KR101786724B1 - Highplace working device for safety improvement using sensor - Google Patents

Abstract

According to the present invention, the angle information is received from the angle sensor, the height information of the upper part is calculated from the lower part of the X-shaped link, or the distance information is received from the distance sensor and the height information and the distance information are set in advance in correspondence with the speed data And a control unit for controlling the control unit so that the safety of the worker is improved. A bogie frame mounted on an upper portion of the track rail and provided with a front-rear direction angle sensor and a left-right direction angle sensor for outputting angle information in the front-rear direction and the left-right direction; An X-shaped link provided on an upper side of the bogie frame and folded and unfolded as the piston rod of the first hydraulic cylinder projects and retracts; A main frame installed at an upper end of the X-shaped link and lifted and lowered as the X-shaped link is folded or unfolded; A position angle sensor positioned at a predetermined portion of the X-shaped link; A battery for supplying power to each drive device to operate the drive device; The angle sensor receives angle information from the front-to-rear direction angle sensor and the left-right direction angle sensor, receives the height information of the upper portion from the lower side of the X-shaped link by the position angle sensor, And a controller for automatically controlling the speed and the height to be set in comparison with the height data.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a high-altitude working device for safety improvement using a sensor,

[0001] The present invention relates to a high-altitude work device in which safety is enhanced by using a sensor. More specifically, the present invention relates to a high-altitude work device that receives angular information from an angle sensor to prevent overturning when working at an inclined orchard, The height information of the upper part is calculated from the lower part, the distance information is received from the distance sensor, and the height information and the distance information are compared with the stored speed data in advance so as to be controlled at a predetermined speed. When peripherals are recognized using the ultrasonic sensor And the engine is stopped to enhance the safety of the surroundings.

Generally, in order to pruning or harvest fruit in an orchard or a house fruit, it is usually a ladder to work in a high position. The ladder was troublesome and time-consuming in the process of climbing and moving the ladder, and sometimes the ladder fell.

      In addition, an agricultural high-altitude working apparatus generally used for an orchard or a house is used for performing a high altitude work in which a worker is difficult to work while standing, for example, pruning of fruit trees and fruit harvesting. Such a high-altitude working device is provided with elevating means for simply raising and lowering the vehicle or truck having the moving and stopping means.

In addition, when the worker is on the workbench, the worker can be raised to easily perform the work in a high position.

Such a high-lift work apparatus can be realized in various ways such as a boom type in which one or more booms are vertically rotated to elevate and descend the work platform, and a lift type in which the work platform is raised and lowered by the elevation operation of the X-shaped link .

Among them, the general structure of the lift type elevating work device includes a frame having an infinite orbit, and an X-shaped link provided on the upper portion of the frame for elevating and lowering the work table as it is folded or unfolded by the lift cylinder.

Conventionally, the X-shaped link is rotated and folded and unfolded by projecting and retracting a piston rod of a cylinder constituting a bogie frame, whereby the main frame is raised and lowered at a constant speed.

However, if the bogie frame rises above a certain distance and then travels at a constant speed or below a certain distance, it may be exposed to a dangerous situation if it travels beyond a certain speed.

In particular, since most of the elevated workbenches are relatively narrow in the width direction, there is a problem that the load distribution of the load or the load of the operator or the loader on the main frame of the upper portion of the vehicle during running is considerably unstable or tilted.

In addition, a driver who operates the operation panel at the elevation workbench after ascending over a certain height has a problem that it is difficult to observe the following circumstance, thereby causing a risk of causing a personal accident to the persons around the elevation work device.

In the past, when the inclination of the front / rear / left and right angle sensors is equal to or greater than the reference value, the battery remaining amount is less than a preset reference value and the audio power is turned on, or the battery is ON even when the track bogie is not operated for a predetermined time, In the case of each error occurring when the vehicle is operated at a constant speed or more, an error code corresponding to each error is displayed on the LCD window of the operation panel, but the operation vehicle can not know only when the error code is checked.

Korean Patent Publication No. 2014-0068451 Korean Patent No. 1098336 Korea Patent Publication No. 2012-0104864 Korea Patent No. 1123630

SUMMARY OF THE INVENTION The present invention has been conceived to solve the above problems, and it is an object of the present invention to provide an angle sensor that receives angle information and calculates height information of a top portion of a lower portion of an X- And the height information and the distance information are compared with speed data set in advance so as to be controlled at a set speed, thereby enhancing safety.

