided on the vehicle body. An operator operates the operating device (lower operating device) by climbing on the vehicle body and operating it.

However, when performing aerial work in such an aerial work vehicle, it is usual that an operator on a workbench performs the operation himself. Therefore, at the beginning of work, the worker must be on the workbench, but in general, when the boom and workbench are retracted, the workbench is located above the vehicle body, and therefore the workbench is left as it is. It is difficult for workers to board the worktable. For this reason, in such an aerial work vehicle, when starting work, first operate the lower operating device to activate both booms in the retracted state, move the work table to near the surface of the ground, and then let the worker move to the work table. I am supposed to board.

[0004]

[Problems to be solved by the device]

 However, since the lower operating device is arranged on the vehicle body, at the beginning of work, the operator first climbs on the vehicle body and operates the lower operating device to move the work table to the surface of the ground, and then the work is performed. It is necessary for the worker to get on the ground before boarding the workbench, which poses a problem that the burden on the worker is heavy. In addition, when operating the lower operating device on the vehicle body to move the workbench near the surface of the earth, it is necessary to perform operations carefully so that the boom and workbench do not interfere with the vehicle body, etc. Since it is necessary to perform the operation while checking whether it is located near the surface of the earth, there is also a problem that the burden on the operator for the operation is large.

In view of the above problems, the present invention provides a control device configured to automatically move a work table to near the surface of the ground in a bending-type aerial work vehicle at the start of work or the like. With the goal.

[0006]

[Means for Solving the Problems]

 In order to achieve such an object, the control device for a bending / extending aerial work vehicle according to the present invention comprises a levitation angle detector for detecting the levitation angle of the lower boom, and an angulation angle detector for detecting the angulation angle of the upper boom. An extension amount detector that detects the extension amount of the upper boom, a calculator that calculates the position of the workbench based on the detection signals from these detectors, and an operation that controls the lower boom elevating operation, upper boom bending operation, and extension operation. It is equipped with a controller and a set switch that outputs a set signal to move the workbench to the set position set near the surface of the earth.

[0007]

[Action]

 In the control device having such a configuration, for example, when the work is started, the set switch is turned on to output the set signal, and accordingly, the operation controller controls the lower boom elevating operation, the upper boom bending operation, and the telescopic operation. Then, the work table is automatically moved from the current position, that is, the position calculated by the calculator to the set position. Therefore, the worker can press the set switch and thereby get on the work table that has been moved to the set position, thereby reducing the burden on the worker. An outrigger that supports the vehicle body during work is attached to the vehicle body of such an aerial work vehicle, but it is preferable to attach a set switch to the outrigger operation device that controls the operation of the outrigger. Since the eye trigger operating device is installed on the rear side of the vehicle body, etc., and can be easily operated from the ground, if a set switch is provided together with this outrigger operating device, the operator can operate on the ground. The set switch can be easily operated, further reducing the burden on the operator.

[0008]

【Example】

 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. An example of a bending / extending aerial work vehicle having a control device according to the present invention is shown in FIG. 1, and this aerial work vehicle 1 is constructed by mounting a bending / bending boom 10 on a vehicle body 2. It should be noted that FIG. 1 shows a state in which the bending boom 1 is retracted. Outriggers 3 are provided at four locations on the side of the vehicle body 2. When performing work at heights, the outriggers 3 are extended to stably support the vehicle body 2. The bending / bending boom 10 has a swivel base 11 rotatably attached to the vehicle body 2, a lower boom 12 having a base end pivotally supported by the swivel base 11, and a distal end of the lower boom 12 flexing / bending. The upper boom 15 is pivotally supported freely, and the workbench 18 is pivotally supported at the tip of the upper boom 15.

The swivel base 11 is swung by a swivel motor 11a. The lower boom 12 is composed of a proximal lower boom 12a pivotally supported by the swivel base 11 and a distal lower boom 12b that can be extended and contracted with respect to the lower boom 12a. The side lower boom 12b is adapted to be expanded and contracted. Further, the lower boom 12 is designed to be lifted and lowered by a hoisting cylinder 13 arranged between the lower boom 12 and the swivel base 11.

The upper boom 15 is composed of a proximal end upper boom 15a pivotally supported at the distal end of the distal lower boom 12b and a distal upper boom 15b which is expandable / contractable with respect to the upper boom 15b. The telescopic cylinder 17 causes the tip-side upper boom 15b to telescope. Further, the upper boom 15 is adapted to be flexed and expanded with respect to the lower boom 12 by a flexing and expanding cylinder 16. A workbench 18 is vertically swingably attached to the tip of the tip-side upper boom 15b. A leveling mechanism (not shown) for holding the workbench 18 in a horizontal position is disposed between them, and the workbench 18 is always held in a horizontal position regardless of the operation of the lower and upper booms 12, 15. It has become so.

