JPS61238700A - Foldable boom drive control appliance for high place workingcar - 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] Purpose of the Invention (Field of Industrial Application) The present invention relates to a folding type aerial work vehicle, and more specifically, a boom can be automatically moved from a storage position to a predetermined working position using a single operating device. This invention relates to a boom drive control device for moving.

(Prior art) Conventionally, for example, in a folding type aerial work vehicle, a lower boom operating lever for raising/lowering and extending/retracting the lower boom and an upper boom operating lever for raising/lowering/extending/retracting the upper boom are connected to the platform side and the vehicle. provided on each side.

(Problems to be Solved by the Invention) However, the four types of operations of raising/lowering and extending/contracting these operating levers could only be performed individually. Therefore, when moving the platform from the storage position to a predetermined working position, each operating lever must be operated in four different ways, which is complicated and requires skill. As a result, there is a risk of erroneous operation, and it takes a considerable amount of time to move the platform to the predetermined work position.

A first object of the present invention is to solve the above-mentioned problems by automatically guiding the platform from a storage position to a predetermined working position by operating one operating device.
To provide a boom drive control device for a folding type aerial work vehicle which can simplify the movement operation of a platform and can guide the platform to a predetermined working position in a short time.

In addition to the first purpose, the second purpose is to provide a center-folding type that allows the user to appropriately select a desired working position of the platform and automatically move the platform to the selected desired working position. The present invention provides a boom drive control device for an aerial work vehicle.

Structure of the Invention (Means for Solving Problems) In order to achieve the first object, the first invention provides a first undulation for detecting the amount of undulation of a lower boom in a folding type aerial work vehicle. A detection means and a second undulation detection means for detecting the amount of undulation of the upper boom are provided, and an operation starting device is provided for issuing a start command to start moving the platform from its storage position to a predetermined working position.

Furthermore, a storage means is provided that stores up-and-down rotation data of the lower boom and the upper boom for moving the lower boom and the upper boom from the storage position to a predetermined working position. Driving first and second driving means of first and second hoisting cylinders for hoisting and rotating the lower and upper booms based on the detection signals from the first and second hoisting detection means and the hoisting rotation data; The gist of this invention is a center-folding type boom drive control device for high-altitude work, which includes a drive control means for controlling and moving a platform from a storage position to a predetermined work position.

Next, in a second invention, in order to achieve the second object,
A first undulation detection means for detecting the amount of undulation of the lower boom and a second undulation detection means for detecting the amount of undulation of the upper boom are installed in a folding type aerial work vehicle.

Also, a selection operation means for indicating work positions movable from the storage position of the platform and selecting one work position from among the plurality of work positions, and for starting moving the platform to a predetermined work position selected by the selection operation means. An operation starting device is provided to issue a start command for the operation.

Further, a storage means is provided for storing up-and-down rotation data of the lower boom and the upper boom for each work position for moving the lower boom and the upper boom from the storage position to a movable work position, and A first for raising and rotating the lower and upper booms based on the detection signals from the first and second luffing detection means and the luffing rotation data selected by the selection operation means in response to a start command. and boom drive control for a folding type aerial work vehicle, comprising a drive control means for moving the platform from a storage position to a predetermined work position by controlling the first and second drive means of the second undulating cylinder. This describes the gist of the device.

(Function) In the first invention, when the operation starting device is operated, the drive control means responds to a start command from the operation starting device and stores the detection signals from the first and second ups and downs detection means in the storage means. The platform is moved from a storage position to a predetermined working position by driving and controlling the first and second driving means of the first and second hoisting cylinders for hoisting and rotating the lower and upper booms based on the obtained hoisting rotation data. move it to

At 33 in the second invention, after selecting one work position from among a plurality of work positions movable from the storage position of the platform using the selection operation means, the start operation device is operated.

The drive control means, in response to a start command from the operation starting device, reads out from the storage means undulation rotation data corresponding to the work position selected by the selection operation means, and reads that data and the first and second undulation detection means. The lower and upper booms are raised and rotated simultaneously based on the detection signal from 1! 1st and 2nd
The first and second drive means of the luffing cylinder are simultaneously actuated to move the platform substantially linearly from the storage position to the selected working position.