Further, the present invention is provided so as to compensate the horizontal degree in the front-rear direction by the first hinge axis, and is provided so as to be rotatable in the left-right direction by the second hinge axis, The vertical or horizontal axis deviation is determined by the high resolution and accuracy through the tilt sensor which measures the tilt of the tilt sensor, and compared with the set speed data or the height data, The purpose of the device is to provide.

It is another object of the present invention to provide a high-altitude working apparatus in which safety is enhanced by using a sensor including an emergency stop function that allows a controller to give a braking command to an engine by approaching or approaching an operator by attaching an ultrasonic sensor to the periphery .

Further, in the present invention, when an error occurs in a high-volume work difference, it is possible to quickly take measures through voice guidance interlocked with each error code, without checking an error code corresponding to each error.

According to an aspect of the present invention, there is provided a track bogie having two endless tracks. A bogie frame mounted on an upper portion of the track rail and provided with a front-rear direction angle sensor and a left-right direction angle sensor for outputting angle information in the front-rear direction and the left-right direction; An X-shaped link provided on an upper side of the bogie frame and folded and unfolded as the piston rod of the first hydraulic cylinder projects and retracts; A main frame installed at an upper end of the X-shaped link and lifted and lowered as the X-shaped link is folded or unfolded; A position angle sensor positioned at a predetermined portion of the X-shaped link; The angle sensor receives angle information from the front and rear direction angle sensors and the left and right direction angle sensors, receives the height information of the upper side from the lower side of the X-shaped link by the position angle sensor, And a controller for controlling the change to a predetermined constant speed in comparison.

And an ultrasonic sensor is installed on the four corner side surfaces of the bogie frame and the intermediate portion side surface in the longitudinal direction.

The distance sensor receives the reflected light by placing a reflector on a corresponding opposite side and measures the distance.

The height calculated through the controller determines whether or not a predetermined height condition is satisfied, and if not satisfied, activates an alarm buzzer for delivering a visual alarm or an alarm buzzer for audible alarm.

The distance sensor includes a light output unit for outputting light, a sensing unit for sensing the reflected light reflected from the external object, a driving unit for changing the rotation angle of the light output unit, And a control unit configured to transmit the light and the reflected light so that the reflected light is different from the measured value of the reference light stored in the controller, So as to change the rotational angle of the negative.

The present invention is characterized in that the front-rear direction angle sensor is used to compensate the front-rear direction horizontal angle and the horizontal direction in the left-right direction is first compensated by the lateral direction angle sensor, The horizontal or vertical axis deviation is determined by the sensor with high resolution and accuracy, and is changed to the predetermined speed or height compared with the set speed data or height data in connection with the calculated inclination.

The present invention relates to a track bogie having two endless tracks; A bogie frame mounted on an upper portion of the track rail; An X-shaped link provided on an upper side of the bogie frame and folded and unfolded as the piston rod of the first hydraulic cylinder projects and retracts; A main frame installed at an upper end of the X-shaped link and lifted and lowered as the X-shaped link is folded or unfolded; A position angle sensor positioned at a predetermined portion of the X-shaped link; A battery for supplying power to each drive device to operate the drive device; And a controller for controlling a driving motor operated by transmitting a signal of the operation panel to the track carriage and a hydraulic motor controlling the height of the X-shaped link, wherein the controller controls the forward / backward angle sensor and the left / Or if the audio power is turned on when the remaining battery level is not lower than the predetermined reference value or if the battery is turned off when the track bogie is not operated for a predetermined time or when the track bogie is operated at a predetermined speed or higher And in the case of an error occurrence, a warning message according to the error is guided to a voice through a speaker.
The controller displays an error code corresponding to each error on the LCD window of the operation panel and simultaneously guides a warning message associated with the error code to a voice through the speaker.

According to the present invention as described above, when the height of the ground and the main frame exceeds a predetermined value through the angle sensor, the position angle sensor, and the distance sensor, the speed is changed for safety so that the stability of the operator can be secured.

In addition, the present invention is characterized in that an ultrasonic sensor is attached to the periphery of a high-altitude work device to allow the engine to stop by approaching or approaching the high-altitude work device, thereby stabilizing the altitude work platform during transportation, , It is possible to perform a smooth complaint operation on the extension board on the elevated work bench.

In addition, the present invention can safely move forward and backward of the workbench while confirming the surrounding worker with the ultrasonic sensor in the process of performing the complaint operation and moving to the neighboring workbench, so that the workbench can be moved easily and quickly to the neighboring work site.

