JPH0719299U - Boom actuator - Google Patents

Abstract

(57) [Summary] [Purpose] To obtain a boom actuator that does not cause discomfort or anxiety to an operator during boom operation. The acceleration detecting means 13 detects the acceleration in the operating direction of the workbench 7, and when the acceleration of the workbench 7 is out of a predetermined acceleration range, regardless of the operation signal of the operating device 12, the operating means is operated. The deceleration means 24 causes the boom to operate so that the acceleration is kept within the predetermined acceleration range. As a result, the operator can perform the boom operation at an acceleration such that the ride comfort or the feel of the work platform 7 during operation becomes the preset ride comfort or the feel of the work platform 7. Therefore, the boom can be quickly operated without causing the operator to feel uneasy when the boom is operated.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a boom operating device for operating a boom, such as a boom of an aerial work vehicle, having a workbench attached to its tip.

[0002]

[Prior art]

 As shown in FIG. 2, in an aerial work vehicle in which a work platform 7 on which a worker M is to be mounted is attached to the tip of a boom 3 which can be freely undulated, extended and retracted, a swivel platform 2 which can be swiveled on a vehicle body 1 is provided. A telescopic boom 3 is attached to the swivel base 2 so as to be able to rise and fall. The base end of the extendable boom 3 is pivotally supported by the swivel base 2 via a support shaft 2a so as to be capable of hoisting and lowering by a hoisting cylinder 4 arranged between the swivel base 2 and the boom 3. It is activated. When the boom 3 configured as described above is hoisted and swung, when the hoisting and swiveling operations are completed, the work platform 7 moves in the hoisting direction (vertical direction) or the turning direction (horizontal direction) due to the inertia of the boom 3 and the work table 7. Vibrate to.

As described above, when the vibration of the workbench 7 becomes large, the rider M 1 on the workbench 7 feels uncomfortable and feels uncomfortable. For this reason, an operator who is skilled in boom operation raises and lowers the boom slightly in a direction opposite to the direction of vibration of the boom tip (workbench) when the boom is raised and lowered and the swing operation is stopped. Operation) to reduce the vibration of the workbench.

[0004]

[Problems to be solved by the device]

 However, in order to damp the vibration of the work table by performing this "Atekaji" operation, delicate operation of the operating device is required, which is a problem for inexperienced workers. . Further, there is a problem that an inexperienced operator may feel uneasy when operating the boom unless the boom (workbench) is in a stopped state and acceleration to the boom operating speed set by the operating device is performed smoothly.

The present invention has been made in view of such a problem, and an object thereof is to provide a boom actuating device that does not give an operator discomfort and anxiety during boom operation.

[0006]

[Means for Solving the Problems]

 In order to achieve such an object, the boom actuating device according to the present invention controls the actuating means for actuating at least the up-and-down boom that has a worktable on which the operator can ride, by means of the operating device. Then, the acceleration detecting means detects the acceleration in the working direction of the workbench, and when the workbench acceleration is out of the predetermined acceleration range, the acceleration adjusting means detects the acceleration regardless of the operation signal of the operating device. Causes the operating means to operate the boom for acceleration / deceleration.

[0007]

[Action]

 When such a boom operating device is used, when the acceleration detecting means detects the acceleration of the work platform outside the predetermined acceleration range during the boom operation, the acceleration adjusting means sends an acceleration adjusting signal to the operating means to cause the boom to operate. By smoothly accelerating and decelerating, the acceleration is set so that no unpleasant sensation is generated, and the discomfort and anxiety felt by the worker on the workbench is reduced.

[0008]

【Example】

 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. An example of an aerial work vehicle having a boom actuator according to the present invention is shown in FIG. This aerial work vehicle has a swivel base 2 which is swivelable by the operation of a swivel motor (not shown) arranged on a vehicle body 1. The swivel base 2 can swivel left and right with respect to the vehicle body 1 by changing the rotation direction of a swivel motor, and a boom 3 is attached to the swivel base 2 in an undulating manner. The boom 3 is composed of a telescopically telescopically (expandable) telescopic base boom 3a, an intermediate boom 3b and a tip boom 3c. The base boom 3a is rotatably supported by a swivel base 2 via a support shaft 2a. Has become. The telescopic boom 3 is telescopically operated by a telescopic cylinder (not shown) provided inside.

Further, the boom 3 is hoisted by a hoisting cylinder 4 arranged between the swivel 2 and the base end boom 3a. The undulating cylinder 4 has its bottom side pivotally supported by the swivel base 2 by a pivot pin 4b, and its rod side pivotally supported by the base boom 3a by a pivot pin 4a. A support member 6 is pivotally supported by a pin 3d and swingably moved up and down at the tip of the tip boom 3c. The support member 6 has a vertical post 6a, and a bracket 7a of a workbench 7 is rotatably attached to the vertical post 6a, whereby the workbench 7 can be swung by the support member 6. It is supported. Since the worker M rides on the workbench 7, the workbench 7 must always be held horizontally regardless of the ups and downs of the boom 3, and is composed of an upper leveling cylinder 5a and a lower leveling cylinder 5b. A leveling device is attached.