(Example) An example embodying the present invention will be described below with reference to the drawings.

In FIG. 1, a swivel base 4 that can be horizontally swiveled is attached to a swivel seat bearing 3 provided on the rear side of a body frame 2 of a folding type aerial work vehicle 1. The M end portion of the lower outer boom 5 is connected to the swivel base 4 so as to be rotatable in the vertical direction with respect to the co-rotating base 4, that is, to be movable up and down. A hoisting cylinder 6 is provided between the boom 5 and the four 'IJk rotating stands 4, and by operating the hoisting cylinder 6, the lower outer boom 5 is raised and rotated.

A lower inner boom 7 is disposed on the lower outer boom 5 so as to be movable in the longitudinal direction, and the inner boom 7 is telescopically moved by the operation of a first telescopic cylinder 8 also disposed on the lower outer boom 5. It looks like this.

A proximal end portion of an upper outer boom 9 is connected to the distal end portion of the lower inner boom 7 so as to be movable up and down with respect to the inner boom 7 . A second hoisting cylinder 10 is installed on the upper outer boom 9 and the lower inner boom 7, and by operating the second hoisting cylinder 10, the upper outer boom 9 is raised and rotated. An upper inner boom 11 is disposed on the upper outer boom 9 so as to be movable in the longitudinal direction, and the inner boom 11 is extended and retracted by the operation of a second telescopic cylinder 12 also disposed on the upper outer boom 9. ing.

A platform 13 is connected and held at the tip of the upper inner boom 11, and the platform 13 is provided with a control panel 14 as shown in FIG. ]] The lower operation lever 1 is installed on the control panel 1.
5. An upper operating lever 16 and an automatic operating lever 17 as an operation starting device are provided. In addition, the control panel 1 having each of these operating levers 15, 16, and 17
4 is also installed on the swivel base 4, and it goes without saying that it performs the same operations as those described below.

When the lower and upper operating levers 14.15 are tilted forward as shown in FIG. 4, the lower and upper inner booms 7.11 extend (extend), and when they are tilted forward, the inner booms 7.11 extend (extend). 11 retracts (linear motion), when tilted to the left, the lower and upper outer booms 5 and 9 are raised (activated), and when tilted to the right, the outer booms 5 and 9 are folded down (lowered motion).

Further, when the automatic operating lever 17 is tilted forward, the platform 13 is automatically moved from the storage position shown in the second position to the working position shown in FIG.
3 is automatically moved from the working position to the retracted position, and when tilted to the right, the platform 13 is rotated to the left, and when tilted to the left, the platform 13 is rotated to the right.

Next, each undulating cylinder 6.10 and each telescoping cylinder 8,
A hydraulic circuit for operating 12 will be explained with reference to FIG.

The first hydraulic pump 21 and the tank 22a are connected to a first undulation electromagnetic switching control valve 23 and a second expansion/contraction electromagnetic switching control valve 24 as a first driving means.
The undulation electromagnetic switching control valve 24 is connected to the first undulation cylinder 6 via pipes 25a and 25b, and the second expansion and contraction electromagnetic switching control valve 24 is connected to the second undulation cylinder 6 via pipes 26a and 26b. It is connected to the telescopic cylinder 12 of.

When the left electromagnetic solenoid 23a in FIG. 5 is excited, the first undulation electromagnetic switching control valve 23 supplies hydraulic oil from the first hydraulic pump 21 to the cylinder rod chamber 6b of the undulation cylinder 6, The hydraulic oil in the cylinder bottom chamber 6a can be switched to be discharged into the tank 22a.

Also, when the right electromagnetic solenoid 23b is excited, the first
The undulating electromagnetic switching control valve 23 is configured such that hydraulic oil from the hydraulic pump 21 is supplied to the cylinder bom 6a of the undulating cylinder 6, and hydraulic oil from the cylinder [Jrad all 6b is supplied to the tank 22a.
It is designed so that it can be switched so that it is discharged.

