JPH10236798A - Boom action control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a boom action control device whereby in whatever boom condition, a work bench can be easily and safely moved to a ground getting-on position or in the vicinity thereof. SOLUTION: In a car body 11 and a work bench 14, getting-on actuating switches 21a, 21b are provided, in a boom 13, derricking, telescopic and turning action is performed by a turn motor 15, boom hoisting cylinder 16 and a telescopic cylinder 17. In a controller, when the getting-on actuating switches 21a, 21b are placed in an on-condition, the turn motor 15, boom hoisting cylinder 16 and the telescopic cylinder 17 are automatically actuated, the boom 13 is made to rise/fall to a specific rise/fall angle, also the boom 13, after turned to a specific turn angle, is extended to a specific extension amount, the work bench 14 is moved to a ground getting-on position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an aerial work vehicle having a boom capable of raising, lowering, expanding and contracting, and turning freely, for easily getting on and off a worktable provided at the tip of the boom. The present invention relates to a boom operation control device.

[0002]

2. Description of the Related Art An aerial work vehicle has a structure in which a turntable that can freely turn horizontally is disposed on a vehicle body, and a boom that can freely move up and down and expand and contract is provided on the turntable. At the tip of the boom, a worktable on which an operator can be mounted is attached, and the operator who moves on the worktable is moved to a desired height by performing the raising / lowering / extending / retracting operation of the boom and the turning operation of the swivel base. be able to. The operation of such a boom is performed by a hydraulic cylinder or a hydraulic motor driven by hydraulic pressure. An operating device for controlling the operation of the hydraulic cylinder and the like is provided on the workbench and the vehicle body.

In such an aerial work vehicle, when the operator gets on and off the work table, the boom is lowered and extended to move the work table to near the ground.
The above-described movement of the work table when the operator gets on the work table is performed by an operator on the ground operating an operation device (hereinafter, referred to as a “lower operation device”) disposed on a vehicle body. Done.

[0004] Each operation of the boom when performing high-altitude work is performed by an operator on the work table operating an operation device (hereinafter referred to as an "upper operation device") provided on the work table. Done. For this reason, the upper operating device is constituted by a lever-type operating device capable of controlling the flow rate of hydraulic oil so that the inching operation of the boom can be performed, so that the moving position of the worktable can be finely adjusted.

[0005]

However, in the aerial work vehicle constructed as described above, the lower operating device is not constituted by a lever-type operating device in order to reduce the price of the working vehicle. It is composed of a simple on / off switch (open / close switch) such as a toggle switch. For this reason, it is difficult to finely adjust the movement amount of the boom by operating the lower operation device,
It is difficult to position the workbench at a position where a worker on the ground can easily get on the workbench.

[0006] Therefore, the boom tilt angle / extension amount and the turning angle of the swivel table when the operator moves the work table to a position where the operator can easily get on the board are stored as the boom state at the ground-mounted position on the work table. 2. Description of the Related Art Conventionally, an aerial work vehicle having a boom operation control device that moves a workbench to a ground riding position by operating one switch has been conventionally known.

[0007] However, in such a boom operation control device, the work table can be moved to the ground riding position only when the boom is in the retracted state. Therefore, this boom operation control device cannot be used when the worker who has been on the platform and is performing high-altitude work moves the platform to the ground-ride position to get off the platform after the work is completed. Was.

In the above-mentioned boom operation control device, the work table is always moved to a predetermined position (the boom is always extended to a predetermined stroke). Therefore, there is a problem that the boom operation control device cannot be used even when there is an obstacle near the final movement position of the work table.

The present invention has been made in view of such a problem, and in any boom state, it is possible to easily place the vehicle at or near the ground riding position.
It is another object of the present invention to provide a boom operation control device capable of safely moving a workbench.

[0010]

In order to achieve the above-mentioned object, a boom operation control device according to the present invention comprises
It controls the operation of a boom that can be freely extended, retracted, or swiveled, and a work table on which an operator can board is arranged on the boom. The vehicle body and the workbench are provided with a switch for a boarding operation, and the boom is raised, contracted, and turned by a boom operating means. Then, when the ride-in operation switch is in the ON state, the controller automatically operates the boom operation means to cause the boom to fall to the prescribed tilt angle and to rotate to the prescribed swing angle, and then extend the boom to the prescribed extension amount. .

