JPS638200A - Boom housing controller for 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 Industrial Application) The present invention relates to a boom retraction control device for automatically retracting the boom of an aerial work vehicle using a single operating means.

(Prior art) Conventionally, when storing the boom of an aerial work vehicle in a predetermined state, the worker first operated the swing operation lever to swing the swing base to the swing and retraction center position, and then the boom was extended and retracted. An operating means was required for operating the operating lever to retract the boom to the retracted state, and further operating the hoisting operating lever to lower the boom to the retracted angle.

(Problems to be Solved by the Invention) With the boom storage operation means of the conventional aerial work vehicle described above, it is necessary to operate each of the swing operation lever, the telescopic operation lever, and the luffing operation lever, and it is difficult to confirm the positional relationship. There is a problem in that the operation is very troublesome because the difficult turning operation of the swivel base, the retracting operation of the boom, and the lowering operation of the boom must be operated while visually observing each of them.

Therefore, in the present invention, it is a technical problem to solve the problem of automatically storing the boom in a predetermined state by providing a boom retracting operation means and operating only the boom retracting operation means.

(Means for solving the problem) The technical means for solving the above problem is to install a boom retraction control device for an aerial work vehicle with a swivel base on the vehicle body, a swivel drive on the swivel base, and a linear type. In an aerial work vehicle equipped with a telescopically or retractably driven boom, the swivel position detector detects the swivel position of the swivel base and outputs a signal corresponding to the swivel position, and the swivel base stores the boom. A slewing and retracting position detector outputs a signal when the boom is rotated to the center position, a levitation amount detector detects the amount of undulation of the boom and outputs a signal corresponding to the amount of undulation, and a levitation amount detector detects the amount of extension and contraction of the boom. an expansion/contraction amount detector that outputs a signal corresponding to the amount of expansion/contraction; a boom retracting operating means operated when retracting the boom; and detecting the rotation position when an operation signal is input from the boom retracting operating means. Inputs a signal from the swivel unit to recognize the swivel position of the swivel base, outputs a swivel storage signal to the swivel base drive circuit to rotate the swivel base to the swivel storage center position with the minimum rotation distance, and rotates the swivel base. When the swivel base rotates and the signal from the swivel storage position detector is input, it recognizes that the swivel base has rotated to the swivel storage center position and stops outputting the swivel storage signal, and then the boom telescoping drive circuit retracts. output a signal to retract the boom, and when the signal from the extension/retraction amount detector corresponds to the boom retraction state, output the retraction signal and output a lowering signal to the boom hoisting drive circuit. The present invention is configured to include a central control circuit that causes the boom to operate in a lowering position and stops outputting the lowering signal when the signal from the undulation amount detector corresponds to the retracted state of the boom.

(Function) According to the boom retraction control device for an aerial work vehicle having the above configuration, when the boom retraction operation means is operated when the boom is in the non-retraction state, the central control circuit is transmitted from the boom retraction operation means to the central control circuit. An operation signal is output. When the central control circuit receives an operation signal from the boom storage operating means, it receives a signal from the rotation position detector, recognizes the rotation position of the swivel base, and rotates the swivel base at the minimum rotation distance to the swivel storage center position. A rotation storage signal for rotating the rotation table is output to the rotation table drive circuit to rotate the rotation table. After outputting the rotation storage signal, when the signal from the rotation storage position detector is input,
The central control circuit recognizes that the swing base has rotated to the swing storage center position and stops outputting the swing storage signal.

Next, the central control circuit outputs a retraction signal to the boom telescoping drive circuit to retract the boom, and recognizes that the signal input from the telescoping amount detector indicates the boom is in the retracted state. At this time, the output of the retraction signal is stopped, and a lowering signal for lowering the boom is output to the boom hoisting drive circuit to lower the boom, and the signal from the hoisting amount detector corresponds to the retracted state of the boom. When this occurs, the output of the down signal is stopped and the boom retraction is completed.

