KR20180037657A - Three dimensional automatic safe arrival system for boom of aerial work platform truck - Google Patents

Abstract

Disclosed is a three-dimensional automatic mounting system for a boom of an aerial tower wagon. The disclosed three-dimensional automatic mounting system for a boom of an aerial tower wagon can be applied to the boom which is coupled to be tensile to a vehicle body of the aerial tower wagon. The system comprises: a sensor unit which can measure a present state of the boom; a control member which calculates the shortest path using a sensor value measured from the sensor unit so as to allow the boom to be returned to original position; and a driving member which enables the boom to be returned to the original position or to be returned using the value calculated from the control member. The disclosed three-dimensional automatic mounting system enables the boom which is tensile at a predetermined inclination to be moved to mounted on the original position with the shortest path. Therefore, the boom can be automatically mounted in three dimensions using a simple operation. Thus, the present invention can shorten operation time, and can stably mount the boom, thereby reducing accidents.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional automatic safe arrival system,

The present invention relates to a three-dimensional automatic seating system for a high work work boom.

The high-altitude work vehicle is a work-only vehicle used for work such as construction work, maintenance work, etc. performed at a high-altitude work station. It consists of a boom and an outrigger.

The boom, which is the platform of the high-performance work car, is raised and lowered in accordance with the height of the high-level work in the high-worker's car body, and the boom is mounted after the job is finished.

However, in the conventional work for placing the boom of the high-performance work car in the original position, the worker directly rotates the swivel to the origin in the horizontal direction and then places the boom down and seats on the vertical axis.

In such an operation, there is a problem that the operation is troublesome and the operation time is long.

To solve this problem, as shown in the following patent documents, a system for automatically returning a boom of a fire truck and a system capable of storing a boom and an outrigger using a one-touch automatic storage button and a rotation table can be easily rotated to a predetermined origin The system was developed.

However, the boom can not be moved by the shortest distance in the process of operating in reverse order by a system that simply operates the boom in reverse order, or a system in which only the rotary table is moved in the longitudinal direction of the boom, The downward movement of the boom has to be manually operated by the operator.

Also, in this work, a system for safety has not been provided.

Registered Utility Model No. 20-0422265, Registered Date: July 19, 2006. Title of Design: High-priced ladder fire truck equipped with automatic lid of elevator ladder and oyster boom boom Open Patent No. 10-2002-0076740, Publication Date: Oct. 11, 2002, Title of the invention: Automatic return system of elevated ladder and high-priced bending boom of fire engine and control method thereof Registered Patent No. 10-1628335, Date of Registration: 2016.06.01., Name of invention:

The present invention can move the boom tilted at a predetermined slope so that the boom can be seated in its original position by a simple operation, so that the boom can be automatically restrained in three dimensions, thereby shortening the working time and securely securing the boom. And to provide a three-dimensional automatic seating system of a high-altitude work vehicle boom capable of reducing the height of the work boom.

According to an aspect of the present invention, there is provided a three-dimensional automatic seating system for a high-performance work vehicle boom, comprising: a sensor unit capable of measuring a current state of the boom; A control member for calculating a shortest path so that the boom is returned to the home position using the sensor value measured by the sensor unit; And a driving member for causing the boom to return to its original position or return using the calculated value calculated by the control member.

According to one aspect of the present invention, there is provided a three-dimensional automatic seating system for a high-performance work vehicle boom, comprising: a sensor unit that is capable of measuring the current state of the boom, ; A control member for calculating a shortest path so that the boom is returned to the home position using the sensor value measured by the sensor unit; And a driving member for causing the boom to be retracted or returned by using the calculated value calculated by the control member so that the boom stretched at a predetermined inclination is moved to the original position at the shortest distance, It is possible to reduce the work time and secure the boom so that the accident can be reduced.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a flow chart schematically showing the sequence in which a three-dimensional automatic seating system of a high-performance work vehicle boom according to a first embodiment of the present invention operates; FIG.
FIG. 2 is a side view of a high-altitude working vehicle to which a three-dimensional automatic seating system of a high-performance work vehicle boom according to a first embodiment of the present invention is applied.
FIG. 3 is a view showing a boom of a high-altitude working vehicle to which a three-dimensional automatic seating system of a high-altitude working vehicle boom according to a first embodiment of the present invention is applied.
4 is an enlarged view of part A shown in Fig. 3 according to the first embodiment of the present invention. Fig.
5 is an enlarged view of part B shown in Fig. 3 according to the first embodiment of the present invention. Fig.
FIG. 6 is a perspective view of a control member formed with a home button according to the first embodiment of the present invention, viewed from above. FIG.
FIG. 7 is a perspective view of a driving member having a stop button according to the first embodiment of the present invention, viewed from above at an angle. FIG.
8 is a perspective view of the seating detection sensor according to the first embodiment of the present invention, viewed from above at an angle.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a three-dimensional automatic seating system for a high-performance work vehicle boom according to embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a flow chart schematically showing the sequence of operation of a three-dimensional automatic seating system of a high-performance work vehicle boom according to a first embodiment of the present invention, 3 is a side view of a high-altitude working vehicle to which a three-dimensional automatic seating system is applied, and 3 is a side elevation in which a boom of a high-altitude working vehicle to which a three- 4 is an enlarged view of the portion A shown in Fig. 3 according to the first embodiment of the present invention, Fig. 5 is a cross-sectional view of a portion B shown in Fig. 3 according to the first embodiment of the present invention FIG. 6 is a perspective view of a control member formed with a home button according to the first embodiment of the present invention, which is viewed obliquely from above, FIG. 7 is a cross- The member FIG. 8 is a perspective view of the seat detection sensor according to the first embodiment of the present invention, viewed from above. FIG.