That is, when the left electromagnetic solenoid 23a is excited, the lower outer boom 5 moves downward, and the right electromagnetic solenoid 23b
When energized, the lower outer boom 5 is activated, and both solenoids 23a and 23b are de-energized, so that the lower outer boom 5 is held stationary.

The second telescopic electromagnetic switching control valve 24 supplies hydraulic oil from the first hydraulic pump 21 to the cylinder rod chamber 12b of the second telescopic cylinder 12 when the left electromagnetic solenoid 24a is excited. The hydraulic oil in the cylinder bottom chamber 12a can be switched to be discharged into the tank 22a. Further, when the right electromagnetic solenoid 24b is excited, the second telescopic electromagnetic switching control valve 24 supplies hydraulic oil from the hydraulic pump 21 to the cylinder bottom chamber 12a of the telescopic cylinder 12, and the cylinder rod chamber 12b. The hydraulic oil can be switched so that it is discharged into the tank 22a.

That is, when the left electromagnetic solenoid 24a is excited, the upper inner boom 11 moves linearly, and the right electromagnetic solenoid 24a moves linearly.
When b is excited, the upper inner boom 11 extends and moves,
When both solenoids 24a and 24b are de-energized, the upper inner boom 11 is held stationary.

The second hydraulic pump 27 and tank 22b are connected to a second electromagnetic switching control valve 28 for undulation and a first electromagnetic switching control valve 29 for expansion and contraction, which serve as second driving means.
The undulation electromagnetic switching control valve 28 is connected to the second undulation cylinder 10 via pipes 30a and 30b, and the first expansion and contraction electromagnetic switching control valve 29 is connected to the first It is connected to a telescopic cylinder 8.

When the left electromagnetic solenoid 28a is excited, the second hoisting electromagnetic switching control valve 28 supplies hydraulic oil from the second hydraulic bow 1 hoop 27 to the cylinder bottom chamber 10a of the second hoisting cylinder 10, Cylinder rod chamber 10
The hydraulic oil of b is switched so that it is discharged to the tank 221). Moreover, when the right electromagnetic solenoid 28b is excited, the second undulating electromagnetic switching control valve 2
8 is switched so that hydraulic oil from a hydraulic pump 27 is supplied to the cylinder rod chamber 10b of the undulating cylinder 10, and hydraulic oil in the cylinder bottom chamber 10a is discharged to the tank 22.

That is, as soon as the left electromagnetic solenoid 28a is energized, the outer boom 9 on the right side starts, and the electromagnetic solenoid 28a on the right side starts.
When b is energized, the upper outer boom 9 moves downward, and when both solenoids 28a and 28b are de-energized, the upper outer boom 9 is held in the static 1F state.

When the left electromagnetic solenoid 29a is excited, the first telescopic electromagnetic switching control valve 29 transfers the hydraulic oil from the second hydraulic pump 27 to the cylinder bottom chamber 8a of the first telescopic cylinder 8.
The hydraulic oil in the cylinder rod chamber 8b is supplied to the tank 22.
I] can be switched to J: Sea urchin. Also, when the right electromagnetic solenoid 29b is excited,
The first telescopic electromagnetic switching control valve 29 supplies hydraulic oil from the hydraulic pump 27 to the cylinder bottom chamber 8b of the telescopic cylinder 8, and hydraulic oil in the cylinder bottom chamber 8a to the tank 22b.
It is designed so that it can be switched so that it is discharged.

That is, when the left electromagnetic solenoid 29a is excited, the lower inner boom 7 extends and moves, and the right electromagnetic solenoid 29b
When energized, the lower inner boom 7 moves linearly, and when both solenoids 29a and 29b are de-energized, the lower inner boom 7 is held stationary.

Next, the electrical configuration for controlling the switching of each of the electromagnetic switching control valves 23, 24, 28° 29 will be explained with reference to FIG.

A microcomputer 41 serving as a storage means and drive control means includes a central processing unit (hereinafter referred to as CPU) 42, a program memory 43 consisting of a read-only memory (ROM), and a readable and rewritable memory (RAM).
The CPU 42 operates according to a control program stored in the program memory 43.