(Example) Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a side view of an aerial work vehicle equipped with a telescoping boom. As shown in FIG. 1, the body frame 2 of the aerial work vehicle 1
A swivel base 3 is installed on the top, and a boom 6 composed of an outer boom 4 and an inner boom 5 is attached to the swivel base 3. Between the swivel base 3 and the outer boom 4, there is a hydraulically driven hoisting cylinder 7 for hoisting the boom 6.
On the other hand, a hydraulically driven telescoping cylinder 8 is installed inside the outer boom 4 to extend and retract the inner boom 5 . A work platform 9 is attached to the tip of the inner boom 5 on which a worker rides and is provided with an operation box (not shown) for operating the aerial work vehicle 1.

The swivel base 3 is provided with an undulation amount detector 10 consisting of, for example, a potentiometer that detects the amount of undulation of the boom 6 and outputs a signal corresponding to the amount of undulation. A boom storage detector 12 is installed, which is a limit switch that is activated when a striker 11 attached to the inner boom 5 comes into contact with the inner boom 5 when the inner boom 5 is in the most retracted state, that is, when the inner boom 5 is stored in the outer boom 4.

FIG. 2 is a plan view of the body frame 2 of the aerial work vehicle 1, showing a state in which each outrigger 13 is extended. As shown in FIG. 2, on the vehicle body frame 2, there is a semi-circular band-shaped response that detects the rotation position of the swivel base 3 and outputs a signal corresponding to the rotation position. Body 15'A and swivel base 3
When the reactor 15 rotates to the rotation retraction center position, the reactor 15 is integrally formed with a rectangular reactor 15B that is a detected object of the rotation retraction position detector 16, which will be described later and outputs a signal. .

FIG. 3 shows the swivel position detector 14 and swiveling storage position detector 16 attached to the swivel base 3 via the swivel bearing 17 on the vehicle body frame 2, and the reactor 15.
(15A, 15B) is shown from the side. As shown in FIG. 3, while the reactor 15 is mounted on the vehicle body frame 2 via the spacer 18,
On the lower end surface of the swivel base 3, there is provided a proximity type swivel position detector 1.
4 is installed at a position that passes over the reactant 15A so that the reactant 15A can be detected as the rotating base 3 rotates, and
A close-in swiveling storage position detector 16 is mounted at a position capable of detecting the reactant 15B.

FIG. 4 shows an electric control circuit block related to the turning of the aerial work vehicle 1, the raising and lowering of the boom, and the extension and contraction of the boom. As shown in FIG. 4, the electrical control center of the aerial work vehicle 1 includes, for example, a microprocessor CPU, a read-only memory ROM storing program memory, and data generated when controlling the operation of the aerial work vehicle 1. A central control circuit 21 is provided, which includes a random access memory RAM for temporarily storing data, an input interface and an output interface (not shown), and the like.

On the input side of the central control circuit 21, the undulation amount detector 10,
A boom storage detector 12, a rotation position detector 14, and a rotation storage position detector 16 are connected, and a work operation lever and a Zunawara rotation base 3 are connected to the boom storage detector 12, a rotation position detector 14, and a rotation storage position detector 16.
A swing lever 22 that is operated when rotating the boom 6, and a levying lever 23 that is operated when hoisting the boom 6.
Telescopic lever 24 operated when extending and retracting the boom 6
are connected so that their respective operation signals are input to the central control circuit 21. Further, an automatic retraction lever 25 that is operated to automatically retract the boom 6 is connected to the input interface.

On the other hand, on the output side of the central control circuit 21, a drive signal is output to the solenoid of the solenoid valve to open and close each solenoid valve that supplies pressure oil to the hydraulic equipment (not shown) that drives the swivel base 3 and the boom 6. A drive circuit 26 is connected thereto. The drive circuit 26 includes an electromagnetic solenoid 27 for turning to the right, an electromagnetic solenoid 28 for turning to the left, an electromagnetic solenoid 29 for starting the boom, an electromagnetic solenoid 30 for lowering the boom, and an electromagnetic solenoid 30 for lowering the boom, which are connected to the drive circuit 26 . A drive signal corresponding to the output signal from the central control circuit 21 is output to each of the dynamic electromagnetic solenoid 31 and the linear motion electromagnetic solenoid 32 of the boom.