1 to 8 together, the three-dimensional automatic seating system 100 of the high work boom according to the present embodiment includes a sensor unit 190, a control member 160, and a driving member 170 do.

The high worker car is a work-only car used in work such as construction work, maintenance work, etc. performed at a high altitude. The boom 20, which is a landing gear, is connected to the high worker car so as to perform a high altitude work.

The three-dimensional automatic seating system 100 of the elevated work vehicle boom is applied to the boom 20 so that the boom 20 is automatically and safely seated when the boom 20 is moved back to its original position.

The sensor unit 190 is capable of measuring the current state of the boom 20. The sensor unit 190 outputs a sensor value using a sensor having a plurality of functions and transmits the sensor value to the control member 160 will be.

The sensor unit 190 includes a rotation angle sensor 110 for recognizing the number of revolutions of the turntable 10 and a portion of the turntable 10 to which the boom 20 is connected, An in-situ sensor 150 for accurately positioning the swivel 10 in an original position in another predetermined portion of the swivel 10 where the swivel angle sensor 110 is engaged; A tensile length sensor 140 capable of detecting a shortened length and a seating detection sensor 130 capable of detecting whether the boom 20 is seated in place.

The rotation angle sensor 110 can grasp the direction of the boom 20 by grasping an angle at which the rotation unit 10 connected to the boom 20 rotates the boom 20.

A value obtained by measuring the degree of rotation of the swivel 10 in the home position by the rotation angle sensor 110 is transmitted to the control member 160 so that the current position of the boom 20 Is calculated.

The home position sensor 150 fixes the home position of the swivel 10 and includes a magnet 151 having a magnetic field attached to a certain portion of the swivel 10, And a light emitting device 152 capable of emitting light when the hall sensor 153 is reacted by the magnet 151. [

The magnet 151 and the hall sensor 153 are rotated in the opposite direction to each other when the swivel 10 is close to the original position but not in the home position when the boom 20 is seated in the home position after the high- The light emitting device 152 emits light so that the swivel 10 is properly positioned at the original position to confirm that the boom 20 is properly seated. .

The inclination angle sensor 120 can measure the inclination of the boom 20 according to the traveling direction of the boom 20. For example, the inclination angle sensor 120 can be formed of a gyro sensor capable of sensing a change in azimuth have.

The slope of the boom 20 and the slope of the current state of the boom 20 can be measured and the slope of the current state of the boom 20 can be measured by the control member 160 to calculate the current position of the boom (20) in the control member (160).

The tensile length sensor 140 is connected to both ends of a tension boom 40 to which the boom 20 can be tensioned so that the length of the boom 20 can be grasped or shortened, And the tensile length of the test piece 40 is measured.

Here, the tension boom (40) is formed in a plurality of such that the boom (20) can be pulled from the elevated work car and project horizontally.

The tension length sensor 140 includes a wire 143 having a high strength that is not easily broken, a body 141 including a bundle of the wire 143 and fixed to one side of the tension boom 40, A wire fixing part 142 fixed to the other side of the tension boom 40 and connected to a wire fixing part (not shown) to which the end of the wire 143 is coupled 144).

When the tension boom 40 is pulled as described above, the wire fixing portion 144 fixes the wire 143, and the wire 143 of the body 141 is inserted into the wire insertion / The tension of the wire 143 is increased while the tension of the wire 143 is measured and the tensile length of the boom 20 is measured.

The control unit 160 transmits the current position of the boom 20 by using the measured value of the tension length sensor 140 formed as described above.

