KR101286589B1 - Horizontal supporting system of basket for truckcrane - Google Patents

Abstract

PURPOSE: A balancing system of a basket for an aerial work vehicle is provided to balance a basket by stabilizing the shaking of a sensor and correcting deflection caused by a work weight and drawing distance. CONSTITUTION: A balancing system of a basket for an aerial work vehicle comprises a hydraulic balancing cylinder (40), a horizontal flow rate control valve (41), first and second tilt sensors (51,52), and a micro controller (53). The hydraulic balancing cylinder is horizontally coupled to the end of a bending boom, and the end thereof is coupled to a basket to balance the basket. The horizontal flow rate control valve controls a flow rate supplied to the hydraulic balancing cylinder to balance the basket. The first and second tilt sensors are installed in the basket and sense the inclination of the basket. The micro controller controls the operation of a main boom and the bending boom depending on the sensed inclination. [Reference numerals] (AA,CC) Input; (BB,DD,NN,PP) Electric signal; (EE,II) Stop mode; (FF,QQ) First reference value; (GG) Deceleration mode; (HH,RR) Second reference value; (JJ) Third reference value; (KK) Point control mode; (LL,SS) Fourth reference value; (MM,OO) Output; (TT,UU) Hydraulic pressure; (VV) Stop; (WW) Deceleration; (XX) Automatic horizontality

Description

HORIZONTAL SUPPORTING SYSTEM OF BASKET FOR TRUCKCRANE}

The present invention relates to a vehicle level maintenance system of the aerial vehicle, and more particularly, a turntable installed to be rotatable, a main boom coupled to an upper end of the turntable and configured to be pulled out in multiple stages; A collapsible boom which is foldably coupled, a main boom relief hydraulic cylinder for driving the main boom, a refraction adjustment hydraulic cylinder for driving the refraction boom, and a main boom relief adjustment hydraulic cylinder and a refraction adjustment hydraulic cylinder In the vehicle level maintenance system of the aerial work vehicle comprising a main flow rate control valve for adjusting the flow rate, and the boarding coupled to the articulated boom, the board is horizontally coupled to the end of the articulated boom, the end is the boarding A horizontally adjusted hydraulic cylinder coupled to the ship and maintaining the level of the ship; A horizontal flow rate control valve for adjusting a flow rate supplied to the horizontal control hydraulic cylinder to maintain the level of the boarding plane; And a micro controller installed in the board and controlling the operation of the main boom and the refraction boom according to the inclination sensed by the first and second tilt sensors repeatedly detecting the inclination of the board and the first and second tilt sensors. The first tilt sensor detects a first reference value that is an angle at which the inclination of the vehicle is outside a preset reference angle, and a second reference value corresponding to an angle smaller than a predetermined distance from the reference angle within the reference angle. The tilt sensor detects a third reference value at which the inclination of the vehicle has an angle smaller than a predetermined distance from the center within a preset reference angle and repeats vibration for one second, and a fourth reference value within a preset reference angle, and the micro The controller operates the main boom and the articulation boom when the inclination of the vehicle sensed by the first and second tilt sensors is a fourth reference value. In the case of the second reference value, the driving speed of the main boom and the articulation boom is slowed down, and in the case of the first reference value, the operation of the main boom and the articulation boom is stopped. A horizontal maintenance system of a multi-stage pull-out refraction aerial vehicle characterized in that the stop.

Specially equipped vehicles with telescopic multi-stage booms, such as aerial work trucks, cranes or ladders, are generally designed to allow telescopic operations of the multi-stage booms to interlock with each other in order to distribute and support loads at each stage of the multistage booms. to be.

To this end, as illustrated in FIG. 1, the conventional multi-stage boom 10 of the aerial work vehicle 20 is provided with booms that are stretched in multiple stages, and a first stage boom that is the lowest boom is pivotally installed on the vehicle, and the first With respect to the step boom, the second step boom is provided to be stretchable by the hydraulic cylinder.

Here, the lower end of the first step boom is rotatably connected to the base portion supporting the telescopic multi-stage boom, the base portion is configured to support the telescopic multi-stage boom.

And, the base portion is connected to the derrick cylinder 21 for rotating in the vertical direction of the telescopic multi-stage boom.