The operation control of the bending boom 10 in the aerial work vehicle 1 having such a configuration is performed by operating the lower operation device 21 provided on the swivel base 11, or the upper operation device provided on the work table 18. 22 to operate. However, since an operator works on the workbench 18 to perform work at a high place, a worker who rides on the workbench 18 normally operates the upper operation device 22 to control the operation.

However, when the bending and stretching boom 10 is stored, the workbench 11 is located above the vehicle body 2 as shown in FIG. 1, so that the worker can ride on the workbench 18 in this state. Is difficult. Therefore, at the start of work, as shown in FIG. 3, the outrigger 3 is extended to stably support the vehicle body 2, and then the worker climbs on the vehicle body 2 and operates the lower operation device 21 to operate the workbench 18. It was moved to near the surface of the earth, after which the worker got off the car body 2 and got on the workbench 18.

In order to perform such an operation, the worker needs to climb up and down on the vehicle body 2, which is a heavy burden on the worker. Further, in order to move the work table 18 to the surface of the ground by controlling the operation of the retractable boom 10 in the retracted state, the operation of the elevator cylinder 13 to raise and lower the lower boom 12 (the operation in the direction of arrow A), It is necessary to control the bending operation of the upper boom 15 (operation in the arrow B direction) and the extension operation of the tip side upper boom 15b (operation in the arrow C direction) by the upper extension / contraction cylinder 17 by the operation control of the work table 16. It is necessary to take care that the 18 and the booms 12 and 15 do not interfere with the vehicle body 2, and the burden on the operator for the operation is large.

For this reason, in this bending / extending aerial work vehicle 1, a control device is configured to automatically perform the above-mentioned operation control. The configuration of this control device is shown in FIG. This control device has a valve controller 35 that controls the operation of a hydraulic actuator that causes each operation of the bending and stretching boom 10. The operation of the valve controller 35 is controlled by the operation control device 30. .. As hydraulic actuators, a swing motor 11a for turning the swivel base 11, a hoisting cylinder 13 for hoisting the lower boom 12, a lower telescopic cylinder 14 for hoisting the lower boom 12, There are a bending / extending cylinder 16 for performing the bending / extending operation of the upper boom 15, and an upper extension / contraction cylinder 17 for performing the extending / contracting operation of the upper boom 15.

The operation control device 30 includes an operation controller 32 that outputs a control signal to the valve controller 35 to control the operation of the controller 35, and an arithmetic unit 31 that calculates the position of the workbench 18 and the like. It The calculator 31 includes an upper boom extension amount signal detected by the upper boom extension amount sensor 41, an upper boom extension / extension signal detected by the bending angle sensor 42, and a lower boom extension amount detected by the lower boom extension amount sensor 43. The signal, the lower boom hoisting angle signal detected by the hoisting angle sensor 44, and the turning angle signal of the swivel base 11 detected by the turning angle sensor 45 are input, and the calculator 31 outputs signals from these sensors. The position of the workbench 18 is calculated based on the signal.

As shown in FIG. 3, the computing unit 31 is further adapted to receive a set signal from a set switch 25 provided on the rear end face of the vehicle body 2 together with the outrigger operating device. At the start of work, first, the outrigger operating device is operated to extend the outrigger 3, thereby supporting the vehicle body 2. After that, when the operator presses the set switch 25 provided together with the operating device, the set signal is input to the calculator 31, and the calculator 31 moves to the position of the workbench 18 at that time (that is, , The position of the workbench 18 in the stored state) and outputs an operation signal to the operation controller 32 to move the workbench 18 from this position to the set position. The set position is a position in which the workbench 18 is in a state of being moved close to the ground surface as shown in FIG.

As a result, the operation of the bending boom 10 is automatically controlled, and the workbench 18 is automatically moved from the position shown in FIG. 1 to the position (set position) shown in FIG. Specifically, when the set switch 25 is pressed, first, the lowering boom 12 is raised and lowered by the hoisting cylinder 13 as shown by the arrow A, and then the upper and lower boom 15 is moved by the bending cylinder 16 as shown by the arrow B. Then, the upper extension cylinder 17 is extended to extend the tip side upper boom 15b, and the workbench 18 is moved to near the ground surface and stopped at the set position.

