JPH0654700U - Travel control device for aerial work vehicles - Google Patents

Abstract

(57) [Abstract] [Purpose] The aerial work vehicle becomes unstable even if the operating lever is operated to change the traveling direction of the aerial work vehicle with the elevating post extended by a certain amount or more. There is no running control device. [Structure] An elevation amount detection sensor 31 for detecting an elevation amount of an elevation post and an operation direction detection sensor for detecting an operation direction of an operation unit are provided in an operation unit 35 for controlling traveling of a wheel. Then, when it is detected by the operation direction detection sensor that the operation direction of the operation means 35 is changed so as to reverse the traveling direction of the vehicle body when the elevating post is elevated by a certain amount or more, from this time point. The controller controls the traveling drive means so that the operating means is controlled to be in a neutral state, and after a certain time has elapsed, the wheels 19 corresponding to the operating direction are driven to travel. As a result, the aerial work vehicle 1
The vehicle body will not become unstable even if the operating direction lever is operated when the center of gravity of the vehicle is high.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a traveling control device for an aerial work vehicle, and further to a traveling control device capable of stabilizing a vehicle body when the aerial work vehicle travels.

[0002]

[Prior art]

 The applicant has proposed an aerial work vehicle that is used for interior work of buildings, etc., but this aerial work vehicle has a telescopic body attached to the front of the body and a telescopic body that can travel. It consists of a free lifting post and a work floor horizontally mounted behind the lower end of the upper post of this lifting post. An operator can board the work floor and move to a desired height by operating the operating device attached to the upper end of the upper post member to move the vehicle body or extend and retract the lifting post. can do.

The traveling of the vehicle body is performed by driving drive wheels arranged on the vehicle body by a motor. This motor is driven by operating a lever provided on the operating device. When the lever is tilted forward, the vehicle body moves forward, and when it is tilted backward, the vehicle moves backward. Also, when the lever is in the neutral position, the motor drive is stopped and the brake is applied.

[0004]

[Problems to be solved by the device]

 By the way, in such an aerial work vehicle, the vehicle body may be run even in a state in which the elevating post is extended to move the work site. Here, the center of gravity of the aerial work vehicle is high when a worker is riding on the work floor and raising the elevating post. In this state, when the lever is tilted forward and the vehicle body is moving forward, if the lever is tilted backward without stopping at the neutral position, the vehicle body will immediately retract. At this time, since the position of the center of gravity of the work vehicle at high altitude was high, there was a problem that the vehicle body became unstable due to the inertial force of the lifting posts and workers caused by a sudden change in the traveling direction.

The present invention has been made in view of such a problem, and even if the lever is operated to change the traveling direction of the aerial work vehicle in a state where the lifting post is extended by a certain amount or more. It is an object of the present invention to provide a traveling control device that prevents an aerial work vehicle from becoming unstable.

[0006]

[Means for Solving the Problems]

 In order to achieve the above-mentioned object, the traveling control device of the present invention comprises an elevation detection sensor for detecting the elevation of the elevation post, and an operation means for controlling the traveling of the wheels to detect the operation direction of the operation means. And a direction detection sensor. Then, when the lifting amount detection sensor detects that the lifting post has risen above a certain amount, the operating direction detection sensor changes the operating direction of the operating means so as to reverse the running direction of the vehicle body. When is detected, the controller controls the traveling drive means so that the operation means is made to be in a neutral state from this time, and the traveling drive of the wheels corresponding to the operation direction is performed after a lapse of a certain time.

[0007]

[Action]

 In such a travel control device, when the lever of the operating means is operated to change the traveling direction of the aerial work vehicle with the elevating post extended by a certain amount or more, the operation direction changed after a certain period of time elapses. It is possible to prevent the aerial work vehicle from becoming unstable by driving the wheels corresponding to.

[0008]

【Example】

 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, an aerial work vehicle equipped with a traveling control device according to the present invention will be described with reference to FIGS. 1 and 2. The aerial work vehicle 1 includes an elevating post 20 which is vertically erected and mounted on a traveling carriage 10 having a pair of front wheels 18 and rear wheels 19. The front wheels 18 are composed of caster wheels 18 mounted to the vehicle body 10 so as to be rotatable, and the rear wheels 19 are driven by a pair of left and right electric motors 54a and 54b.

The elevating post 20 is a lower post member 21 that is mounted upright on the traveling carriage 10 and an upper post that is telescopically combined with the lower post member 21 and is vertically movable with respect to the lower post member 21. And a member 25. In the space between the lower post member 21 and the upper post member 25, a limit switch 31 is provided as a lift detection sensor that detects the rise of the upper post member 25 with respect to the lower post member 21 when it rises by a certain amount. It is installed.