First and second undulation amount detectors 45 as undulation detection means
．． 46 are the corresponding lower and upper outer booms 5
, 9 is detected, and the undulation detection signals SGI, SG are
2 is output to the CPU 42. and,
Based on this undulation detection signal SG1.3G2, the CPU 42 determines the undulation amount θ of the lower and upper outer booms 5.9 at that time.
d and θU are calculated.

The first and second expansion/contraction amount detectors 47.48 detect the amount of expansion/contraction of the corresponding lower and upper inner booms 7.11, respectively, and the expansion/contraction detection signals SG3. SG4 to CPU 42
It is designed to output to .

Then, the CPU 42 receives this expansion/contraction detection signal SG3°3.
7. Lower and upper inner booms at that time based on G5.
The expansion/contraction amounts Ld and Lu of No. 11 are calculated.

Note that calculations of the undulation amounts θd, θU and expansion/contraction 1tLd, Lu for each detection signal are performed based on data stored in the program memory 43 in advance.

The first lever detector 49 detects the operating positions of the lower operating lever 15, that is, the four operating states of starting operation, lowering operation, extending operation, linear operation, and neutral state, and detects the detection signal SG5. is output to the CPU 42. The second lever detector 5o detects the five operating states of the upper operating lever 16 in the same manner as described above, and sends the detection signal SG6 to the CPU 42.
Output to :ru.

The CPU 42 uses both detectors 49. ．． When a detection signal SG5.8G6 of a starting operation state is input from 50, a starting signal is output for the lower and upper outer booms 5.9, respectively. On the contrary, CPLJ42 detects the detection signal SG5.8 of the prone operation state.
When G6 is input, the solenoids 23a and 28b of the first and second hoisting electromagnetic switching control valves 23 and 28 are energized via the drive circuit 51 to lower the lower and upper outer booms 5 and 9, respectively. Outputs a drive control signal to

Further, the CPU 42 outputs a detection signal SG5.8G of the extension operation state.
6, the solenoids 29a of the first and second telescopic electromagnetic switching control valves 29.24 are operated via the drive circuit 51 to extend the lower and upper inner booms 7.11, respectively.

A drive control signal that excites 24b is output. Conversely,
When the CPU 42 receives the detection signal SG5.8G6 indicating the linear operation state, the CPU 42 detects the lower and upper inner booms 7, respectively.
．． Solenoids 29b of the first and second undulation electromagnetic switching control valves 29, 24, respectively, are actuated via the drive circuit 51 to linearly move the solenoid 11.

A drive control signal that excites 24a is output.

The third lever detector 52 detects the operating position of the automatic operating lever 17, that is, the five operating states of automatic raising operation, automatic lowering operation, left turning operation, right turning operation, and neutral state. A signal SG7 is output to the CP LJ 42.

Then, the CPtJ42 reads out the detection signal SG7 of the automatic raising operation state from the third lever detector 52, and reads out the upper back undulation/stretching data stored in the program memory 43, and based on this data, each of the above-mentioned The electromagnetic switching control valves 23, 24, 28° 29 are switched and controlled.

In this embodiment, the undulation and expansion/contraction data for the second elevation stored in the program memory 43 are stored in the platform 13 in the storage position shown in FIG.
．． 12 is moved along the trajectory R1 shown by the broken line in FIG. 7 to the working position where all the outer booms 12 are fully extended. -Trajectory R1a of Baum 13
When both outer booms 5 and 9 are fully activated (the amount of elevation is ed - θds, θU = θUS), the lower and upper inner booms 7° 11 are extended simultaneously. Prats] - The Baum 13 is fixed to the trajectory R1b, and both inner booms 7.11 are fully extended (the amount of expansion and contraction is L d =
lds, l-LJ = l-LJS).

-h, when the CPU 712 inputs the detection 1i @ S G 7 of the automatic lowering operation state from the third lever detector 52, the CPU 712 selects the lowering undulations and elevations stored in the program memory 43.
The expansion/contraction data is read out, and the electromagnetic switching control valves 23, 24, 28, 29 are switched and controlled based on this data.

