JPH0647291U - Arm rotation control device for aerial work vehicles - Google Patents

Abstract

(57) [Abstract] [Purpose] To obtain an arm turning control device for an aerial work vehicle capable of controlling the turning angle of the arm according to the hoisting angle of the boom and the arm. According to a signal detected by at least one of a boom angle detection sensor and an arm angle detection sensor, a controller controls an angle at which the arm 6 is swung to control the arm swivel mechanism 10 to move the arm 6. Turn. Therefore, when the work table 5 and the boom 3 are most likely to interfere with each other when the arm 6 is swung, when the hoisting angle of the boom 3 and the arm 6 is the minimum, the swivel angle of the arm 6 is reduced, and the boom 3 is rotated. When the hoisting angle of the arm 6 is large and the work table 5 and the boom 3 do not interfere with each other, the swingable angle of the arm 6 can be set large.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an aerial work vehicle in which a work platform is attached to an end of a boom via an arm that can be undulated and swiveled, and an arm swivel control of an aerial work vehicle equipped with means for restricting the swivel of the arm. Regarding the device.

[0002]

[Prior art]

 In an aerial work vehicle, a swivel base is provided on the vehicle body so that the swivel base can be swiveled, and the base end of a boom that can be swung up and down is swingably mounted on the swivel base. An arm that can be raised and lowered is attached to the end of the boom, and a workbench is attached to the end of the arm to improve workability. In such an aerial work vehicle, the work platform attached to the tip of the arm may interfere with the boom when the arm is turned, depending on the hoisting angle of the boom and the arm. For example, when the boom hoisting angle is the smallest and the arm hoisting angle is also the smallest, the swing angle until the arm interferes with the boom is the smallest. As the boom and arm hoisting angle increases, the workbench becomes less likely to interfere with the boom, so the angle at which the arm can swivel increases, and when the boom and arm hoisting angle is the maximum angle, the workbench does not interfere with the boom. Therefore, it is possible to turn at any angle.

In such an aerial work vehicle, a stopper is provided to prevent the arm from swinging in order to avoid interference between the workbench and the boom when the arm is swung. In this case, although the swing angle of the arm changes depending on the boom and arm hoisting angle, a stopper was provided to uniformly regulate the swing of the arm in accordance with the minimum swing angle of the arm.

[0004]

[Problems to be solved by the device]

 However, the above minimum turning angle is the case where the boom and arm hoisting angles are the smallest, and this is the hoisting angle for performing normal work when the work platform is located near the ground. When the workbench is in the normal work position, the boom and arm undulation angles are large, so the swing angle of the arm until the workbench interferes with the boom is greater than the swing angle regulated by the stopper. Therefore, even if there is a margin in the turning angle of the arm, the turning is restricted by the stopper, which causes a problem that the working range becomes narrow.

The present invention has been made in view of such a problem, and provides an arm turning regulation device for an aerial work vehicle capable of regulating the turning angle of the arm according to the hoisting angle of the boom and the arm. It is intended to be provided.

[0006]

[Means for Solving the Problems]

 In order to achieve the above object, in the arm swing control device for an aerial work vehicle according to the present invention, an arm is provided at the tip of a boom that is freely undulated on the vehicle body so that the boom can be undulated and swung. A workbench is attached to the tip of the arm. Then, based on a signal detected by at least one of a boom angle detection sensor that detects a boom hoisting angle and an arm angle detection sensor that detects an arm hoisting angle, the controller causes the arm swing mechanism to move. To control the arm's turning motion.

[0007]

[Action]

 In such an arm turning control device, when the hoisting angle of the boom and the arm is small, the angle for turning the arm is also small, and when the hoisting angle is large, the turning angle of the arm can be made large. Therefore, the swing angle of the arm can be increased when the work platform is moved to the normal work position, that is, when the hoisting angle of the boom and arm is large.

[0008]

【Example】

 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, an aerial work vehicle equipped with an arm turning control device according to the present invention will be described with reference to FIG. In an aerial work vehicle 1, a swivel base 4 is disposed on a car body 2 so that the swivel base 4 can swivel with respect to the car body 2. The base end of a boom 3 is pivotally mounted on the swivel base 4. The boom 3 is composed of a two-stage boom member, is of a telescopic type, and can be expanded and contracted by the expansion and contraction operation of the expansion and contraction cylinder 8. The boom 3 can be lifted and lowered by a telescopic operation of a boom hoisting cylinder 7 provided between the swivel 4 and the boom 3.

At the tip of the boom 3, there is provided a vertical post 9 which is always held vertically by a leveling mechanism (not shown). An arm attachment member 11 is pivotally attached to the vertical post 9 so as to be pivotable, and an arm 6 is pivotally attached to the arm attachment member 11 so as to be up and down. At the tip of the arm 6, a work table 5 is attached by a work table leveling cylinder 13 which is always held horizontally regardless of the undulation angle of the arm 6. The pivoting operation of the arm attaching member 11 is performed by the movement of the arm pivoting mechanism 10 provided in the arm attaching member 11 at the pivotal attachment portion of the arm attaching member 11 and the vertical post 9. The undulation of the arm 6 is performed by the expansion and contraction operation of the arm undulation cylinder 12 provided between the vertical post 9 and the arm 6.