Further, the present invention compensates for the horizontal and vertical orientations in the front / rear direction and the left / right direction through the front-and-rear direction angle sensor for outputting the angle information of the second bogie frame in the front-rear direction and the left- Horizontal or vertical axis deviation is determined with high resolution and accuracy through the front and rear direction angle sensor and the left and right direction angle sensor which measures the lumen and is controlled by the set speed or height compared with the set speed data or height data in connection with the calculated slope So that the safety of the operator can be enhanced.

In addition, the present invention has a remarkable effect in that, when an error occurs in a high-volume work difference, it is possible to promptly perform an action by voice guidance interlocked with each error code without individually checking an error code corresponding to each error.

FIG. 1 is a view showing the overall configuration of a high-altitude work device in which safety is enhanced by using a sensor according to an embodiment of the present invention.
FIG. 2 is a view showing a state in which an angle sensor is coupled to FIG. 1. FIG.
3 is a view showing a state where a distance sensor is coupled to the bottom surface of FIG. 2. FIG.
4 is a view showing a combined state of the distance sensor according to an embodiment of the present invention.
FIG. 5 is a bottom perspective view of FIG. 4. FIG.
FIG. 6 is a view showing a combined state of an ultrasonic sensor according to an embodiment of the present invention.

For a better understanding of the present invention, a preferred embodiment of the present invention will be described with reference to the accompanying drawings. The embodiments of the present invention may be modified into various forms, and the scope of the present invention should not be construed as being limited to the embodiments described in detail below. The present embodiments are provided to enable those skilled in the art to more fully understand the present invention. Therefore, the shapes and the like of the elements in the drawings can be exaggeratedly expressed to emphasize a clearer description. It should be noted that in the drawings, the same members are denoted by the same reference numerals. Further, detailed descriptions of well-known functions and configurations that may be unnecessarily obscured by the gist of the present invention are omitted.

The present invention relates to a railway truck (1, 2), a truck frame (3), an X-shaped link (5); A main frame 10, extension boards 31, 32 and 39, a controller 100, and the like.

The track rails 1 and 2 are capable of moving back and forth and right and left of the endless track by controlling the controller 100 while stably supporting the truck frame 3 and the main frame 10 without shaking.

Inside the track carriages 1 and 2, two endless tracks are linked by two transmissions, and an engine capable of driving the transmission is provided.

For example, when the main frame 10 rises to a predetermined height and then does not move at a predetermined speed, or when the surrounding worker is within a certain distance, the engine may be controlled to drive the transmission at a constant speed or less.

The bogie frame 3 is mounted on the upper part of the track bogies 1 and 2 and easily tilts the entire height of the workbench when the track bogies 1 and 2 are inclined back / 2 so as to be vertically rotatable relative to the track carriages 1 and 2 via the first hinge axis so as to compensate for the horizontal degree in the longitudinal direction and to be rotatable in the left and right direction via the second hinge axis And is installed so as to compensate for the horizontality in the lateral direction.

Both the front-rear direction angle sensor and the left-right direction angle sensor are installed on the bogie frame 3

The X-shaped link 5 is provided on the upper side of the above-mentioned bogie frame 3 and is folded and unfolded as the piston rod of another hydraulic cylinder projects and retracts.

A rectangular main frame 10 having a flat upper surface is formed on the upper end of the X-shaped link 5 and extension tabs 31, 32 and 39 provided on both sides of the main frame 10, The upper and lower edges of the main frame 10 and the extension plates 31, 32 and 39 are provided with a handrail for safety of the operator.

The operator operates the operation panel P at the front end of the main frame 10 after the operator has boarded the main frame 10 at the lowest state of the main frame 10 at the upper end of the X- And then moves the endless track through the transmission of the track carriage 1, 2 to the work position to be operated.

A battery (not shown) operates by supplying power to each drive.

2, the front-rear direction angle sensor and the left-right direction angle sensor are installed inside the bogie frame 3 and provide the angle information to the controller 100 in real time, and by the control signal of the controller 100 And the rotation of the driving motor is precisely controlled so as to be horizontally horizontal through the second hinge axis.

The position angle sensor 501 may also be located on a certain portion of the X-shaped link 5 or on the upper portion of the X-shaped link 5 and transmits the angle information to the controller 100 to determine the angle and distance relationship The height of the upper portion from the lower portion of the X-shaped link 5 is calculated.

The controller 100 determines whether the height calculated by the controller 100 satisfies a preset height condition. If the height exceeds a preset height, the controller 100 automatically controls the vehicle so that the vehicle can travel only at a set maximum traveling speed corresponding to the set height. , And audibly informs the driver to reduce the speed.

At this time, a warning light for transmitting a visual alarm or an alarm bell for audible alarm may be used.