In this embodiment, the lowering undulation and expansion/contraction data stored in the program memory 43 are shown in FIG. 1, and are shown in broken lines in FIG. Data for moving along the trajectory R1, first of all, the lower and upper inner booms 7.11
platform 13 in the working position by linearly moving the
along the trajectory R1b, both inner booms 7.1
1 has completed its linear movement (the amount of expansion and contraction is Ld=ldo.

1u=luo), then the lower and upper outer booms 5.9 are simultaneously lowered and the platform 13 is lowered along the trajectory R1a until both outer booms 5, 9 are completely lowered (the amount of heave is θd-θdo, θu=euo).

Furthermore, when the CPU 42 receives the detection signal SG7 indicating the state of a left turning operation or a right turning operation, the CPU 42 controls a hydraulic circuit (not shown) to turn the swivel table 4 to the left or to the right, thereby causing the platform 13 to turn. It has become.

Next, the operation of the aerial work vehicle configured as described above will be explained.

Now, when the automatic operation lever 17 is operated forward with the platform 13 in the retracted position, the detection signal SG7 of the automatic raising operation state is output from the third operation lever 52 at CP t.
Output to J4.2. In response to this detection signal SG7, the CPIJ 42 selects the upper back undulation/expansion data stored in the program memory 43, and based on the same data, firstly controls the first and second undulation electromagnetic switching control valves 23,28. A drive control signal for exciting the solenoids 23b and 28a is output to the drive circuit 51.

Based on the excitation of both solenoids 23b and 28a, the first and second undulation electromagnetic switching control valves 23 and 28 are switched,
The first and second luffing cylinders 6.10 are extended and the lower and upper outer booms 5, 9 are activated. Therefore, the platform 13 moves upward along the trajectory R1a.

In this state, the CPU 42 receives the undulation detection signals SG1. The undulation amounts θd and θ(J) of the lower and upper outer booms 5 and 9 are calculated based on SG2.

Then, the CPU 42 generates each undulation detection signal SG1.

Based on 8G2, the amount of undulation of both outer booms 5 and 9 is θd
-θds, θ1J-θLJ When it is determined that S is reached,
That is, when it is determined that both outer booms 5 and 9 have been completely activated, the CPU 42 activates the solenoid 23b,
28a is de-energized and the first and second undulation electromagnetic switching control valves 23 and 28 are switched to the neutral state, and both outer booms 5
, 9 are held in that state.

Next, the CPU 42 outputs a drive control signal to the drive circuit 51 to excite the solenoids 29a and 24b of the first and second expansion/contraction electromagnetic switching control valves 29.24.

Based on the excitation of both solenoids 29a and 24b, the first and second telescopic electromagnetic switching control valves 29.24 are switched, the first and second telescopic cylinders 8, 12 are extended, and the lower and upper inner booms 7. 11 extends and moves. Therefore, the platform 13 moves upward along the trajectory R1b.

In this state, the CPU 42 similarly outputs the expansion/contraction detection signal SG3 from the first and second expansion/contraction amount detection detectors 47 and 48.
．． The amount of expansion and contraction Ld of the lower and upper inner booms 7.11 from time to time based on 8G4.

Calculating lu.

Then, the CPU 42 determines the amount of expansion/contraction of both inner booms 7.11 based on the respective expansion/contraction detection signals SG3 and SG4.
When it is determined that ds, 1u = l-us, that is, when it is determined that both inner booms 7.11 are fully extended, the CPU 42 assumes that the platform 13 has moved to the working position and activates the solenoids 29a and 24b. De-energized first and second expansion/contraction electromagnetic switching control valves 29.24
switch to the neutral state and hold both inner booms 7.11 in that state.

The platform 13 is therefore automatically and quickly guided from the storage position to the working position almost linearly, ie over the shortest possible distance. Moreover, the platform 13 can be guided to the working position simply by operating the automatic operating lever 17 forward, so the platform 13 can be moved to the working position by sequentially selectively operating the lower and upper operating levers 15 and 16 as in the conventional case. It is much easier to operate than

In addition, when guiding the platform 13 to the working position by conventional operation, it is conceivable to move the platform 13 along the locus R2 or R3 shown in FIG. 7, but in the case of this embodiment, the platform 13 is Since the platform 13 moves almost linearly and the movement of the platform 13 in the front and rear directions is small, the operator feels less fear and anxiety when moving in the front and back direction, especially rearward.

