JPS58177899A - Shifter for bench of boom end in height service car - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention has a workbench such as a gondola at the tip of a boom,
The present invention relates to a moving device for a boom end workbench in an aerial work vehicle that can move the workbench at a constant interval along a work surface where painting or welding is performed.

Conventionally, as shown in FIG.
When performing painting or welding on a vertical or nearly curved work surface, a tower 4 is built on the ground 3 on the side of the ship, and workers 5 climb onto it and move sequentially downward or upward. doing work.

Working on such a tower is dangerous, so as a solution to this problem, a gondola 7 is installed at the tip of the pool 6 as shown in Figure 2.
An aerial work vehicle 8 equipped with the following is used.

In this work, the worker is placed on the gondola 7 after the work vehicle 8 is fixed by the outrigger 9, and the swing motor 1 is controlled by the gondola side or the vehicle side control parts 10a and 10b.
1. Move the gondola 7 at the end of the pool 6 from the work box 14 while maintaining a certain distance suitable for the work by operating hydraulically operated equipment such as the undulation cylinder 12 and the telescopic cylinder 13 as appropriate. It is being done.

However, if the work *14 is vertical, for example, simply reducing or expanding the undulating cylinder '12 will cause the gondola 7 to draw an arcuate trajectory and approach or move away from the work surface 14, so the telescopic cylinder 13 will also adjust its extension amount appropriately. Otherwise, the gondola 7 cannot maintain a constant distance from the work surface.

This operation must be performed by the operator while correcting the position of the gondola using the control section, which is disadvantageous in that it takes time and effort to move the gondola, which significantly reduces work efficiency in painting and the like.

The present invention was made in order to solve the above-mentioned problems, and avoids vertical movement of the gondola and correction of the distance between the gondola and the work surface, and maintains a constant distance between the gondola and the work surface. ＼-An object of the present invention is to provide a moving device for a boom end work platform in an aerial work vehicle that can automatically move a gondola.

Its features include a control means that has a reference position command section and a movement command section that are operated by an operator, and a constant distance maintaining means that has a distance sensor and an arithmetic processing section that outputs a control signal based on the signal. The present invention provides a moving device for a boom end work platform in an aerial work vehicle, which is equipped with a hydraulic circuit for operating each hydraulically operated device by the above two means.

Hereinafter, the present invention will be explained in detail based on examples thereof.

FIG. 3 shows that the undulating cylinder 12 is expanded and contracted at a constant speed, and the telescopic cylinder 13 is automatically expanded and contracted at variable speeds in order to maintain a constant distance between the gondola 7 at the tip of the pool 6 and the working side 14. This is a moving device for a boom end work platform in an aerial work vehicle that can move a gondola 7 in a predetermined direction.

This includes a control means 20, a constant distance maintaining means 30, and a swing motor 1 which is a hydraulically operated device 15.
1. The hydraulic circuit 50 that operates the undulating cylinder 12 and the telescopic cylinder 13 is the main component.

The control means 20 is provided on the gondola 7 or the car side, or both as necessary, and is used by an operator to issue a command to move the tip of the pool 6. For example,
A reference position command unit 2 sets the gondola 7 at a reference position 21 (see FIG. 4(a)), which is the starting point of painting on the work surface 14.
2, and a movement command section 23 through which an operator instructs whether or not to automatically move the gondola 7 from this reference position 21.

The reference position command section 22 includes a swing command section 24, an undulation command section 25, which switches directional control valves 51, 52 and flow control valves 53, which are interposed in a hydraulic circuit 50, which will be described later, to operate predetermined hydraulically operated equipment 15. It has an expansion/contraction command section 26, and
An emergency stop command unit 27 is also provided to switch the emergency shutoff valve 54 as necessary.

The constant distance maintaining means 30 includes a distance sensor 31 that is attached to the outer end of the gondola 7 and detects the distance Ll between the gondola 7 and the work surface 14, and a distance sensor 31 that detects the distance Ll between the gondola 7 and the working surface 14, and a distance sensor 31 that detects the distance Ll between the gondola 7 and the working surface 14, and a distance sensor 31 that detects the distance Ll between the gondola 7 and the work surface 14. It has an arithmetic processing section 32 that electrically inputs the opening degree adjustment amount to the flow rate control valve 53.

This distance sensor 31 includes, for example, a rod 34 restably supported on the lower surface of the gondola 7 by a spring 33, as shown in FIG. Lever 36 that changes
A roll 37 supported on the end of the rod 34 is rolled in contact with the work surface 14, and the distance Ll is detected by a horizontal movement device of the rod 34.

Note that this distance sensor 3I may be one that measures the time until receiving an ultrasonic signal using an ultrasonic sensor 38 as shown in FIG. 4(b), and can always detect the distance at a predetermined location. It is fine as long as it is something.

As shown in FIG.
/D conversion 539, central processing bag *42 with read-only memory 40 and random access memory 41, and D/A
The converter 43 receives the voltage change at the potentiometer 35 and outputs a control signal for driving a solenoid of a pilot section 53a of a flow ftT control valve 53, which will be described later.