When a button for blocking the function of automatically controlling the height of the main frame 10 with respect to the inclination of the main frame 10 is pressed through the operation panel P, In this case, the warning light or alarm bell for stopping the visual or audible alarm is stopped.

As shown in Fig. 3, the distance sensor D is installed at the corner of the cargo frame 3 or at the lower side of the main frame 10.

It is determined whether or not the predetermined condition is satisfied by detecting the height by measuring the distance between the bogie frame 3 and the main frame 10 using the distance sensor D and if it is not satisfied, Thereby informing the driver and automatically lowering the height of the main frame 10 to a safe height.

In addition, it is possible to perform more precise measurement than to measure the distance only to the distance sensor D by placing a reflector on the main frame 10 or the main frame 10.

In one embodiment of the present invention, the distance sensor D is configured to be rotatable, and includes a light output unit for outputting light, a sensing unit for sensing reflected light reflected from the external object, A driving unit for changing the angle of rotation of the unit, and a protection unit formed to be translucent or transparent so as to transmit the output light and the reflected light.

At this time, if the controller 100 determines that the reflected light differs from the measured value of the stored reference light, the control unit 100 may control to change the rotation angle of the optical output unit using the driving unit so that the output light path changes.

FIG. 4 is a view showing a combined state of the distance sensor according to an embodiment of the present invention, and FIG. 5 is a bottom perspective view of FIG.

As shown in Figs. 4 and 5, two guide rollers 53 are provided symmetrically in the left and right (widthwise) directions on the rear end of the link frame 51, and on the rear side of the bogie frame 3, Two guide rails 50g are provided so that the guide rollers 53 of the link frame 51 are guided while rolling along the guide rails 50g of the truck frame 3, The end portion can move in the linear direction from the rear of the bogie frame 3. Fig.

The distance sensor D disposed at a predetermined distance from the guide roller 53 and provided on the link frame 51 is disposed on the inner side of the carriage frame 3 on the side opposite to the movement of the guide roller 53 And the controller 100 measures the distance from the lower side of the X-shaped link 5 to the height of the upper side.

At this time, the distance sensor D is installed in the link frame 51, and the guide roller 53 of the link frame 51 is positioned at a predetermined height from the guide roller 53, Even when rolling along the rail (50g), accurate measurement is possible without breakage.

FIG. 6 is a view showing a combined state of an ultrasonic sensor according to an embodiment of the present invention.

An ultrasonic sensor U is installed on the four corner side surfaces 111, 113, 114 and 116 of the bogie frame 3 as shown in Fig. 6 and the intermediate part side surfaces 112 and 115 in the longitudinal direction.

Because, when the lift is installed on the main frame 10, it can not detect the approach of people and objects because the lift rises more than 2 meters from the ground. Therefore, it should be installed on the bogie frame so that people and objects As shown in FIG.

The ultrasonic sensor U senses a person approaching the robot 100 and visually and audibly informs the driver of the proximity of the robot 100 to reduce the speed of the robot 100. If the controller 100 is within a predetermined distance and is dangerous, Emergency stop control.

In particular, the driver who operates the operation panel P while looking down from the elevation work table after rising beyond a certain height has a problem that it is difficult to observe the surroundings, so that the ultrasonic sensor U can serve as the driver's eyes and ears.

In addition, when the worker is attached to the work station around the work station in a stationary state, or when the worker moves while sticking to each other, the function of the ultrasonic sensor U can be turned off for a certain period of time, Can be switched to the manual mode.

Therefore, according to the present invention, the ultrasonic sensor U can be used to warn that an excessive speed is maintained even when there is a person around, and in case of danger, the emergency stop function of the engine can be used.

The voice guidance service according to an embodiment of the present invention is a voice guidance service that guides not only the safety guidance of the inclination but also the overall situation of the high-activity work vehicle.

The voice guidance service includes a function for assisting a person manipulating the machine such as a battery condition of a high-altitude operation car, a situation error or a malfunction status of a ground level situation or a running speed, Contains all content.

That is, when the position angle sensor 501 tilts at a predetermined slope, when the battery remaining amount falls below a predetermined reference value, when the audio power is turned on, and when the track carriage is operated at a constant speed or more In the case of each error occurrence, a safety warning message corresponding to the error and a check item according to an error code corresponding to the error are displayed in a digital character through a voice or a LCD window through a speaker (not shown) of the operation panel, It is possible to transmit the text message to the relevant operator's mobile phone and to turn off the battery when the track carriage 1, 2 is not operated for a predetermined time.