In addition, when moving the platform 13 from the working position to the storage position, the automatic operation lever 17 may be operated toward the user. In this case, the lowering is performed based on the lowering undulation/expansion/contraction data stored in the program memory 43 in response to the automatic lowering operation state detection signal S07 from the third operating lever detector 52.

Based on the same data, the CPU 42 first controls the solenoids 29b and 2 of the first and second expansion/contraction electromagnetic switching control valves 29.24.
A drive control signal for exciting 4a is output to the drive circuit 51.
do.

Based on the excitation of both solenoids 29b and 24a, the first and second telescopic electromagnetic switching control valves 29.24 are switched, the first and second telescopic cylinders 8, 12 are retracted, and the lower and upper inner booms 7. 11 moves linearly. Therefore, the platform 13 moves downward along the trajectory R1b.
'Then, when the CPU 42 determines that the amount of expansion and contraction of both inner booms 7.11 has become 1-d=l-do and lu=luo based on the expansion/contraction detection signal SG3°8G4, that is, both inner booms 7. 7.11 has completed its linear movement, the CPU 42 de-energizes the solenoids 29b and 24a, switches the first and second expansion/contraction electromagnetic switching control valves 29.24 to the neutral state, and switches both inner Hold boom 7.11 in that position.

Next, the CPLI 42 outputs a drive control signal to the drive circuit 51 to excite the solenoids 23a and 28b of the first and second undulation electromagnetic switching control valves 23.28.

Based on the excitation of both solenoids 23a and 28b, the first and second electromagnetic switching control valves 23.28 for hoisting are switched, the first and second hoisting cylinders 6.10 are retracted, and the lower and upper outer booms 5.9 are retracted. is lying down. Therefore, the platform 13 moves downward along the trajectory R1a.

Then, the CPU 42 outputs the expansion/contraction detection signal SG1°8G2.
Based on
When I judged that O9θU-θKame became 0,
When it was determined that both outer booms 5.9 were completely lying down,
Assuming that the platform 13 has moved to the storage position, the CPU 42 de-energizes the solenoids 23a and 28b, switches the first and second luffing electromagnetic switching control valves 23 and 28 to a neutral state, and moves both outer booms 5 and 9 to their neutral states. hold in state.

The platform 13 is therefore guided automatically and in short distances from the working position to the storage position in a substantially straight line movement, i.e. over the shortest possible distance, as before. Moreover,
By operating the automatic operating lever 17 forward, the platform 13 can be guided to the storage position.
The operation is much simpler than the conventional method in which the lower and upper operating levers 15, 16 are sequentially selected and moved to the working position.

Furthermore, when guiding the platform 13 to the storage position using conventional operations, in the case of this embodiment, the movement of the platform 13 in the front and back direction is small, as described above, so that it does not give the operator a sense of fear and anxiety. few.

Note that in this embodiment, the first and second hydraulic pumps 21.2
2 is used to supply hydraulic oil to each corresponding cylinder, however, this may be done using a single hydraulic pump.

Next, a second embodiment of the invention will be described.

In the embodiment described above, the platform 13 is automatically guided along the trajectory R1 between the storage position and the first working position shown in FIG. A plurality of work positions can be freely selected and the platform 13 is automatically guided between the selected work positions. Therefore, in this embodiment, the means for selecting a plurality of working positions and the undulation/extension data for raising and lowering for moving the platform 13 between the storage position and the plurality of working positions are provided for each of the plurality of working positions. Setting (
) The configuration of the aerial work vehicle 1 is simply a matter of differences.
Since the configuration of the hydraulic circuit and the configuration of the electric block circuit are the same as in the previous embodiment, only the different configurations will be described for convenience of explanation.

FIG. 10 shows a grid-shaped map 61 showing the movement range of the platform 13, which is displayed on the control panel 14 in this embodiment. The map 61 shows the storage position 1-IP of the platform 13, and also shows the storage position 1-IP of the platform 13.
A movable range Z of the platform 13 is indicated by a dotted chain line. Then, there is a number N in the square within the movable range Z.
, and the number N indicates each of the 88 work positions that the platform 13 can guide. Then, a predetermined work position is selected by using a ten key (not shown) which, together with the map 61, constitutes a selection operation means at an adjacent position of the map 61.