In more detail, the derrick cylinder 21 has a lower end connected to the base part and an upper end connected to the first step boom, thereby adjusting the angle of the stretchable multi-stage boom 10.

On the other hand, the telescopic multi-stage boom 10 is provided with a boom linkage device for stretching the third stage boom to fifth stage boom in conjunction with the second stage boom when the second stage boom is stretched by the hydraulic cylinder.

Accordingly, the boom linkage extends and contracts the booms of other stages in conjunction with the second stage boom when the second stage boom is stretched by the hydraulic cylinder.

However, in the conventional telescopic multistage boom, the telescopic multistage boom is used to closely attach the cargo work platform 30 provided on the fifth boom, which is the uppermost boom, to a predetermined position of the building, or to change the short distance position of the work platform 30. Since the angle and extension length of the boom itself must be adjusted, the operation of the telescopic multi-stage boom is inconvenient and there is a problem that an accident such as hitting the building wall when the position is changed.

In addition, in the conventional telescopic multistage boom, when the operator wants to change the telescopic length of the telescopic multistage boom while working on a height at a predetermined height, the second stage boom must be stretched and contracted using the hydraulic cylinder. There is a problem in that a hydraulic cylinder having a capacity is required and excessive working load is applied to the boom linkage.

In order to solve this problem, Korean Patent No. 10-0839627 discloses a "multi-stage boom of aerial work vehicle" is disclosed.

The aerial work vehicle is installed in the main boom to further install the articulated boom to work in close contact with the appropriate location of the building was able to solve the conventional problems.

On the other hand, the aerial work vehicle is required to maintain the level of the boarding because it is raised to the high position by tensioning the main boom and the refraction boom in a state where the operator is boarded on the work table (hereinafter referred to as the boarding), various forms for this Leveling method and apparatus have been developed.

As an example of this, Korean Air Patent Application Publication No. 10-2011-0129562 discloses a "high level vehicle level maintenance device".

Referring to FIG. 2, the horizontal holding device is a horizontal holding device installed between the boom and the boarding box to adjust the level of the boarding board connected to the boom of a high-altitude vehicle, wherein one side of the boarding box is coupled to the boarding box. A boarding box connection part provided with a horizontal adjustment gear on the other side to maintain a horizontal level; A control unit mounted on the board connection unit and controlling a driving motor by receiving a sensing means for sensing the inclination of the boarding vehicle and a sensing signal received by the sensing means; A driving motor which generates a driving force for rotating the horizontal adjustment gear while being operated by a control signal by the controller; One side is coupled to the drive motor to reduce the driving force, the reducer is connected to the horizontal adjustment gear via a drive gear coupled to the other side, the reducer and the drive motor is mounted, one side is coupled to the end of the boom And, the other side is made of a boom bar connecting portion that is coupled to the horizontal adjustment gear of the boarding box connection, the sensing means is coupled to the gear connecting plate of the boarding connection, a plurality of flows inside to sense the level of the boarding A U-shaped horizontal control tube 30 having a ball 31 therein; It is provided between the both ends of the horizontal control tube consisting of a sensor 33 for detecting the horizontal of the floating ball, the purpose of maintaining the level by detecting the inclination of the boarding through the movement of the plurality of floating balls.

However, the conventional general leveling device including the leveling device has a problem in that power cannot be transmitted in the method of extending the articulated boom in multiple stages, and the automatic leveling method by the sensor depends on expensive imported goods. The automatic sensor leveling method is a horizontal sensor attached to a part of the boarding area as the angle changes, so that the level of the boarding plane due to the late level of the boarding or the shaking of the sensor in the process of automatic leveling An insecure disadvantage was discomfort that gave workers anxiety at higher levels.

The present invention is to solve the problems as described above, in the aerial work vehicle including the main boom and articulated boom, the sensor where the external factors such as mechanical shaking of the boarding box or vibration according to the passenger's work type can be minimized It is to provide a system that keeps the level of the boarding ship so that the passengers do not feel anxious by always keeping the vibration of the sensor stable and correcting the sag according to the work weight and withdrawal distance.