For example, the safety warning message is: "10% of the battery is left, please use it to move to the place where the 220V power source is located, please use it, and shorten the life of the battery when discharging, "And" The track was tilted at a dangerous slope for safety. Please adjust the tilt of the elevation table in parallel and lower the lift to operate in a safe condition. "" The track vehicle is operated at a dangerous speed for safety. . Please lower your lift and drive at safe speed "and" Audio power is on. Please turn off the audio power to use the battery efficiently ".

Further, the present invention can be guided by a voice through a speaker or can be confirmed with a digital character on the operation panel (P) so that a check item according to an error code (error number) can be guided when an error occurs, It is possible to simultaneously perform voice guidance linked with the code.

1, 2: track track
3: Balance frame
5: X-shaped link
10: Main frame
31, 32, 39: Extension board
51: Link frame
501: Position angle sensor
53: guide roller
50g: Guide rail
100: controller

Claims (9)

A track rail having two endless tracks;
A bogie frame mounted on an upper portion of the track rail to automatically maintain the front / rear / right / left horizontal positions through a front / rear direction angle sensor and a left / right direction angle sensor for outputting angle information in the front / rear direction and the left /
An X-shaped link provided on an upper side of the bogie frame and folded and unfolded as the piston rod of the first hydraulic cylinder projects and retracts;
A main frame installed at an upper end of the X-shaped link and lifted and lowered as the X-shaped link is folded or unfolded;
A position angle sensor positioned at a predetermined portion of the X-shaped link;
A battery for supplying power to each drive device to operate the drive device;
The angle sensor receives angle information from the front-to-rear direction angle sensor and the left-right direction angle sensor, receives the height information of the upper portion from the lower side of the X-shaped link by the position angle sensor, And a controller for automatically controlling the speed and the height at a set speed compared with the height data. The method according to claim 1,
Wherein a distance sensor is installed at a quadrangular corner of the bogie frame or a lower part of the main frame and a reflector is provided on a corresponding opposite side to receive reflected light and measure the distance. The method according to claim 1,
One side of the guide roller is located at a certain distance from the guide roller, and the other side of the guide roller is located on the link frame. The other side of the guide roller is located inside the bogie frame, And a sensor is installed on the upper portion of the upper portion of the upper portion. The method according to claim 1,
Further comprising an ultrasonic sensor on four side edges of the bogie frame and an intermediate portion side in the longitudinal direction of the bogie frame. The method according to claim 1,
Wherein the height calculated by the controller determines whether or not a height condition is satisfied, and when the height is not satisfied, activates an alarm buzzer for transmitting a visual alarm or an alarm buzzer for audible alarm, Device. The method according to claim 1,
A driving unit for changing the rotation angle of the optical output unit, a driving unit for changing the rotation angle of the optical output unit, And a distance sensor formed of a transparent portion formed to be translucent or transparent so as to allow the light reflected from the light source to pass therethrough, wherein when the controller determines that the sensed reflected light differs from the measured value of the stored reference light, And the control means controls so as to change the rotation angle of the workpiece. The method according to claim 1,
A first bogie frame provided so as to compensate for the horizontality in the longitudinal direction by the first hinge axis and a front and rear direction angle sensor for measuring the tilting of the elevation device after first compensating the horizontality in the lateral direction by the second hinge axis And a horizontal or vertical axis deviation is determined through a left and right directional angle sensor and compared with the speed data or the height data set in association with the calculated inclination to control the speed or height to a predetermined speed or height. A track rail having two endless tracks;
A bogie frame mounted on an upper portion of the track rail;
An X-shaped link provided on an upper side of the bogie frame and folded and unfolded as the piston rod of the first hydraulic cylinder projects and retracts;
A main frame installed at an upper end of the X-shaped link and lifted and lowered as the X-shaped link is folded or unfolded;
A position angle sensor positioned at a predetermined portion of the X-shaped link;
A battery for supplying power to each drive device to operate the drive device;
And a controller for controlling a driving motor operated by transmitting a signal of the operation panel to the track carriage and a hydraulic motor controlling the height of the X-shaped link,
The controller may be configured such that when the slope is inclined above the reference value through the front-and-rear direction angle sensor and the left-and-right direction angle sensor, the battery remaining amount is not less than a predetermined reference value and the audio power is on, And a warning message according to the error is guided to a voice through a speaker in the case of each error in which the track bogie is operated at a predetermined speed or more. 9. The method of claim 8,
Wherein the controller displays an error code corresponding to each error on the LCD window of the operation panel and simultaneously displays a warning message associated with the error code in a voice through the speaker.

Images