An operating device 12 for the operator M to perform operation control such as ups and downs and swing operation of the boom 3 is attached to the upper portion of the workbench 7 attached to the tip portion of the tip boom 3c as described above. Has been. Further, the work table 7 is provided with an acceleration detecting means 13. As the acceleration detecting means 13, an accelerometer or the like for detecting vertical and horizontal accelerations is used. By detecting this acceleration, the work table 7 is raised and lowered (vertical direction), and the turning direction (horizontal direction). It is possible to detect the amplitude amount and the frequency of.

A boom hoisting device according to one embodiment of the boom actuating device according to the present invention when hoisting the boom 3 in the aerial work vehicle configured as described above will be described with reference to FIG. To do. The boom hoisting device includes a controller 20 that controls signals from the operating device 12 and the acceleration detecting means 13. The controller 20 controls the operation of the electrohydraulic servo valve 21 based on each signal. The electro-hydraulic servo valve 21 is connected to the undulating cylinder 4 by a cylinder side pipe 22, and is connected to a hydraulic pump P and a tank T by a supply / discharge side pipe 23. In the cylinder side pipe 22, the rod side pipe 22a is connected to the rod side oil chamber 4d, and the bottom side pipe 22b is connected to the bottom side oil chamber 4e. In the supply / discharge side pipe 23, the pump side pipe 23a is connected to the pump P, and the tank side pipe 23b is connected to the tank T.

When an operator M who has boarded the workbench 7 operates the operating device 12 to elevate the boom 3, the elevating signal is transmitted to the controller 20. The controller 20, which has received the elevation signal, controls the flow rate of the electrohydraulic servo valve 21 in accordance with the operation amount of the operating device 12, connects the pump side pipe 23a and the bottom side pipe 22b, and connects the tank side pipe 23b. By connecting the rod side pipe 22a to each other, the working oil supplied from the pump P is supplied to the bottom side oil chamber 4e at a predetermined flow rate. As a result, the hoisting cylinder 4 performs the extension operation at the extension speed according to the operation amount of the operation device 12, and raises the boom 3.

Here, the controller 20 is provided with a deceleration means (acceleration adjustment means) 24. The deceleration means 24 controls the operation of the electrohydraulic servo valve 21 when the acceleration of the workbench 7 detected by the acceleration detection means 13 becomes an acceleration equal to or higher than a predetermined predetermined acceleration (outside the predetermined acceleration range). The work table 7 is decelerated.

Next, the operation control of the electrohydraulic servo valve 21 performed by the deceleration means 24 when the acceleration of the workbench 7 exceeds a predetermined acceleration will be described. First, a case where the boom 3 is raised and lowered from the stopped state of the boom 3 will be described. If the time required for the boom 3 to reach the maximum undulation speed is short (acceleration is high), the operator M on the worktable 7 will feel uneasy, and the hydraulic oil in the electro-hydraulic servo valve 21 will be anxious. The specified acceleration is maintained by controlling the flow rate. To maintain this predetermined acceleration, when the acceleration detecting means 13 attached to the workbench 7 detects that the acceleration of the workbench 7 has exceeded the predetermined acceleration, a detection signal is transmitted to the controller 20. The deceleration means 24 provided in the controller 20 performs control (deceleration control) to reduce the flow rate of the hydraulic oil in the electrohydraulic servo valve 21 regardless of the operation signal from the operation means 12.

Here, since there is an individual difference in the acceleration at which the worker feels fear when the workbench 7 is raised or lowered, the predetermined acceleration at which the deceleration means 24 performs deceleration control is manually set by the worker M. It can be set.

Next, the deceleration control when the vertical acceleration of the workbench 7 (the vertical vibration of the workbench 7) occurs at the time of starting and stopping the boom hoisting operation will be described with reference to FIGS. 3 and 4. In addition, it demonstrates. FIG. 3 shows the riding comfort felt by the human body with respect to the vibration frequency and the acceleration, by using the coefficients from 1 to 6. Here, when the riding comfort coefficient is 1, the riding comfort is the best, and when the riding comfort coefficient is 6, the riding comfort is the worst. That is, if the work table 7 has the same frequency, the ride comfort becomes worse as the vertical acceleration (vibration amount) g of the work table 7 increases. Then, when the acceleration g is the same, when the vibration frequency of the workbench 7 is in the range of 6 Hz to 20 Hz, the ride comfort is best at that acceleration g.

FIG. 4 shows the relationship between the frequency and the relative response (feeling of vibration) defined in JIS C-1510, where (A) represents vertical vibration and (B) represents horizontal vibration. ing. That is, when the worktable 7 is vibrating in the vertical direction, it is most sensitive when the vibration frequency is 4 to 8 Hz, and when it is vibrating in the horizontal direction, It is most sensitive when the frequency is 1 to 2 Hz. Therefore, if the relationship with the acceleration g is not taken into consideration, it can be said that the ride comfort becomes poor (the operator M feels uncomfortable) at each of the above frequencies.