[0011] According to the boom operation control device configured as described above, by turning on the on-board operation switch, the boom is lowered or extended, and the work platform is positioned on the ground near the ground. Move to the position. Here, since the boarding operation switch is provided not only on the body but also on the work table, not only when the worker gets on the work table from the ground, but also when the worker gets off the work table after the work is completed. The work table can be easily moved to the ground riding position.

In addition, the movement of the worktable to the ground riding position is finally performed by the extension operation of the boom.
The operator on the work table can easily see the moving direction of the work table, and the moving speed of the work table can be kept constant. For this reason, an obstacle can be easily found, and when an obstacle is found, the operation of the boom can be easily regulated by changing the boarding operation switch from the on state to the off state. .

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. First, an aerial work vehicle equipped with a boom operation control device according to the present invention will be described with reference to FIGS. The aerial work vehicle 1 has a turntable 12 at the front of the body 11 that can freely turn horizontally with respect to the body 11. Are configured freely.

A boom 13 is pivotally supported on the upper part of the swivel table 12 so that the boom 13 can be raised and lowered. The boom 13 is configured telescopically (in a nested manner) by a plurality of boom members, and is configured to freely expand and contract by the expansion and contraction operation of a boom expansion and contraction cylinder 17.

At the tip of the boom 13, a worktable 14, on which an operator can ride, is provided so as to be horizontally pivotable with respect to the boom 13. The worktable 14 has a swivel 1
An upper operation device (not shown) for performing the turning operation control of the second and the operation control of the boom 13 is provided. Also,
The workbench 14 is always maintained in a horizontal state by a leveling mechanism including a leveling cylinder 18 irrespective of the elevation angle of the boom 13.

In the aerial work vehicle 1 constructed as described above, when the aerial work is not performed, as shown in FIG. 1 by a solid line and also in FIG.
The swivel 12 is turned so as to face the rear of the boom 1.
Then, the work table 14 is placed in the storage position above the rear part of the vehicle body 11.

When the worker rides on the work table 14 to perform work at a high place, the boom 13 is lowered and extended to operate the work table 14 as shown by a chain line in FIG.
Is moved to the ground riding position near the ground G.
As described above, the movement of the workbench 14 from the storage position to the ground riding position is performed by operating the ground riding operation switch 21a provided on the vehicle body 11. In addition, the same operation | movement switch 21 is also provided in the workbench 14, and it is used, when the worker who performed high place work gets down from the workbench 14 as mentioned later in detail.

Here, in the aerial work vehicle 1 configured as described above, a tilt 11a extending upward from the upper surface of the vehicle body 11 is provided at a rear portion of the vehicle body 11, and
When the extension operation of the boom 13 is performed as it is from the state where the storage position 4 is in the storage position, the lower surface 14a of the worktable 14 and the tilt 11a
Will interfere with the upper end 11b. For this reason, in the aerial work vehicle 1, the workbench 14 is moved to the vicinity of the ground G by the boom operation control device 3 for getting on the ground without causing the workbench 14 and the tilt 11 to interfere with each other.

The ground-mounted boom operation control device 3 includes:
A controller 30, an up-and-down angle detection sensor 31 that detects an up-and-down angle of the boom 13 with respect to the swivel 12, an expansion and contraction amount detection sensor 32 that detects an amount of expansion and contraction of the boom 13, and a rotation angle of the swivel 12 with respect to the vehicle body 11. And a turning angle detection sensor 33 for performing detection.
The detection signal of No. 3 is transmitted to the controller 30.

The controller 30 includes the undulating cylinder 16
Boom raising valve 34 and boom tilting valve 35 for controlling the expansion and contraction operation of the boom, extension control valve 36 and boom reduction valve 37 for controlling the expansion and contraction operation of the expansion and contraction cylinder 17, and rotation control of the swing motor 15 The turning table right turning valve 38 and the turning table left turning valve 39 are connected, and the operation is controlled based on an operation control signal from the controller 30.

The operation of the swivel base 12 and the boom 13 when the work platform 14 is moved from the stowed position to the ground ride position by the ground riding boom operation control device 3 configured as described above is shown in FIGS. Will be described. The ground riding boom operation control device 3 is performed when the worker M on the ground G turns on the ground riding operation switch 21a (performs an operation of pressing the switch).