In order to solve the above problems, the present invention provides a turntable rotatably installed, a main boom coupled to an upper end of the turntable and configured to be pulled out in multiple stages, and a refraction boom foldably coupled to the main boom; Main flow control valve for adjusting the flow rate supplied to the main boom relief hydraulic cylinder for driving the main boom, the refraction control hydraulic cylinder for driving the articulated boom, the main boom relief control hydraulic cylinder and the refraction control hydraulic cylinder And a boarding machine horizontal maintenance system of an aerial work vehicle including a boarding box coupled to the articulated boom, the horizontally coupled end of the articulated boom and the end of which is combined with the boarding board, Leveling hydraulic cylinder to maintain the; A horizontal flow rate control valve for adjusting a flow rate supplied to the horizontal control hydraulic cylinder to maintain the level of the boarding plane; And a micro controller installed in the board and controlling the operation of the main boom and the refraction boom according to the inclination sensed by the first and second tilt sensors repeatedly detecting the inclination of the board and the first and second tilt sensors. The first tilt sensor detects a first reference value that is an angle at which the inclination of the vehicle is outside a preset reference angle, and a second reference value corresponding to an angle smaller than a predetermined distance from the reference angle within the reference angle. The tilt sensor detects a third reference value at which the inclination of the vehicle has an angle smaller than a predetermined distance from the center within a preset reference angle and repeats vibration for one second, and a fourth reference value within a preset reference angle, and the micro The controller operates the main boom and the articulation boom when the inclination of the vehicle sensed by the first and second tilt sensors is a fourth reference value. In the case of the second reference value, the driving speed of the main boom and the articulation boom is slowed down, and in the case of the first reference value, the operation of the main boom and the articulation boom is stopped. It characterized in that to stop.

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In addition, the first reference value is -7,5 ° or less and 7.5 ° or more, the second reference value is -7.4 ° to -5 ° and 5 ° to 7.4 °, the third reference value is within the range of -3 ° to 3 ° The vibration is repeated for 1 second at, and the fourth reference value is -7.4 ° to 7.4 °.

In the present invention made as described above, in the aerial work vehicle including the main boom and the refraction boom, the sensor is shaken by attaching the sensor to a place where the external factors such as the mechanical shaking of the boarding box or the vibration according to the work type of the occupant can be minimized. It keeps stable and compensates the deflection according to the working weight and drawing distance, so that the occupants can always be level so that they do not feel anxious.

In addition, the first and second tilt sensor continuously detects the inclination of the boarding, so that it is possible to quickly respond to the change in the angle can increase the work efficiency and prevent the safety accident.

1 is an exemplary view showing a conventional aerial vehicle equipped with a main boom and a refraction boom.
Figure 2 is an illustration of a horizontal maintenance device for the horizontal maintenance of the boarding of a conventional aerial vehicle.
Figure 3 is an exemplary view of the aerial vehicle according to the invention.
Figure 4 is a flow chart for explaining a horizontal maintenance system of the boarding board according to the present invention.
Figure 5 is an exemplary view showing a detection range of the first tilt sensor and the second tilt sensor for the inclination of the passenger board according to the present invention.

Hereinafter, exemplary embodiments will be described based on embodiments best suited to an understanding of the technical features of the present invention, and the technical features of the present invention are not limited by the illustrated embodiments, And that the present invention may be implemented with other embodiments. Therefore, it is intended that the present invention covers the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. In order to facilitate understanding of the embodiments to be described below, in the reference numerals shown in the accompanying drawings, among the components that perform the same function in the embodiments, the related components are denoted by the same or an extension line number.

In order to help the understanding of the features of the present invention as described above, it will be described in more detail with respect to the horizontal maintenance system of a multi-stage pull-out articulated aerial vehicle associated with the embodiment of the present invention.

The present invention relates to a horizontal maintenance apparatus of the boarding box provided in the aerial vehicle.

First, the aerial work vehicle 10 according to the present invention includes a turn table 11 installed to be rotatable at the rear of the vehicle, a main boom 20 coupled to an upper end of the turn table and configured to be pulled out in multiple stages. It includes, the articulated boom 30 is foldably coupled to the main boom 20, and comprises a boarding box 50 is coupled to the articulated boom.

In addition, the aerial work vehicle 10 has a main boom relief hydraulic cylinder 21 for driving the main boom 20, a refractive control hydraulic cylinder 31 for driving the refraction boom 30 and the refraction. It is installed to connect the boom 30 and the boarding box 50, and the leveling hydraulic cylinder 40 which is driven to maintain the level of the boarding box is further installed.