A plate-like work floor 30 on which a worker M is to be mounted is attached to the lower end of the upper post member 25, and a small basket 39 is provided on the upper front side of the upper post member 25 so that it can be used as a storage case. Is attached. A handrail 37 is attached to the upper end of the upper post member 25 to protect the worker M standing upright on the work floor 30 and boarded.

Next, the configuration of the traveling control device for an aerial work vehicle according to the present invention will be described with reference to FIG. An operating device 35 and a limit switch 31 are attached to the lifting post 20. The operating device 35 includes an elevating post elevating switch (not shown) and a traveling operation lever 35a, and further includes an operating direction detection sensor 34 for detecting the operating direction of the traveling operation lever 35a. On the other hand, the vehicle body 10 is provided with a controller 53, a battery 52, and left and right traveling motors 54a and 54b.

When the operation signal of the operation device 35 is transmitted to the controller 53, the controller 53 responds to the operation signal by supplying the electric power from the battery 52 to the lifting motor (not shown) and the left and right traveling motors 54a and 54b. The supply is controlled so that the up-and-down operation of the upper post member 25 and the traveling of the vehicle body 10 are performed.

The vehicle body 10 travels by the left and right traveling motors 54a and 54b being controlled by the controller 53 and being driven independently on the left and right sides. Therefore, when the left and right traveling motors 54a and 54b are both rotated in the forward direction, the vehicle body 10 can be moved forward, and when both are rotated in the backward and backward directions, the vehicle body 10 can be moved backward. At this time, the left and right motors are rotated. By changing the number, it is possible to change the traveling direction, that is, steer.

Transmission of an operation signal from the operating device 35 for traveling the vehicle body 10 to the controller 53 is performed by operating the traveling operation lever 35a. The traveling operation lever 35a is composed of a single lever that can be laid down in all directions, and when viewed from the operator M who has boarded the work floor 30, the vehicle body 10 moves forward when the lever is tilted forward, and moves backward when tilted backward. To do. When the lever is tilted forward or backward, moving the lever to the right steers it to the right, and moving it to the left steers it to the left. When the lever is in the neutral position, the driving of the left and right traveling motors 54a and 54b is stopped and the brake is applied.

In the aerial work vehicle 1 configured as described above, when the worker M rides on the work floor 30 and raises the elevating post 20 to perform work, the worker moves to the next work site. Therefore, the vehicle body 10 may be run with the elevating post 20 raised. In this case, for example, if the vehicle body is moved forward by tilting the traveling operation lever 35a forward, the lever is not once placed in the neutral position, but the traveling operation lever 35a is tilted backward and the vehicle body is moved backward. Depending on the amount of elevation of the elevating post 20, the inertial force of the operator M and the elevating post 20 may cause the vehicle body to become unstable.

Therefore, in this aerial work vehicle 1, in the traveling control device configured as described above, the controller 53 controls the output signal in response to the operation of the traveling operation lever 35a. The chart is shown in FIG. Here, in FIG. 4A, the operation state of the traveling operation lever 35a when the limit switch 37 is off (when the elevating post 20 is not raised or the amount of rise is small even if it is raised) is indicated by a chain line. The solid line indicates the signal transmitted from the controller 53 to the left and right traveling motors 54a and 54b. FIG. 4B shows the operating state of the traveling operation lever 35a when the limit switch 37 is on (when the elevating post 20 is raised by a certain amount or more) by a chain line, and the controller 53 causes the left and right traveling motors 54a, The signal transmitted to 54b is represented by a solid line.

When the limit switch 31 is off, the controller 53 transmits an output signal to the left and right traveling motors 54a and 54b without delay in time corresponding to the operation of the traveling operation lever 35a. That is, in FIG. 4 (A), when the position of the traveling operation lever 35a is t1 from the neutral state, the lever is tilted rearward to move the vehicle body 10 backward, and at time t2, the lever is tilted forward to move the vehicle body 10 immediately forward. To do. In this case, even if the traveling direction is suddenly changed, the stability of the vehicle body is not affected because the position of the center of gravity is low.

When the limit switch 31 is on, the controller 53 does not transmit the output signal to the left and right traveling motors 54a and 54b only by operating the traveling operation lever 35a, and the controller 53 combines the signal from the operation direction detection sensor 34 with the output signal. Sent under controlled by. That is, in FIG. 4 (B), when the position of the traveling operation lever 35a is tilted backward at the time t3 from the neutral position to retract the vehicle body 10, the operation is performed even if the lever is tilted forward at the time t4. The direction detection sensor 34 detects that the traveling operation lever 35a has been operated, and the controller 53 does not send an output signal to the left and right traveling motors 54a and 54b.