When the ground ride-in operation switch 21 is turned on, the operation control of the boom 13 is started by the controller 30. First, the operation control of the boom raising valve 34 is performed to extend the hoist cylinder 16 to extend the hoist cylinder 16. Then, as shown in FIG. 4, the boom 13 is raised up to a specified elevation angle. When the elevation angle detection sensor 31 detects that the boom 13 has risen to the prescribed elevation angle, the operation of the boom elevation valve 34 is restricted to control the operation of the boom 13.
At a prescribed elevation angle. The specified elevation angle is an elevation angle of the boom 13 at which the work table 14 moves to a height at which the worker M standing behind the aerial work vehicle 1 does not contact the bottom surface 14a of the work table 14.

After the boom 13 has reached the prescribed elevation angle, the operation of the boom extension valve 36 is controlled to extend the boom telescopic cylinder 17, and as shown in FIG. 5, the boom 13 is extended to the prescribed extension amount. Then, when the extension / contraction amount detection sensor 31 detects that the boom 13 has been extended to the specified extension amount, the operation control of the boom extension valve 36 is regulated to hold the boom 13 at the prescribed extension amount. In addition,
The specified extension amount is an extension amount of about 2 m in the aerial work vehicle 1.

After the boom 13 reaches the specified extension amount, the operation of the turntable right turn valve 38 is controlled and the turn motor 1 is turned on.
5 to rotate the swivel table 12 to the specified swivel angle as shown in FIG. When the turning angle detection sensor 33 detects that the turning table 12 has turned to the specified turning angle, the operation of the turning table right turning valve 38 is regulated to hold the turning table 12 at the specified turning angle. The specified turning angle refers to the turning angle of the turntable 12 in which the boom 13 is parallel to the vehicle body 11 in the aerial work vehicle 1.

After the swivel table 12 reaches the specified swivel angle, the operation of the boom tilting valve 35 is controlled to control the tilting cylinder 1
6, the boom 13 is laid down to the maximum inclination angle (minimum undulation angle) as shown in FIG. And boom 13
Angle detection sensor 31
When detected, the operation of the boom tilt valve 35 is regulated to hold the boom 13 at the maximum tilt angle.
This maximum inclination angle is a prescribed inclination angle described in the claims.

After the boom 13 has reached the maximum inclination angle, the operation of the boom extension valve 36 is controlled to control the extension cylinder 1
7, the workbench 14 is moved to the vicinity of the ground G by extending the boom 13 as shown in FIG. Then, the boom 1 in which the workbench 14 is located at the ground riding position where the worker on the ground G is easy to board.
When the boom 13 is extended to the specified extension amount, which is the extension amount of the third, the operator operates the ground ride-in operation switch 21a.
Is turned off (by releasing the switch), the extension operation of the boom 13 stops there, and the workbench 14 stops at that position.

In the aerial work vehicle 1, even when the ground ride-in operation switch 21a is kept on (even when the boom 13 has the maximum tilting angle and the maximum amount of extension), the ground G can be maintained. If horizontal, the work table 14 is on the ground G
It is configured not to come into contact with.

According to the boom operation control device 3 for landing on the ground configured as described above, the boom 13 is raised and extended once from the stowed state, so that the boom 13 is located inside the tilt 11a (on the vehicle body 11 side). Workbench 1 located
4 can be moved outside the tilt 11a without interfering with the tilt 11.

Since the extension operation of the boom 13 is stopped when the worker releases his / her hand from the ground ride-in operation switch 21a, when there is an obstacle on the ground G near the ground ride-in position of the workbench 14 or the like, the The work table 14 can be stopped at a desired position even before reaching the ground riding position.

As described above, the final movement of the work table 14 to the ground riding position is performed by the extension operation of the boom 13, so that the final movement of the work table 14 is performed by the fall operation of the boom 13. The moving speed of the worktable 14 can be made slower than in the case. That is, when the fall operation is performed from the state where the boom 13 is extended, the speed (peripheral speed) of the movement of the work table 14 increases, so that the work table 1 is moved.
It is difficult to determine the position of the vehicle 4 on the ground. However, if the positioning of the ground riding position is performed by performing the extension operation of the boom 13 as described above, the positioning speed of the ground riding position can be easily determined because the moving speed of the work table 14 is low. .