In this embodiment, the swing position detector 14 and the swing storage position detector 16 are of the proximity type, and the boom storage detector 1
2 uses a limit switch, and the undulation amount detector 10 uses a potentiometer, but other types of detectors may be used as long as they can detect the respective states.

Next, the operation of this embodiment will be explained according to the flowchart shown in FIG.

When the worker on the work platform 9 of the aerial work vehicle 1 automatically retracts the boom 6 after completing the required high-altitude work,
When the automatic retraction lever 25 is turned on in step STI, the central control circuit 21 inputs the ON signal of the automatic retraction lever 25 in step ST2 and reads the automatic retraction data for boom automatic retraction stored in the read-only memory ROM in advance. read out. Next, in step ST3, the central control circuit 21 refers to the signal from the rotation position detector 14 and determines whether the rotation position detector 14 is located at the top of the reactant 15A. When the swing position detector 14 outputs an ON signal and determines that the reactor 15A is located at the t position, the work platform 9 is located to the left of the central axis of the aerial work vehicle 1 in the longitudinal direction. On the other hand, when the turning position detector 14 outputs an off signal, it is determined that the workbench 9 is located on the right side.

Next, in step ST4, the central control circuit 21 determines that the swivel platform 3 is at the swivel storage center position with the minimum rotation distance, that is, the swivel storage position detector 16 is located at the reactor 15B based on the swivel position of the work platform 9 determined in the previous step. The drive circuit 2 determines the direction in which the swivel base 3 will rotate to a position directly above the
Output to 6. In step ST5 and step ST6, the drive circuit 26 outputs a drive signal to the right-turn electromagnetic solenoid 27 or the left-turn electromagnetic solenoid 28 of the turning solenoid valve in accordance with the turning control signal output from the central control circuit 21 to turn the turning electromagnetic valve. Open and close the valve and rotate the swivel table 3.

In step ST7, the central control circuit 21 refers to the signal from the swing storage position detector 6 and determines whether the swivel base 3 has rotated to the swing storage center position, and the signal from the swing storage position detector 6 is input. Repeat the decision until you get it right. When the central control circuit 21 determines that the swivel base 3 has swiveled to the swivel storage center position, the central control circuit 21 stops outputting the swivel control signal in steps ST8 to ST11, sets the swivel solenoid valve to neutral, and stops the swivel base 3 from rotating. At the same time, a transport control signal for the linear electromagnetic solenoid 32 of the telescoping solenoid valve is output to the drive circuit 26, and the telescoping cylinder 8 is controlled to transport the inner boom 5.

In step ST12, the central control circuit 21 determines whether the inner boom 5 is in the most retracted state, that is, whether the boom storage detector 12 is on, and when it is determined that the inner boom 5 is in the most retracted state, step 8113~ST
At step 16, the output of the linear movement control signal is stopped to make the telescopic solenoid valve neutral, while a lowering control signal is outputted to the drive circuit 26, which is applied to the lowering electromagnetic solenoid 30 of the raising and lowering solenoid valve. The hoisting cylinder 7 controls the outer boom 4 to move downward.

In step 5T17, the central control circuit 21 refers to the signal from the heave amount detector 10 and determines whether the heave angle of the boom 6 is in the retracted state angle mark, and the boom 6 completes its lowering to the retracted state. Once it is determined that this is the case, in steps 5T18 and ST19, the output of the hoisting motion control signal is stopped, and the hoisting solenoid valve is made neutral, thereby stopping the operation of the hoisting cylinder 7.