Note that a pilot lamp 28 from the arithmetic processing section 32 is attached to the control means 20 to indicate that it is operating.

In the hydraulic circuit 5o, a directional switching valve 51, 52 and a flow rate control valve 53 are interposed in each circuit of the hydraulic pump 55 and the hydraulically operated device 15.

This directional control valve 51 is a solenoid valve, and the rotation motor 11
It switches the supply and discharge of hydraulic oil and its direction, and operates based on a command from the swing command section 24 in the reference position command section 22.

The other direction switching valve 52 is for supplying and discharging hydraulic oil to and from the hoisting cylinder 12 to which the pilot check valve 12a is attached, and for switching its direction.
Alternatively, it operates according to a command from the movement command section 23.

Note that a regulation valve 56, which will be described later, is interposed in the circuit between the directional switching valve 52 and the undulating cylinder 12.

The flow control valve 53 is a double pilot check valve 1.
It supplies and discharges hydraulic oil to and from the telescopic cylinder 13 attached with the telescopic cylinder 3a, switches the direction thereof, and further adjusts the amount of oil supplied, and the command from the telescopic command section 26 or the control signal from the constant interval holding means 3o It is operated by.

To briefly describe the flow rate control valve 53, the pilot portion 53a
The hydraulic pressure in the main body 53b is detected as a pilot pressure, and a solenoid driven by a control signal from the arithmetic processing unit 32 adjusts the opening degree of the valve body of the main body 53b to a predetermined value. .

Note that a regulation valve 57, which will be described later, is interposed in the circuit between the flow rate control valve 53 and the telescopic cylinder 13.

The hydraulic circuit 50 described above is also provided with a relief valve 58 for the emergency cutoff valve 54 and means 59 for preventing the boom 6 from falling.

This fall prevention means 59 is designed to prevent the weight of the gondola 7, the boom 6
The movement of the gondola 7 is restricted at the limit position determined by the amount of expansion/contraction and the angle of inclination of the gondola 7, thereby preventing the aerial work vehicle from overturning.

Briefly, the amount of expansion and contraction of the undulation cylinder 12 is detected by the amount of payout of a winding wire, etc., and the amount of expansion and contraction of the telescoping cylinder 13 and a sensor 60 having a potentiometer similar to that used in the distance sensor 31 are detected. Upon receiving the signal from the sensor 61, the arithmetic processing section 62 outputs an opening/closing signal to the regulation valves 56 and 57.

Since the present invention is configured as described above, it can be operated as follows.

First, place the aerial work vehicle at a predetermined location and secure it with outriggers. A worker inside the gondola 7 or on the car side stops the movement command section 23 of the control means 20.
Turning command unit 24 and elevation command unit 25 of the reference position command unit 22
and operates the expansion/contraction command unit 26. Then, the hydraulic equipment 15 is operated, and the gondola 7 at the tip of the boom 6 is installed at the reference position 21, which is the work start position on the work surface 14. At this time, when each lever of the reference position command unit 22 is released, the direction switching valve 5152 and the flow rate control valve 53 are set to the neutral position, the hydraulic circuit 50 is locked, and the swing motor 11, the undulation cylinder 12, and the telescopic cylinder 13 are locked.
stops.

Next, when the work toward the start of work such as painting at the reference position 21 is finished, for example, when painting the work surface 14 below the reference position 21,
The lever of the movement command unit 23 is operated to move in the desired direction.

Upon receiving this command, the directional control valve 52 is switched from the neutral position to the A position, and the undulating cylinder 12 is operated to contract at a constant speed. In response to this operation, when the gondola 7 descends, it begins to approach the work surface 14, but the distance sensor 31 of the constant distance maintaining means 30 detects the distance L1 between it and the work surface 14, and calculates this distance to be [l]. A control signal is input to the flow control valve 53 via the processing section 32 .

In this case, the control signal switches the flow rate control valve 53 to the C position to contract the telescopic cylinder 13 and adjusts the amount of oil fed. When the telescopic cylinder 13 contracts too much, a control signal that is modified to reduce the distance sensor 31 force (the amount of oil sent from the arithmetic processing unit 32 to the telescopic cylinder 13 again according to the detected distance) is sent to the flow control valve 53. Powered.

In this way, the luffing cylinder 12 is contracted at a constant speed, and the gondola 7 and the work surface 14 at the tip of the boom 6 are
By automatically reducing the speed of the telescopic cylinder 13 so as to maintain a constant distance from the work surface 14, the gondola 7 is prevented from approaching or leaving the work surface 14, and the gondola 7 is always kept at a constant distance L1 from the work surface 14. It can be lowered automatically.

On the other hand, when moving the gondola 7 upward, the direction switching valve 52 and the flow control valve 53 are switched to the B position and the D position, respectively, in the same manner as above, and the undulating cylinder 1
The amount of extension of the telescopic cylinder 2 and the telescopic cylinder 13 is controlled, and the gondola 7 can be automatically raised at a constant interval Ll at all times.