The main boom ups and downs hydraulic cylinder 21 is hinged to the lower portion of the main boom for raising or lowering the main boom 20, the operation through the fluid supplied from the hydraulic tank (not shown) provided in the vehicle do.

The refraction control hydraulic cylinder 31 is coupled to the lower portion of the refraction boom 30, the rod of the cylinder is installed so that the refraction boom can be folded by connecting both ends of the main boom 20 and the refraction boom 30 Is coupled to the link member 32 is hinged, and the rod of the cylinder through the fluid supplied from the hydraulic tank exits or returns to the original state to adjust the angle of refraction of the refraction boom.

The horizontally adjusted hydraulic cylinder 40 is horizontally coupled to the end of the articulated boom 30, the rod of the cylinder is coupled to the boarding and hinged via the connector 42 coupled to one side of the boarding (50) do.

The connector 42 is hinged to the boarding box 50 to maintain the level of the boarding when the rod of the leveling hydraulic cylinder 40 is released or returned to its original state.

On the other hand, the aerial work vehicle 10 has a flow rate supplied to the main flow control valve 22 and the horizontal control hydraulic cylinder 40 for adjusting the flow rate supplied to the main boom relief hydraulic cylinder (21) A horizontal flow control valve 41 for adjusting is installed, the first tilt sensor for repeatedly detecting the inclination of the boarding box 50 of the boarding box 50 converts the deviation angle from a preset reference angle into an electrical signal and sends it out. And the inclinations of the second and second tilt sensors 52 and 50 of the boarding box 50 transmitted from the first and second tilt sensors 51 and 52, and calculating an average value of the inclinations collected from each sensor. It comprises a micro-controller (53).

Referring to FIG. 3, since the boarding box 50 is coupled to the articulation boom 30 through the connector 42, the boarding box 50 is fixed in the horizontal direction and tilted through the connector in the vertical direction. The first and second tilt sensors 51 and 52 are sensors for measuring the inclination of the vehicle 50 and are positive when the vehicle is inclined upward based on a horizontal state of the vehicle, that is, 0 °. As a value (or negative value), when tilting downwards, it is measured as a negative value (or positive value).

The microcontroller 53 is coupled to the vehicle 50, collects the inclination of the vehicle detected by the first and second tilt sensors (51, 52) to calculate the average value and then calculate the average value of the electrical signal After conversion to the main flow control valve 22 and the horizontal flow control valve 41 is sent out.

Since the first and second tilt sensors 51 and 52 and the microcontroller 53 are electrically connected to each other, the first and second tilt sensors 51 and 52 may be installed on the boarding box so that the separation distance is not far from each other to facilitate transmission and reception of electrical signals.

Referring to FIG. 5, the first tilt sensor 51 detects a first reference value or a second reference value of the inclination average value of the vehicle 50, and the second tilt sensor 52 detects the vehicle 50. ), The average value of the slope detects the third reference value or the fourth reference value, wherein the first reference value is -7,5 ° or less and 7.5 ° or more, and the second reference value is -7.4 ° to -5 ° and 5 ° to 7.4 °, the third reference value is a vibration is repeated for 1 second in the range of -3 ° ~ 3 °, the fourth reference value is -7.4 ° ~ 7.4 °.

In addition, when the average value of the inclination of the vehicle 50 is the first reference value and the third reference value, the main boom 20 and the articulation boom 30 are stopped, and when the second reference value is the second reference value, the main boom 20 and the articulation are refracted. Point control is performed to decelerate the driving speed of the boom 30 and to drive the main boom 20 and the refraction boom 30 at a speed corresponding to the inclination in the case of the fourth reference value.

That is, when the vehicle 50 is inclined at a predetermined angle, the first and second tilt sensors 51 and 52 are immediately operated to measure the inclination of the vehicle and transmit the same to the micro controller 53. Accordingly, an electronic jay for selectively controlling the main boom 20 and the articulation boom 30 is made.