As a result of the above-described operations, the boom 6 is automatically moved and laid down in a state in which the swivel base 3 has completed its rotation to the center position of the swivel and retracted position, and is controlled to the retracted state.

Further, in the above operation, after the swinging operation, the retracting operation and the lowering operation of the boom 6 may be controlled simultaneously.

In this example, the boom was explained as being of the linear telescoping type, but in the case of a retractable boom or a combination of telescopic and refracting booms, the undulation amount detector that detects the amount of undulation of the boom and outputs a signal is required. While using the same type as the one in this embodiment, the expansion/contraction amount detector is provided with a limit switch for detecting the refraction state at each refraction stage, for example.
When all limit switches output ON signals,
If the control program is configured to determine that all bending stages have completed bending, the boom can be automatically retracted by the same control as in this embodiment.

(Effects of the Invention) As described above, according to the present invention, since the boom is automatically retracted by operating only the boom retracting operation means, there is no erroneous operation and the time for retracting the boom is shortened. Furthermore, there is an effect that it becomes unnecessary for the operator to confirm the rotation position of the swivel base and the operating position of the boom. Additionally, simultaneous control of the retracting and lowering operations of the boom allows for even faster retraction.

[Brief explanation of drawings]

The drawings relate to embodiments, and FIG. 1 is a side view of the vehicle for aerial work, FIG. 2 is a plan view of the upper part of the body frame of the vehicle for aerial work, FIG. 3 is a partial side view of the vehicle for aerial work, and FIG. 4 is a side view of the vehicle for aerial work. The figure is an electric control circuit block diagram, and FIG. 5 is a control flow diagram. 1... Aerial work vehicle 2... Vehicle body frame 3...
・Swivel base 4... Outer boom 5... Inner boom 6... Boom 7... Lifting cylinder
8... Telescopic cylinder 9... Workbench 10
...Luff M detector 12...Boom storage detector 14...Turning position detector 15.15A, 15B.
・Reactant 16 ・Swivel storage position detector 21 ・Central control circuit 25 ・Automatic storage lever 26 ・Drive circuit 27 ・Electromagnetic solenoid for right rotation 28 ・For left rotation Electromagnetic solenoid 29... Electromagnetic solenoid for starting 30... Electromagnetic solenoid for fall motion 31... Electromagnetic solenoid for extension motion 32... Electromagnetic solenoid for linear motion Applicant Toyota Industries Corporation Representative Patent attorney Hidehiko Okada (external) 3 people) Figure 1 Figure 2 Figure 3

Claims (1)

[Claims] In an aerial work vehicle that is equipped with a swivel platform on the vehicle body and a boom that is driven to raise and lower on the swivel platform and is driven by linear telescoping or retractable telescoping, the system detects the swivel position of the swivel platform and moves it to the swivel position. a swing position detector that outputs a corresponding signal; a swing storage position detector that outputs a signal when the swivel base swings to the swing storage center position where the boom is stored; an undulation amount detector that outputs a corresponding signal; an expansion/contraction amount detector that detects the amount of expansion/contraction of the boom and outputs a signal corresponding to the amount of expansion/contraction; and a boom storage operation means operated when retracting the boom. , when an operation signal is input from the boom storage operation means, input a signal from the rotation position detector to recognize the rotation position of the swivel base, and then rotate the swivel base by a minimum rotation distance to the rotation storage center position. outputs a rotation storage signal to the rotation base drive circuit to rotate the rotation base, and recognizes that the rotation base has rotated to the rotation storage center position when the signal from the rotation storage position detector is input. After stopping the output of the rotation and retraction signal, a retraction signal is output to the boom extension/retraction drive circuit to retract the boom, and when the signal from the extension/retraction amount detector corresponds to the most retracted state of the boom, the retraction signal is output. a central control circuit that stops the output, outputs a down signal to the boom hoisting drive circuit to move the boom down, and stops outputting the down signal when the signal from the hoisting amount detector corresponds to the retracted state of the boom; A boom retraction control device for an aerial work vehicle.