Therefore, the operator inside the gondola 7 can continue the painting work without operating the levers of the turning command section 24, the up/down command section 25, and the extension/contraction command section 26 of the control means 20.

The gondola 7 can be stopped by setting the lever of the movement command unit 23 to neutral, and if necessary, by operating the lever of the emergency command unit 27, the emergency shutoff valve 54 activates the full hydraulic operation! ! 15 can also be locked. In addition, since the regulation valves 56 and 57 are operated appropriately by the overturn prevention means 59, the work vehicle will not overturn.

FIG. 6 shows a different embodiment in which the telescoping cylinder 13 is extended and retracted at a constant speed, and the luffing cylinder 12 is automatically extended and retracted at a variable speed in order to maintain a constant distance between the gondola 7 at the tip of the boom 6 and the work surface 14. This is a moving device for a boom end work platform in an aerial work vehicle that can move the gondola 7 in a predetermined direction by moving the gondola 7 in a predetermined direction.

This is similar to the movement command section 2 in the embodiment shown in FIG.
A directional control valve 52 and a flow rate control valve 53, which are operated in response to a command from 3 and a signal from constant interval holding means 30, are replaced with the circuits of telescopic cylinder 13 and undulating cylinder 12, respectively.

According to this embodiment, when the movement command section 23 of the control means 20 is operated, the telescopic cylinder 13 expands and contracts at a constant speed, while the distance sensor 3 of the constant distance maintaining means 30
1 detects the distance L1 from the work surface 14, a control signal is input to the flow rate control valve 53 via the arithmetic processing section 32. Therefore, the amount of oil sent to the undulating cylinder 12 is adjusted, and the gondola 7
approaching or leaving the work surface 14 is avoided.

As a result, in this embodiment as well, the gondola 7 is moved to the work surface 1.
4, it can be automatically raised or lowered at a constant interval L1.

In the above two embodiments, the case where the work surface is vertical has been described, but it goes without saying that the work surface is not limited to this and may be a curved surface.

In addition, if an unmanned workbench equipped with work equipment is installed in place of the gondola at the tip of the boom and operated from a control means on the vehicle side, work can be performed remotely and automatically.

As described in detail above, the present invention has a control means that has a reference position command section and a movement command section that are operated by an operator, and a distance sensor and a calculation processing section that outputs a control signal based on the signal thereof. spacing means;
Since it is equipped with a hydraulic circuit that operates each hydraulically operated device using the above two means, the undulation cylinder or telescopic cylinder is telescopically operated at a constant speed, and the other hydraulically operated device, the telescopic cylinder or the undulating cylinder, is automatically shifted. It can be expanded and contracted.

Therefore, without the operator having to adjust the position of the gondola one by one using the control unit, the work platform and work surface can be maintained at a constant distance and moved automatically, thereby significantly improving the work efficiency of painting, etc. I can do it.

[Brief explanation of the drawing]

Figure 1 is an explanatory diagram of a conventional ship hull painting process, Figure 2 is an installation diagram of an aerial work vehicle, Figure 3 is a diagram of the moving device for the pool end work platform of the present invention, and Figures 4 (a) and (b). ) is an example of a distance sensor mounted on a gondola, and Figure 5 is a configuration diagram of the arithmetic processing unit.
FIG. 6 is a diagram of a moving device for a different booze end work platform. 6... Boom, 7... Gondola, 11... Swivel motor, 12... Lifting cylinder, 13... Telescopic cylinder, 14... Work surface, 15... Hydraulic operating equipment,
20... Control means, 21... Reference position, 2
2... Reference position command section, 23... Movement command section, 30
... Constant interval holding means, 31 ... Distance sensor, 32
...Arithmetic processing unit, 50...Hydraulic circuit, 5152...
- Directional switching valve, 53...Flow control valve, Ll...fixed interval Patent applicant: Kyokuto Kaihatsu Kogyo Co., Ltd. Agent: Patent attorney: Katsutoshi Yoshimura (and one other person) Figure 4 (a) Figure 4 (b) Figure 5

Claims (1)

[Claims] (1) In an aerial work vehicle having hydraulically actuated equipment such as a swing motor, a hoisting cylinder, and a telescoping cylinder that displaces a work platform attached to the tip of the boom, a reference position command unit that sets the work platform to a reference position; A control means having a movement command unit that issues a command to automatically move the workbench from a reference position, a distance sensor that detects the distance between the workbench and the work surface, and a signal from the distance sensor. a constant interval holding means having a calculation processing section that controls the opening degree of the flow rate control valve in response to a command from the reference position command section; A directional switching valve that switches in response to a command from the reference position command section or the movement command section; A hydraulic circuit in which one of the flow rate control valves for adjusting the amount of oil is interposed, and a hydraulic circuit that allows one hydraulically operated device to expand and contract at a constant speed and automatically adjusts the operating speed of the other hydraulically operated device. 1. A moving device for a boom end work platform in an aerial work vehicle, characterized in that the work platform can be moved while maintaining a constant distance from the work surface by adjusting the position.