For example, when the passenger ship 50 is inclined at an angle of 8 °, this corresponds to a first reference value, and when the first tilt sensor 51 detects it and transmits it to the microcontroller 53, the micro The controller 53 outputs an electric signal to the main flow regulating valve 22 and the horizontal flow regulating valve 41, so that the main boom relief hydraulic cylinder 21, the refractive adjustment hydraulic cylinder 31 and the horizontal adjustment hydraulic cylinder are provided. By controlling the driving of the 40, the main boom 20 and the articulation boom 30 are immediately stopped.

When the passenger ship 50 is inclined at an angle of -6 °, since the inclination of -6 ° corresponds to both the second reference value and the fourth reference value, the first tilt sensor 51 and the second tilt sensor ( 52 operates simultaneously and sends the value to the microcontroller 53, the microcontroller converts the value for 6 ° to an electrical signal to the main flow control valve 22 and the horizontal flow control valve 41 A control (second reference value) for reducing the speed of the main boom 20 and the refraction boom 30 is performed while the point control (fourth reference value) is carried out according to the corresponding inclination.

In addition, when the passenger ship 50 is inclined at an angle of 4 °, since the inclination of 4 ° corresponds only to the fourth reference value, the second tilt sensor 52 is operated to perform point control corresponding to 4 °.

Point control is a control method set to supply a predetermined flow rate to the main flow control valve and the horizontal flow control valve according to the inclination of the boarding.

On the other hand, when the inclination of the boarding box 50 is the fourth reference value, since the second tilt sensor 52 is operated, the point control is made, but if the boarding board is -2 ° to 2 When the tilt of the ° is repeatedly tilted for 1 second, since this corresponds to the third reference value, the point control of the main boom 20 and the articulation boom 30 is released and immediately stops.

10: aerial work vehicle 11: turn table
20: main boom 21: main boom ups and downs hydraulic cylinder
22: main flow control valve 30: articulated boom
31: refraction control hydraulic cylinder 32: link member
40: horizontal adjustment hydraulic cylinder 41: horizontal flow control valve
42: connector 50: boarding
51: first tilt sensor 52: second tilt sensor
53: microcontroller

Claims (3)

A turntable 11 rotatably installed, a main boom 20 coupled to an upper end of the turntable and configured to be pulled out in multiple stages, a refraction boom 30 foldably coupled to the main boom, and the main For adjusting the flow rate supplied to the main boom relief hydraulic cylinder 21 for driving the boom, the refraction adjustment hydraulic cylinder 31 for driving the articulated boom, and the main boom relief adjustment hydraulic cylinder and the refraction control hydraulic cylinder. In the boarding level maintenance system of a high-rise working vehicle comprising a main flow rate control valve 22, and the boarding box 50 coupled to the articulated boom,
A horizontally adjusted hydraulic cylinder 40 horizontally coupled to the end of the articulated boom and having an end coupled to the boarding box, and maintaining the level of the boarding box;
A horizontal flow rate control valve 41 for adjusting the flow rate supplied to the horizontal control hydraulic cylinder to maintain the level of the passenger compartment;
First and second tilt sensors installed in the boarding box and repeatedly detecting the inclination of the boarding box;
It comprises a micro-controller 53 for controlling the operation of the main boom and the refraction boom according to the inclination detected from the first and second tilt sensors,
The first tilt sensor detects a first reference value which is an angle at which the inclination of the vehicle deviates from a predetermined reference angle, and a second reference value corresponding to an angle smaller than a predetermined interval from the reference angle within the reference angle,
The second tilt sensor detects a third reference value at which the inclination of the vehicle has an angle smaller than a predetermined distance from the center within a preset reference angle and repeats vibration for 1 second, and a fourth reference value within the preset reference angle. ,
The microcontroller operates the main boom and the articulation boom when the inclination of the vehicle sensed by the first and second tilt sensors is the fourth reference value, and when the second reference value is set, decelerates the driving speed of the main boom and the articulation boom. , The first reference value stops the operation of the main boom and articulated boom, and if the third reference value stops the operation of the main boom and articulated boom. delete The method of claim 1, wherein the first reference value is -7,5 ° or less and 7.5 ° or more, the second reference value is -7.4 ° to -5 ° and 5 ° to 7.4 °, and the third reference value is -3 ° to Vibration is repeated for 1 second within a range of 3 °, and the fourth reference value is -7.4 ° to 7.4 ° horizontal leveling system of a multistage pull-out refractory aerial work vehicle.

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