As described above, in the work vehicle 1 according to the present embodiment, the work platform 18 is automatically moved by pushing the set switch 25 provided on the side portion of the outrigger 3 from the state where the bending boom 10 is retracted. Move to the set position. Therefore, the worker only needs to board the work table 18 that has been moved to the set position in this way, and the burden on the worker is reduced. Since the set switch 25 is provided together with the outrigger operation device on the rear side surface of the vehicle body as shown in the figure, the operator can operate the set switch 25 while standing on the ground (without climbing on the vehicle body 2). It can be operated.

After the worker mounts on the workbench 18 in this manner, the worker controls the operation of the bending boom 10 by operating the upper operating device 22 to move the workbench 18 to a predetermined height. Work in high places is performed. Therefore, in this device, as shown in FIG. 2, the operation signals from the lower and upper operation devices 21 and 22 are input to the arithmetic unit 31, and these operation devices 21 and 22 are used. Is transmitted to the operation controller 32 via the computing unit 31, and the valve controller 35 controls the operation of each actuator, thereby controlling the operation of the bending boom 10 corresponding to the operation from the operation devices 21 and 22. It is getting like this.

[0020]

[Effect of the device]

 As described above, according to the present invention, the control device for the bending-type aerial work vehicle comprises the bending angle detector that detects the bending angle of the lower boom and the bending angle detector that detects the bending angle of the upper boom. , An extension amount detector that detects the extension amount of the upper boom, a calculator that calculates the position of the workbench based on the detection signals from these detectors, and control of the lower boom's undulating motion, upper boom's bending motion and expansion motion And a set switch that outputs a set signal that moves the workbench to a set position set near the surface of the earth.When the set switch is turned on to output a set signal, this is set. In response to this, the controller controls the lower boom raising / lowering operation, the upper boom bending / extending operation, and the telescopic operation to move the workbench to its current position, that is, to a calculator. It is adapted to move automatically from the operational position to the set position. Therefore, the worker can press the set switch and board the work table that has been moved to the set position by this, which can reduce the burden on the worker at the time of starting the work.

It is preferable that the set switch is provided at a position where an operator can easily operate it. For example, it is preferable to install the set switch together with an operation device of an outrigger that supports the vehicle body. In this way, the operator can easily operate the set switch without climbing the vehicle body, and the burden on the operator is further reduced.

[Brief description of drawings]

FIG. 1 is a front view showing a bending and aerial work vehicle according to the present invention in a retracted state.

FIG. 2 is a system diagram showing a control device for the aerial work vehicle.

FIG. 3 is a front view showing the aerial work vehicle with a work table moved to a set position.

[Explanation of symbols]

 1 Bending / extending aerial work vehicle 3 Outrigger 10 Bending / extending boom 11 Swivel base 12 Lower boom 13 Elevating cylinder 15 Upper cylinder 16 Flexing / extending cylinder 18 Workbench 21 Lower operating device 22 Upper operating device 25 Set switch

Claims (2)

[Scope of utility model registration request] 1. A lower boom whose base end portion is pivotally supported by the vehicle body and can be raised and lowered with respect to this vehicle body, an upper boom whose base end portion is pivotally supported by the tip end portion of this lower boom and which can flex and extend with respect to this lower boom, and an upper boom of this upper boom. A work platform attached to a front end portion, and a control device for a bending / extending aerial work vehicle in which at least the upper boom is extendable and contractible, and a hoisting angle detector for detecting a hoisting angle of the lower boom, and the upper boom. The bending angle detector for detecting the bending angle of the upper boom, the extension amount detector for detecting the extension amount of the upper boom, the calculator for calculating the position of the work platform based on the detection signals from these detectors, and the lower boom. An operation controller for controlling the ups and downs of the upper boom, and the bending and extending and retracting operations of the upper boom, and the work platform is moved to a set position near the surface of the earth. A set switch for outputting a set signal, and when the set switch is operated to output the set signal, the operation controller controls the up-and-down operation of the lower boom, the bending operation of the upper boom, and the extension operation of the upper boom. A control device for a flexion-type aerial work vehicle, wherein the workbench at the position calculated by the calculator is automatically moved to the set position. 2. An outrigger for supporting the vehicle body at the time of work is attached to the vehicle body, and the set switch is attached to an outrigger operation device for controlling an operation of the outrigger. The control device for the bending-type aerial work vehicle described in.