In the aerial work vehicle configured as described above, the boom 3 is raised and extended, and the arm 6 is raised and lowered and swung to move the workbench 5 to a predetermined position to perform work. The arm can be swung up to an angle at which the work table 5 provided at the tip of the arm 6 does not interfere with the boom 3, but this angle differs depending on the hoisting angle of the arm 6 and the boom 3. Therefore, the arm rotation restricting device 20 as shown in FIG. 2 restricts the arm 6 so that the arm 6 does not interfere with the boom 3 (hereinafter, referred to as arm rotation possible angle). The arm turning regulation device 20 is composed of a boom angle detection sensor 21, a arm angle detection sensor 22, and a controller 23 that detect the boom erection angle. Then, the controller 23 calculates the swingable angle of the arm 6 based on the signals from the boom angle detection sensor 21 and the arm angle detection sensor 22, and sends a signal to the arm swing mechanism 10 to control the swing angle of the arm 6. To do.

Here, the swingable angle θ 1 of the arm due to the difference in the hoisting angle of the arm and the boom will be described with reference to FIGS. 3 and 4. 3 and 4 are a top view and a rear view of the aerial work vehicle when the hoisting angle of the boom 3 is minimum. FIG. 4 is a rear view of an aerial work vehicle in which the undulation angle of the arm 6 is maximum, intermediate, and minimum, which are indicated by A, B, and C, respectively. Further, FIG. 3 (A) shows the case where the arm undulation angle is maximum, FIG. 3 (B) shows the case where the arm undulation angle is intermediate, and FIG. 3 (C) shows the case where the arm undulation angle is minimum. FIG. 3 is a top view of a boom provided in an aerial work vehicle in which the swingable angle of is represented by a chain double-dashed line.

As shown in FIG. 3C, when the hoisting angle of the arm 6 is the minimum, the rotatable angle θ of the arm 6 is about 95 °. And boom 3 will interfere. Further, as shown in FIG. 3B, when the undulation angle of the arm 6 is in the middle, the position where the workbench 5 and the boom 3 interfere with each other is closer to the base end side of the boom 3 than in the above-described state. The possible angle θ is about 100 °. Further, as shown in FIG. 3A, when the hoisting angle of the arm 6 is maximum, the position at which the workbench 5 and the boom 3 interfere with each other is further toward the base end side of the boom 3, so that the swingable angle θ is It will be about 120 °.

As shown in FIGS. 5, 6, 7 and 8, as the hoisting angle of the boom 3 or the hoisting angle of the arm 6 increases, the position where the workbench 5 and the boom 3 interfere with each other is a boom. Since it is on the base end side of 3, the turnable angle θ becomes large. Also, as shown in FIG. 7, when the hoisting angle of the boom is maximized, the worktable 5 and the boom 3 do not interfere with each other when the hoisting angle of the arm is a middle hoisting angle or more, and the swivel angle θ becomes 180 °. Therefore, if the arm is swung according to the hoisting angle of the boom and the hoisting angle of the arm, the maximum arm swivel angle θ at which the workbench and the boom do not interfere can be obtained.

Table 1 below shows an example of the swingable angle θ of the arm due to the difference in the hoisting angle of the boom and the arm.

[0015]

[Table 1]

In the above embodiment, the controller calculates on the basis of the hoisting angle of the boom and the hoisting angle of the arm to obtain the swingable angle of the arm. The device is not limited to this, and the pivotable angle may be obtained based on the angle of either the boom or the arm. Further, in the above embodiment, only the leveling mechanism capable of constantly maintaining the workbench at the tip of the arm is provided, but the workbench is rotated while keeping the workbench at the tip of the arm at all times. It is also possible to use a mechanism that can do so.

[0017]

[Effect of device]

 As described above, in the arm rotation restricting device for an aerial work vehicle according to the present invention, based on the signal detected by at least one of the boom angle detecting sensor and the arm angle detecting sensor. The controller controls the angle at which the arm is swung, and the arm swivel mechanism swivels the arm. For this reason, when the arm and platform are most likely to interfere with each other when the arm is swung, if the hoisting angle of the boom and arm is the smallest, the swivel angle of the arm should be reduced to raise and lower the boom and arm. If the angle is large and the platform and boom are in a position where they do not interfere, the swingable angle can be increased. Therefore, since the swing angle of the arm in the state where the normal work is performed can be made large, the work can be performed in a wide range.

[Brief description of drawings]

FIG. 1 is a perspective view of an aerial work vehicle equipped with an arm turning restriction device according to the present invention.

FIG. 2 is a block diagram of an arm turning restriction device according to the present invention.

FIG. 3 is a top view of an aerial work vehicle when the hoisting angle of the boom is minimum.

FIG. 4 is a rear view of the aerial work vehicle when the hoisting angle of the boom is minimum.

FIG. 5 is a top view of an aerial work vehicle when the hoisting angle of the boom is intermediate.

FIG. 6 is a rear view of the aerial work vehicle when the hoisting angle of the boom is intermediate.

FIG. 7 is a top view of an aerial work vehicle when the hoisting angle of the boom is maximum.

FIG. 8 is a rear view of the aerial work vehicle when the hoisting angle of the boom is maximum.

[Explanation of symbols]

 1 aerial work vehicle 3 boom 5 workbench 6 arm 9 vertical post 10 arm turning mechanism 11 arm mounting member 20 arm turning control device 21 boom angle detection sensor 22 arm angle detection sensor 23 controller

Claims (1)

[Scope of utility model registration request] 1. A boom undulated on a vehicle body, an arm provided at a tip end of the boom to be undulated and swiveled, a work table attached to a tip end of the arm, and the arm. An arm swivel mechanism for performing a swiveling operation, an angle detection sensor for detecting at least one of a hoisting angle of the boom and a hoisting angle of the arm, and the arm swiveling mechanism based on a signal detected by the angle detection sensor. And a controller for restricting the swinging motion of the arm by sending a signal to the arm swinging restricting device for an aerial work vehicle.