In the above embodiment, the work table 1
Although a case has been described in which the vehicle 4 moves from the storage position to the ground riding position, the present invention is not limited to this. That is, in the boom operation control device 3 according to the present invention, as shown by a chain line in FIG. They can also be moved.

That is, when the work table 14 is at the work position, the worker M who is on the work table 14 turns on the ground ride-in operation switch 21b provided on the work table 14. As a result, the controller 30 controls the operation of the boom extension valve 36 or the boom reduction valve 37 to extend or reduce the boom telescopic cylinder 17, and sets the boom 13 to the specified extension amount. In FIG. 9,
This shows a case where the boom 13 is contracted to a specified extension amount.

After the boom 13 has reached the specified extension amount in this manner, as shown in FIG.
Is turned to the specified turning angle, and as shown in FIG.
3 is lowered to the maximum tilting angle, and then the boom 13 is extended as shown in FIG.
To the vicinity of. Then, when the work table 14 is located at a position where the worker M on the work table 14 can easily get off, the worker M turns off the ground ride-in operation switch 21b to stop the work table 14 at a desired position. .

As described above, when the work table 14 is finally moved by the extension operation of the boom 13, if there is an obstacle in the movement direction of the work table 14, the obstacle can be easily found. Therefore, interference between the work table 14 and the obstacle can be prevented. That is, if the final movement of the worktable 14 is performed by the boom 13 falling down, it is difficult for the worker M to see the lower part, which is the moving direction of the workbench 14, so that it is difficult to find an obstacle. Is extended, the moving direction of the work table 14 can be easily seen.

In the aerial work vehicle 1 described above, in order to prevent interference between the tilt 11 and the work table 14, the boom 13 is lowered to a specified tilt angle and the turn table 12 is turned to a specified tilt angle. To raise the boom 13 up to the specified elevation angle.
The raising operation up to the specified raising angle is not necessarily required if there is no risk of interference between the robot and the work table 14.

[0036]

As described above, according to the present invention, the boarding operation switch for performing the boom operation for moving the worktable to the ground riding position which is a position near the ground is provided on the vehicle body and the worktable. Therefore, even when the work platform is moved to a high place to perform work at a high place, if the operator turns on the boarding operation switch provided on the work platform, the work platform can easily be moved. It can be moved to the ground entry position.

Further, the final movement of the worktable to the landing position on the ground is performed by extending the boom. That is, the workbench in the vicinity of the ground moves in a direction in which a worker who is on the workbench can directly observe the workbench. it can.

Further, since the workbench is moved by the boom operation control device according to the present invention when the boarding operation switch is on, the boarding operation switch is turned on when an obstacle is found. The boom operation can be stopped by turning off from the state.

[Brief description of the drawings]

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

FIG. 2 is a block diagram illustrating a configuration of the boom operation control device.

FIG. 3A is a plan view when the boom is in a retracted state in the aerial work vehicle, and FIG. 3B is a side view thereof.

FIG. 4 is a side view showing an operation state of a boom in the aerial work vehicle.

FIG. 5 is a side view showing an operation state of a boom in the aerial work vehicle.

FIG. 6 is a plan view showing an operation state of a boom in the aerial work vehicle.

FIG. 7 is a side view showing an operation state of a boom in the aerial work vehicle.

FIG. 8 is a side view showing an operation state of a boom in the aerial work vehicle.

FIG. 9 is a side view showing an operation state of a boom in the aerial work vehicle.

[Explanation of symbols]

 Reference Signs List 1 aerial work vehicle 11 body 12 turn table 13 boom 14 work table 21 ground-based operation switch

Claims (1)

[Claims] 1. A boom disposed on a vehicle body so as to be able to move up, down, extend, and turn freely, a workbench disposed on the boom to allow a worker to ride thereon, and an up, down, extend, extend, and turn operation of the boom are performed. A boom operating means to perform the operation, a ground ride operation switch provided on the vehicle body and the workbench, and when the ground ride operation switch is in an ON state, the boom operation means is automatically operated to set the boom at a prescribed tilt angle. And a controller that extends the boom to a specified amount of extension and moves the worktable to a ground entry position that is a position near the ground after turning down to a specified turning angle. apparatus.