The controller 53, which receives signals from the travel operation lever 35a and the operation direction detection sensor 34, has the same signal (neutral signal) as when the position of the travel operation lever 35a is in the neutral state for a fixed time (Δt). To send. Then, an output signal for driving the left and right traveling motors 54a and 54b is transmitted at time t 5 after the elapse of a certain time (Δt). Therefore, when the traveling operation lever 35a is operated, the left and right traveling motors 54a and 54b are not driven to immediately move the vehicle body 10 forward, but the state in which the neutral signal is transmitted is maintained to maintain the left and right traveling motors 54a and 54b. After the driving is stopped and the vehicle is decelerated by applying a brake for a fixed time (Δt), the left and right traveling motors 54a and 54b for moving the vehicle body 10 forward are driven. As a result, the traveling direction of the vehicle body 10 is smoothly changed, and the inertial force of the worker M or the like acting on the vehicle body 10 is reduced, so that the aerial work vehicle 1 can be operated even when the elevating post 20 is raised and the center of gravity is high. There is no instability.

In the above-described embodiment, since the traveling operation is the forward / stop / reverse switching control, the method for reducing the inertial force of the worker M and the elevating post 20 is to neutralize the traveling direction by the time Δt. I am trying to output a signal. However, the present invention is not limited to such an embodiment, and the control as shown in FIG. 5 may be performed by controlling the output signal to the left and right traveling motors and varying the traveling speed. Good. In FIG. 5, the operation state of the traveling operation lever when the elevating post is elevated by a certain amount or more is represented by a chain line, and the signal transmitted from the controller to the left and right traveling motors is represented by a solid line. Here, when the position of the travel operation lever is tilted rearward at time t6 from the neutral state and the vehicle body is retracted, when the lever is tilted forward at time t7, the operation direction detection sensor causes the travel operation lever to move. When the controller detects that the vehicle has been operated, the controller raises the output signal to the left and right traveling motors over a certain period of time (Δt), and transmits the output signal so that the traveling speed becomes the target speed at time t8. As a result, the traveling speed of the aerial work vehicle can be gently increased over a certain period of time (Δt) without increasing the traveling speed to the target speed at the same time when the traveling direction is changed, so that the inertial force applied to the aerial work vehicle is reduced. be able to.

[0021]

[Effect of device]

 As described above, the traveling control device of the present invention is provided with the limit switch that detects the amount of elevation of the elevating post and the operation direction detection sensor that detects the operation direction of the lever on the operation lever that controls the traveling of the wheels. There is. When it is detected by the limit switch that the lifting post has risen above a certain amount, it is detected by the operation direction detection sensor that the operating direction of the operating means has been changed so as to reverse the traveling direction of the vehicle body. Then, the controller controls the traveling drive means so as to drive the wheels corresponding to the operation direction after a certain period of time so that the operating means is brought into a neutral state. As a result, when the lift post of an aerial work platform is raised and the center of gravity is high, the vehicle body will not become unstable even if the operating direction lever is operated. Can be promptly changed.

[Brief description of drawings]

FIG. 1 is a side view of an aerial work vehicle equipped with a control device according to the present invention.

FIG. 2 is a perspective view of an aerial work vehicle according to the present invention with a vehicle body cover removed.

FIG. 3 is a block diagram showing a control device for an aerial work vehicle according to the present invention.

FIG. 4 is a time chart showing a control method of the control device for an aerial work vehicle according to the present invention.

FIG. 5 is a time chart showing a control method according to another embodiment.

[Explanation of symbols]

 1 aerial work vehicle 10 traveling carriage 19 rear wheel 20 lifting post 30 working floor 35a traveling operation lever 53 controller

Claims (1)

[Scope of utility model registration request] 1. A vehicle body having wheels, which is capable of traveling, a retractable elevating post vertically arranged on an upper surface of the vehicle body, and an elevating post attached to the elevating post to be elevated and lowered. A working floor, a travel drive means for driving the wheels, a lift detection sensor for detecting the lift of the lift posts, an operation means for controlling the operation of the drive means, and an operation means for the operation means. An operation direction detection sensor for detecting an operation direction, a drive control signal to the traveling drive means based on a detection signal from the elevation detection sensor and the operation direction detection sensor, and an operation signal from the operation means, and the wheels. Is a traveling control device for an aerial work vehicle, which comprises a controller for controlling traveling drive of the elevating post, and the elevating post is elevated by a certain amount or more from the elevating amount detection sensor. When a signal is detected that the operation direction detecting sensor has operated to reverse the traveling direction of the vehicle body by the operation direction detection sensor, From this time, control for making the operating means in a neutral state is performed, and the traveling drive means is controlled so as to drive the traveling of the wheel corresponding to the above after a lapse of a predetermined time. Travel control device.