JPS61183100A - 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] [Field of Application of the Invention] The present invention relates to an aerial work vehicle that is equipped with a driver's cab at the tip of an arm and that can move the vehicle body on which the arm is mounted over a wide range depending on the work situation, and in particular, The present invention relates to an aerial work vehicle suitable for high-altitude work, such as cleaning and maintenance of aircraft.

[Background of the invention]

For example, as a conventional aerial work vehicle,
As shown in Japanese Patent Application No. 79, a plurality of booms are supported on a vehicle body such as a truck so as to be able to rotate and move up and down, and a workbench is provided at the tip of each of these booms. Work at heights is then carried out by a worker riding on this workbench.

However, although this work vehicle poses no particular problem when performing simple high-altitude work, it is not preferable when performing detailed cleaning work on aircraft, for example.

That is, the surface of the aircraft body has a complicated curved shape, and cleaning operations require fine control to bring the cleaning brush into contact with the surface of the aircraft body.

Further, the cleaning range is also wide because it moves in the vertical direction and the front-back direction.

(Object of the Invention) An object of the present invention is to provide an aerial work vehicle that can easily perform detailed and wide-ranging aerial work.

[Summary of the invention]

The present invention is characterized in that a worker directly performs fine work while checking with his or her eyes, and at the same time allows a vehicle to travel over a wide range, allowing a small number of workers to perform work in a wide range and at high places.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings.

Figures 1 and 2 show an example in which the aerial work vehicle of the present invention is applied to, for example, aircraft cleaning work.

The work vehicle has an engine section 3. Control device section 4. Water tank part 5
．． It includes a cleaning liquid tank section 9 and the like.

Further, a lower arm 11 is connected to the body of the work vehicle 1 via a pin 12, and the lower arm 11 is rotated about the pin 12 by an actuator 13. Further, an upper arm 15 is connected to the lower arm 11 via a pin 14, and the upper arm 15 carefully rotates the pin 14 by an actuator 16. These upper and lower arms 15.1
1 rotate around pins 14 and 12, respectively, and move in the vertical direction. A driver's cab 18 is connected to the tip of the upper arm 15 via a pin 17, and the driver's cab 18 is always maintained at the water 41 position by the movement of the arm. A cleaning brush 10 for cleaning the underside of the tail of the aircraft is provided in front of the operator's cab 18. This brush 10 is driven by the motor 6 and is moved vertically by seven cutter fins.

The horizontal cross-sectional shape of the outer periphery of the vehicle body of the working vehicle 1 is formed into a circular shape, and a contact sensor 2, for example, for detecting contact with an obstacle is provided on the entire outer periphery of the vehicle body. The reason why the outer periphery of the vehicle body is formed in a circular shape is that when the contact sensor 2 detects contact with an obstacle, the work vehicle 1 can be moved slightly backward.

There is no need to worry about contacting obstacles even if the work vehicle 1 turns on the spot.

In addition, although a contact sensor is used in the embodiment of the present invention,
If it senses the approach to an obstacle.

For example, a distance sensor is preferable to a contact sensor because it eliminates the need for the above-mentioned temporary retreat.

The lower part of the vehicle body of the working vehicle 1 is equipped with tires 8 constituting a plurality of tires 8, and the working vehicle can freely turn in the horizontal direction. Further, in a space formed on the lower side of one work Ia1, as shown in FIG. 2, a storage section 19 is provided so that an arm and a brush can be stored within a height h.

The engine section 3 provides driving power, a control power source,
Provides power for water, pumps, cleaning pumps, actuators, etc.

The control device 4 receives commands from the driver's cab 18 and controls the rotation and posture of the cleaning brush and the position of the arm.

It controls the running of the work vehicle, and at the same time normalizes operation and detects malfunctions based on commands from the contact sensor.

3 and 4 are diagrams showing a drive system for the tires 8. The tires 8 are arranged on both sides of a rotating case 20, and the rotating case 20 is freely rotated by a differential gear 21. FIG. The rotating case 20 also includes a transfer gear 22 connected to the differential gear 21.
is provided, and the tire 8 is rotated via a differential gear 21 by the drive of the motor. Further, the rotary case 20 is rotatably supported by a vehicle body 23, and a lever 25 fixed to the rotary case 20 is operated by driving an actuator 24 to control the rotation axis angle.

FIG. 5 shows the position of the reference point P of the rotating brush 100, and the following equation can be obtained from FIG.

z=b+R1l1nO1+m5in (&2-01)x
= S -Q covθ, +mcos (0, -L) From the above equation, Kinoshita linear motion 2 = constant control and vertical linear motion X = constant control also arm rotation angle θ□,
θ2. This can be done under the control of

FIG. 6 shows another embodiment of the present invention, in which the same reference numerals as in FIGS. 1 to 4 indicate substantially the same parts.

FIG. 5 shows a long leg 26 having a plurality of tires 8 attached to the lower side of the vehicle body 1.

By configuring the vehicle body in this way, the amount of movement of the arm can be particularly reduced, making it easier to clean high places such as aircraft. In addition, the L-plane shape of the aircraft can be easily confirmed visually from the operator's cab provided at the tip of the arm.

〔Effect of the invention〕

According to the present invention, detailed and wide-ranging high-place work can be easily performed.

Therefore, it is highly effective when applied to cleaning work in high places such as aircraft.

[Brief explanation of the drawing]

1 and 2 are a plan view and a side view for explaining the structure of the aerial work vehicle of the present invention, and FIG. 3 is a plan view and a side view for explaining the driving source of the aerial work vehicle of the present invention. 4 is a sectional view taken along line V-IV of FIG. 3, FIG. 5 is a diagram for explaining the positioning pattern in the aerial work vehicle of the present invention, and FIG. 6 is a cross-sectional view taken along line V-IV of FIG. FIG. 3 is a side view showing another embodiment of the aerial work vehicle. 1...Vehicle body, 2...Contact sensor, 3...Engine part (Figure J) 3 Figure V, Figure i

Claims (1)

[Scope of Claims] 1. An aerial work vehicle equipped with a driver's cab at the tip of the arm, which is capable of traveling on the ground in any direction and has a plurality of wheels, and an obstacle detection device provided on the outer periphery of the vehicle body. and a sensor for
An aerial work vehicle characterized by comprising a storage section provided on the lower side of the vehicle body and capable of storing the arm below the height of the vehicle body. 2. The aerial work vehicle according to claim 1, wherein the outer periphery of the vehicle body has a circular planar cross section.