On the other hand, the program memory 43 stores ascending and descending undulation/extension data for each of the 88 working positions. The data created for each working position is data for moving the platform 13 by the shortest distance between the working position and the storage position, as in the previous embodiment.

After specifying a desired working position with the numeric keypad, if the automatic operation lever 17 is operated, the CPU 42 reads out the elevation/stretching data for elevation corresponding to the working position specified with the numeric keypad, and based on the same data, The platform 13 is guided to a predetermined working position by switching control of each control valve 23, 24, 27, 28 while calculating the amount of elevation and expansion/contraction of each boom 5, 7, 9, 11.

In addition, when moving from the working position to the storage position, if you specify the current working position with the numeric keypad and operate the automatic operation lever 17, the CPU 42 will read out the specified lowering undulation/extension data in the same way as above. , based on the same data, the platform 13 is guided to the storage position by the shortest distance.

In this way, in this embodiment, in addition to the effects of the previous embodiments, movement from the storage position to a desired work position and movement from each work position to the storage position can be appropriately selected by simply operating the numeric keypad.

In the case of each of the above embodiments, a center-folding type aerial work vehicle is provided with lower and upper inner booms 7 and 11, and both of the booms 7 and 11 can be extended and contracted. It may also be embodied in a folding type aerial work vehicle that does not have an inner boom.

Effects of the Invention As detailed above, according to the first invention, since the platform is automatically guided from the storage position to the predetermined working position using one operating device, it is possible to easily move and sweep the platform. In addition, it has the advantage of being able to guide the platform to a predetermined working position in a short time.

Further, according to the second invention, since the desired working position of the platform can be appropriately selected, in addition to the effects of the first invention, the platform is automatically moved to the selected working position. It has excellent effects.

[Brief explanation of the drawing]

Figure 1 is a side view of a folding type aerial work vehicle that embodies this invention, Figure 2 is a side view showing the platform in a retracted state, and Figure 3 is a side view of each operating lever provided on the control panel. FIG. 4 is a plan view of each operating lever, FIG. 5 is a hydraulic circuit diagram of the boom drive device, and FIG.
The figure is an electric block circuit diagram of the boom drive control device, Figure 7 is a diagram showing the movement trajectory of the platform, Figures 8 and 9
The figure is a flowchart for explaining the operation of the boom drive control device, and FIG. 10 is a map diagram for explaining the second embodiment of the present invention. In the figure, 1 is an aerial work vehicle, 5 is a lower outer boom, 6 is a first hoisting cylinder, 7 is a lower inner boom, 8 is a first telescopic cylinder, 9 is an upper outer boom, and 10 is a second hoisting cylinder. cylinder, 11 is the upper inner boom, 12 is the second telescopic cylinder, 13 is the platform, 17 is the automatic operating lever, 23 is the first electromagnetic switching control valve for uphilling, 24 is the second
, 28 is a second undulating electromagnetic switching control valve, 29 is a first extending/contracting electromagnetic switching control valve, 41 is a micro combi coater, 42 is a central processing unit (CPU),
42 is a program memory, 45.46 is a first and second undulation amount detector, 47.4.8 is a first and second expansion/contraction amount detector, 52 is a third lever detector, and 61 is a map. be.

Claims (1)