The seating detection sensor 130 includes a seating body 131 and an upper end portion of the seating body 131. The seating detection sensor 130 has a predetermined portion of the boom 20 mounted thereon, And a seat part 133 which can be measured.

The seating part 133 receives the left and right sides of a certain portion of the boom 20 and stores the seating value when the boom 20 is securely seated and adjusts the boom 20 If it is determined that the boom 20 is not seated, the boom 20 is continuously driven by the driving member 170 so that the boom 20 can be seated. When the boom 20 is seated, The seating operation of the boom 20 is terminated.

The control member 160 calculates the shortest path so that the boom 20 can be returned to the home position by using the sensor value measured by the sensor unit 190. The control member 160 calculates the position of the boom 20 according to the current state of the boom 20, Calculates the shortest path from the current position to the home position using the position value so that the boom 20 is three-dimensionally moved and is seated at the home position, and outputs the calculated value.

The control member 160 is provided with a sensor memory (a position in the control member), stores the sensor value according to the path along which the boom 20 is moved to the sensor memory, and returns the boom 20 to the home position When the robot 20 is returned, the robot 20 calculates the movement path three-dimensionally so that the robot 20 can return to the shortest distance using the sensor value stored in the memory, thereby restoring the boom 20 to its original position.

In addition, the control member 160 is provided with a return memory (position in the control member), and the return memory stores the position value of the boom in a last-in-first-out structure so that when the return button 162, So that the boom 20 can be returned to a position immediately before the boom 20.

Here, the Last in first out structure refers to a structure in which recently stored data is output first and data that is stored first is output at the end.

The control member 160 controls each of the sensor values output from the rotation angle sensor 110, the inclination angle sensor 120 and the seating detection sensor 130 in order to grasp the current position of the boom 20 To calculate the current position of the boom (20).

Here, the current position value of the boom 20 according to the sensor value is calculated as a three-dimensional coordinate value.

In this state, the shortest path is calculated using the seating position value of the boom 20 having a predetermined three-dimensional coordinate value and the current position value of the boom 20, which is a three-dimensional coordinate value.

Here, the shortest path is calculated so that the boom (20) does not hit the plurality of outriggers (50) for fixing and supporting the high work car body.

Since the outrigger 50 protrudes in a predetermined length and is fixed in this state, the positional values of the plurality of the outriggers 50 are inputted in advance in the algorithm to be calculated by the control member 160 And calculates an algorithm for allowing the boom 20 to be seated in the shortest path while avoiding the positional value of the outrigger 50 input in advance.

In addition, the tension boom (40) tensioned at the same time during the process of seating the boom (20) in the shortest path is safely retracted, and the boom (20) is calculated to be seated in the shortest path.

In this state, when the calculated value is transmitted to the driving member 170, the driving member 170 moves the boom 20 to the seating position of the boom 20.

The control member 160 is provided with a home button (not shown) for performing an operation of calculating a shortest path from the current position of the boom 20 to the home position when the boom 20 is to be seated, 161 for returning the boom from the current position to the previous position, and the return button 162 for performing the operation of returning the boom from the current position to the previous position.

In this embodiment, the home button 161 and the return button 162 are formed on the control member 160, but it is needless to say that the home button 161 and the return button 162 may be formed at different positions for convenience of operation.

When the home button 161 formed as described above is pressed, the current position value of the boom 20 is calculated, and it is determined whether the boom 20 can be seated at the current position of the boom 20. Then, The shortest path is calculated so that the boom 20 is seated in the home position and the calculated value output in this process is transmitted to the driving member 170. [

When the return button 162 is pressed as described above, the boom 20 is moved to the previous position of the boom 20, which is stored in the return memory in order of returning to the previous position, Calculates the path using the position value, and transmits the calculated value to the driving member 170 in this process.

The driving member 170 returns the boom 20 to an original position or a previous position by using the calculated value calculated and output by the control member 160. The boom 20 is moved to the home position, So that the inclination of the boom 20 and the swivel 10 can be simultaneously adjusted.

The driving member 170 can control the lifting and lowering of the turntable 10 and the boom 20 in accordance with the calculated value and can stop the operation arbitrarily during the operation in which the boom 20 is seated. When the seating detection sensor 130 detects that the boom 20 is seated, the operation is terminated.

A stop button 171 is formed on the driving member 170 and the stop button 171 can pause or stop the operation while the boom 20 is moved to the original position.

In this embodiment, the stop button 171 is formed on the driving member 170, but it is obvious that the stop button 171 may be formed at another position for convenience of operation.

In the state where the boom 20 is formed as described above, when the stop button 171 is pressed during the movement of the boom 20 to the original position, the operation may be suspended or forcibly stopped.