When vibration is generated in the up-and-down direction of the workbench 7 at the time of starting and stopping the hoisting operation of the boom 3, the speed reducer 24 is an electrohydraulic servo that provides a ride comfort or a sensation preset by the worker M. The deceleration control in the valve 21 is performed. This deceleration control is based on the relationship between the acceleration obtained when the hoisting operation of the boom 3 is started or stopped and the vibration generated on the workbench 7 based on the result shown in FIG. 3 or FIG. The decelerating means 24 controls the acceleration of the boom 3 when the boom 3 is operated so that M is a vibration of the workbench that gives a comfortable ride or a sensation.

Note that the ride comfort or experience can be manually set by the worker M, and may be set independently. However, as described above, Since the acceleration of the workbench serves as a guideline for the riding comfort or the sensation on the top, the ride comfort or experience should be adjusted to the set value of the acceleration during the boom hoisting operation. Therefore, a uniform boom operating acceleration can be obtained by setting the predetermined acceleration according to the skill level of the work.

For example, when the operator is inexperienced, the acceleration at the start of the hoisting operation of the boom 3 becomes the fastest even though the riding comfort is set to the state where the riding comfort is improved. When the operation device 12 is operated, the work table 7 vibrates so as to make the worker M uncomfortable. Therefore, the deceleration means 24 reduces the acceleration at the start of the hoisting operation of the boom 3 so that the work table 7 vibrates so that the ride comfort of the worker M is best.

Accordingly, particularly when the worker M is unskilled in the work using the aerial work vehicle having the above-described configuration, the predetermined acceleration is set to a low value to allow the worker M to perform the undulating operation. You can eliminate the anxiety of. Further, in the case where the worker M is a skilled worker, it is possible to quickly move to an arbitrary work position by setting a predetermined acceleration quickly, so that work efficiency can be improved. .

It should be noted that in the above-described embodiment, the speed reducing means is used in order to improve the riding comfort or the sensation on the workbench in view of the relationship among various factors such as the hoisting speed of the boom, the flexure of the boom, and the load on the workbench. However, the present invention is not limited to this. In other words, if it is possible to improve the riding comfort or the feeling on the workbench by accelerating the acceleration during operation due to the relationship of each factor, control to increase the acceleration during boom operation by the acceleration adjusting means. May be.

Further, in the above embodiment, the case where the control is performed when the boom is raised and lowered is described, but the present invention is not limited to this, and may be used when the boom is extended and retracted and turned. You can

[0024]

[Effect of device]

 As explained above, the boom hoisting device of the present invention detects the acceleration in the operating direction of the work table by the acceleration detecting means, and when the acceleration of the work table is out of the predetermined acceleration range, the operation signal of the operation device is detected. Regardless of which, the acceleration adjusting means causes the boom to operate so that the acceleration means is kept within a predetermined acceleration range by the operating means. As a result, the boom can be operated at an acceleration such that the ride comfort or experience during the operation of the workbench is the ride comfort or experience of the workbench that is set in advance by the operator. Therefore, the boom can be quickly operated without causing the operator to feel uneasy when the boom is operated.

[Submission date] January 13, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0016

[Correction method] Change

[Correction content]

Next, with reference to FIGS. 3 and 4, the deceleration control in the case where the up-and-down motion of the workbench 7 is repeatedly accelerated (the up-and-down vibration of the workbench 7) at the time of starting and stopping the boom hoisting operation. In addition, it demonstrates. FIG. 3 shows the riding comfort felt by the human body with respect to the vibration frequency and the acceleration, by using the coefficients from 1 to 6. Here, when the riding comfort coefficient is 1, the riding comfort is the best, and when the riding comfort coefficient is 6, the riding comfort is the worst. That is, if the work table 7 has the same frequency, the ride comfort becomes worse as the vertical acceleration (vibration amount) g of the work table 7 increases. And, most ride comfort have you is when the frequency of the work table 7 is in the range of 20Hz from 6Hz to the acceleration g in the case of the same acceleration g is not evil Kunar.

[Brief description of drawings]

FIG. 1 is a piping and wiring diagram showing the configuration of a boom hoisting device according to the present invention.

FIG. 2 is a side view of an aerial work vehicle including the boom hoisting device.

FIG. 3 is a graph showing ride comfort with respect to acceleration and frequency.

FIG. 4 is a graph showing the relationship between frequency and body sensation.

[Explanation of symbols]

 3 Telescopic Boom 4 Elevating Cylinder 7 Work Table 12 Operating Device 13 Acceleration Detection Means 21 Electro-hydraulic Servo Valve

Claims (1)

[Scope of utility model registration request] 1. A boom having at least an up-and-down boom equipped with a worktable on which a worker can freely ride, an operating means for operating the boom, an operating device for controlling the operation of the operating means, and the work. An acceleration detecting means for detecting an acceleration in the operating direction of the table; and when the acceleration of the work table is out of a predetermined acceleration range, the operating means outputs the acceleration regardless of the operation signal of the operating device. A boom operating device comprising: an acceleration adjusting unit that operates the boom to be kept within a range.