[Claims] 1. A lower boom whose base end is pivotally connected to the vehicle body; an upper boom whose base end is pivotally connected to the tip of the lower boom; and the tip of the upper boom. a platform that is connected and held; a first luffing cylinder that raises and rotates the lower boom with respect to the vehicle body; a first driving means that drives the first luffing cylinder; and a lower boom that connects the upper boom to the lower boom. In a folding type aerial work vehicle comprising a second hoisting cylinder that is rotated up and down relative to a vertical axis, and a second drive means that drives the second hoisting cylinder, the amount of hoisting of the lower boom is detected. a first undulation detection means; a second undulation detection means for detecting the amount of undulation of the upper boom; and an operation starting device that issues a start command to start moving the platform from its storage position to a predetermined working position. , a storage means storing up-and-down rotation data of the lower boom and the upper boom for moving the lower boom and the upper boom from the storage position to a predetermined working position; Based on the detection signal from the second undulation detection means and the undulation rotation data, the first and second drive means of the first and second undulation cylinders are simultaneously driven and controlled to move the platform from the storage position to a predetermined working position. A boom drive control device for a mid-folding type aerial work vehicle, comprising a drive control means for moving the vehicle almost in a straight line. 2. The up-and-down rotation data stored in the storage means is drive data of the first and second drive means for moving the platform from the storage position to the predetermined working position along the shortest trajectory.Claim 1 Boom drive control device for the above-mentioned folding type aerial work vehicle. 3. The lower boom includes a lower outer boom that is pivotally connected to the vehicle body, and a lower inner boom that is movable in the longitudinal direction with respect to the outer boom and expands and contracts with a first telescopic cylinder that is installed on the outer boom. The upper boom consists of an upper outer boom pivotally attached to the tip of the lower inner boom, and a second telescopic cylinder arranged to be movable in the longitudinal direction with respect to the outer boom and arranged on the outer boom. 2. A boom drive control device for a folding type aerial work vehicle according to claim 1, comprising an upper inner boom that extends and retracts. 4. The up-and-down rotation data stored in the storage means is drive data for the first and second drive means for moving the platform from the storage position to the predetermined work position in the shortest trajectory;
third and fourth cylinders that drive the first and second telescopic cylinders;
3. The center-folding type high place according to claim 3, wherein the drive control means drives and controls the first to fourth drive means based on both of the data. Boom drive control device for work vehicles. 5. A lower boom whose base end is pivotally attached to the vehicle body, an upper boom whose base end is pivotally attached to the tip of the lower boom, and a platform connected and held to the tip of the upper boom. , a first hoisting cylinder that raises and rotates the lower boom with respect to the vehicle body; a first drive means that drives the first hoist cylinder; and a first hoisting cylinder that rotates the upper boom with respect to the lower boom. and a second driving means for driving the second hoisting cylinder. a second undulation detection means for detecting the amount of undulation of the upper boom; and a selection operation means for indicating work positions movable from the storage position of the platform and selecting one work position from among the plurality of work positions. , an operation start device that issues a start command to start moving the platform to a predetermined work position selected by the selection operation means; and the lower boom and upper boom for moving the platform from the storage position to a movable work position. a storage means that stores boom up-and-down rotation data for each work position; and detection signals from the first and second up-and-down detection means and the selection operation means in response to a start command from the operation starting device. Drive control means for simultaneously driving and controlling the first and second drive means of the first and second hoisting cylinders based on the selected hoisting rotation data to move the platform substantially linearly from a storage position to a predetermined working position. A boom drive control device for a mid-folding aerial work vehicle. 6. A patent claim in which the up-and-down rotation data for each work position stored in the storage means is drive data for the first and second drive means for moving the platform from the storage position to the work position in the shortest trajectory. A boom drive control device for a folding type aerial work vehicle according to item 5. 7. The lower boom includes a lower outer boom that is pivotally connected to the vehicle body, and a lower inner boom that is movable in the longitudinal direction with respect to the outer boom and expands and contracts with a first telescopic cylinder that is installed on the outer boom. The upper boom consists of an upper outer boom pivotally attached to the tip of the lower inner boom, and a second telescopic cylinder arranged to be movable in the longitudinal direction with respect to the outer boom and arranged on the outer boom. 6. A boom drive control device for a folding type aerial work vehicle as set forth in claim 5, comprising an upper inner boom that extends and retracts. 8. The up-and-down rotation data for each work position stored in the storage means includes drive data for the first and second drive means for moving the platform from the storage position to the work position in the shortest trajectory, and the first and drive data for third and fourth drive means for driving the second telescopic cylinder, and the drive control means drives and controls the first to fourth drive means based on both data. A boom drive control device for a folding type aerial work vehicle according to claim 5.