Hereinafter, the operation sequence and the process of the three-dimensional automatic seating system 100 of the high work work boom will be described.

The boom 20 is automatically returned to its original position by depressing the home button 161 of the control member 160 when the boom 20 is to be restored to its original position after completing the completing operation.

As described above, when the home button 161 is pressed, the current position value of the boom 20 is calculated as a three-dimensional coordinate value (S100).

In this state, it is determined whether or not the operation of seating the boom 20 with respect to the current position value of the boom 20 is possible (S200).

If it is determined that the operation for seating the boom 20 is impossible, a signal indicating that operation is impossible is notified to the alarm or display device (S300), and the operation is terminated.

Dimensional coordinate value and the seating position value of the boom 20, which is a three-dimensional coordinate value, when the boom 20 is determined to be capable of placing the boom 20, 20) is calculated and outputs the calculated value (S400).

Here, the shortest path is calculated so that the boom 20 does not hit the plurality of outriggers 50.

In this state, the calculated value is transmitted to the driving member 170 to drive the driving member 170 (S500).

The longitudinal axis and the transverse axis of the boom 20 can move at the same time while the tilt of the boom 20 is varied according to the calculated value, Respectively.

In this state, the operation of the stop button 171 of the driving member 170 is sensed and it is determined whether it is desired to stop execution of the boom 20 (S600).

If the stop button 171 is pressed to stop the operation, the operation of stopping the boom 20 or stopping the boom 20 is terminated.

If the stop button 171 is not pressed because it is not desired to stop the execution, the return sensor detects the return signal (S700). If the return signal is sensed, the operation in which the boom 20 is seated is terminated And if it is not sensed, drives the boom 20 to be further seated by the driving member 170. [

As described above, since the work for seating the boom 20 is automated, it is possible to prevent accidental mistakes when the conventional operator manually operates the boom 20, So that it is possible to shorten the working time and securely mount the boom 20, so that the accident can be reduced.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the following claims And can be changed. However, 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.

According to one aspect of the present invention, in a three-dimensional automatic seating system of a boom for a high-work operation car boom, a boom stretched at a predetermined slope is moved to the original position with the shortest distance, The work time can be shortened and the boom can be securely placed, thereby reducing the number of accidents.

100: Three-dimensional automatic seating system of high-altitude work boom
110: rotation angle sensor
120: inclination angle sensor
130: Seat detection sensor
140: Tensile length sensor
150: Home position sensor
160: control member
170:
190: Sensor unit

Claims (7)

In a boom adapted to be tensionably coupled to a car body of a high altitude operation car,
A sensor unit capable of measuring the current state of the boom;
A control member for calculating a shortest path so that the boom is returned to the home position using the sensor value measured by the sensor unit; And
And a driving member for causing the boom to be returned or retracted using the calculated value calculated by the control member. The method according to claim 1,
The sensor unit
A rotation angle sensor which is engaged with a certain portion of a rotation table to which the boom is connected and recognizes the rotation number of the rotation table,
An in-situ sensor for accurately positioning the swivel in an original position at another predetermined portion of the swivel where the swivel and the rotation angle sensor mesh with each other;
An inclination angle sensor for measuring the inclination of the boom,
A tensile length sensor capable of grasping a tensile length in which the tensile length of the boom is elongated or shortened,
And a seating detection sensor capable of detecting whether the boom is seated in the home position. 3. The method of claim 2,
The control member
An in-situ button for performing a task of calculating a shortest path from the current position to the home position of the boom,
A return button is formed to cause the boom to perform an operation of returning from the current position to the previous position,
Calculates a current position of the boom using each sensor value output from the rotation angle sensor, the inclination angle sensor, and the seating detection sensor,
Calculating a shortest path in three-dimensional coordinates so that the boom is seated at the home position,
And the calculated calculated value is transmitted to the driving member. The method of claim 3,
The driving member
A stop button is formed which can arbitrarily stop operation in the middle of the operation in which the boom is seated,
And the operation is terminated when the seating detection sensor senses that the boom is seated. 3. The method of claim 2,
The tensile length sensor
Wire,
A body including the wire bundle and fixed to one side of the tension boom,
A wire insertion portion for allowing the wire to extend straightly from the body,
And a wire fixing part fixed to the other side of the tension boom and having a wire end coupled thereto. 3. The method of claim 2,
The home position sensor
A magnet having a magnetic field attached to a certain portion of the turntable;
A hall sensor for recognizing the magnet,
And a light emitting element for emitting light when the hall sensor is reacted by the magnet. 3. The method of claim 2,
The seating detection sensor
A seat body,
And a seating part formed at an upper end of the seating body and seating a part of the boom and measuring the strength of the boom seated and pressed.

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