JP4364352B2 - Control equipment for aerial work platforms - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
[0002]
The present invention provides an aerial work vehicle equipped with a boom having at least three or more drive shafts, and the work table provided at the tip of the boom is moved horizontally and vertically by the operation of each drive shaft. The present invention relates to a control device.
[Prior art]
[0003]
Conventionally, in an aerial work platform, from the viewpoint of improving workability or operability, a horizontal movement (linear movement in a horizontal direction) and a vertical movement (in a vertical direction) of a work table provided at the tip of a boom are provided. In order to meet this demand, various control methods have been proposed.
[0004]
By the way, for example, in a conventional general aerial work vehicle having a configuration in which a single telescopic boom is provided on a vehicle so as to be raised and lowered, and a work table is attached to the tip of the boom, the movement of the work table is performed. Except for the drive shaft related to boom turning, there are two drive shafts related to boom expansion and contraction, and the drive shaft related to undulations. The work table can be moved horizontally or vertically, and the operation of these two drive shafts is uniquely determined from the relationship with the target horizontal movement locus or vertical movement locus, so control is relatively easy. It is.
[0005]
However, for example, as a boom, a telescopic base end side boom that can be raised and lowered on the vehicle side, and a boom that is provided at the distal end of the base end side boom and a work table at the distal end. In the case where the boom is composed of two booms, namely, a telescopic distal boom, the drive shaft related to the movement of the work table is the extension and undulation of the proximal boom except for the drive shaft related to the boom turning. There are a total of four drive shafts, two drive shafts according to the above, and two drive shafts related to expansion and contraction and undulation of the tip side boom, and at least two of the four drive shafts are used. Since the work table can be moved horizontally or vertically, the operation of each drive shaft is not uniquely determined from the relationship with the target horizontal movement path or vertical movement path, and has redundancy. It will be.
[0006]
For this reason, with regard to the horizontal / vertical movement control of such an aerial work platform with redundancy, among the above-mentioned drive shafts, the drive shaft most suitable for the horizontal / vertical movement control, for example, expansion and contraction and undulation of the base end side boom It is customary to eliminate redundancy by using only the drive shaft according to the above.
[Problems to be solved by the invention]
[0007]
However, when such a control method is employed, there is a concern that the following problems may occur.
[0008]
Here, as shown in FIG. 7, a telescopic base end side boom 53 is provided on a swivel base 52 mounted on a vehicle 51 so as to be able to be raised and lowered, and a front end side boom 54 is provided at a front end portion of the base end side boom 53. Is assumed to be freely raised and lowered, and an aerial work vehicle Z0 in which a work table 55 is attached to the distal end portion of the distal end side boom 54 is assumed. In the aerial work vehicle Z0, when the work table 55 is moved vertically and horizontally, only two drive shafts for extending and retracting the base end side boom 53 are used.
[0009]
First, as shown in FIG. 7, the work table 55 is linearly moved upward along the vertical wall X1 of the structure X from the current position (position shown by a solid line), and this is moved to the ceiling wall X2 of the structure X. When moving to the target work position Q set on the side, during the “vertical movement”, only the base end side boom 53 is expanded and retracted while maintaining the depression angle θ between the base end side boom 53 and the front end side boom 54. Therefore, as shown by a broken line in the figure, before the work table 55 reaches the target work position Q, the connecting point 60 portion between the base end boom 53 and the front end boom 54 is the top wall. Approach X2. For this reason, in order to avoid interference between the work table 55 and the ceiling wall X2, the work table 55 cannot be moved further upward to bring it closer to the target work position Q.
[0010]
On the other hand, as shown in FIG. 8, the work table 55 is linearly moved forward along the top wall X2 of the structure X from the current position (position indicated by the solid line), and this is moved to the vertical wall X1 of the structure X. In the case of “horizontal movement” when moving to the target work position Q set on the side, only the base end side boom 53 is expanded and retracted while maintaining the depression angle θ between the base end side boom 53 and the front end side boom 54. Therefore, before the work table 55 reaches the target work position Q, the distal end boom 54 approaches the top wall X2. For this reason, in order to avoid interference between the work table 55 and the ceiling wall X2, it is impossible to move the work table 55 forward and bring it closer to the target work position Q.
[0011]
As described above, according to the conventional control method, there is a case where the work table cannot be reliably moved to the target position in either of the “vertical movement” and “vertical movement” cases. Such a situation is not preferable in terms of workability or operability of an aerial work vehicle.
[0012]
Therefore, in the present invention, in an aerial work vehicle having three or more drive shafts, it is possible to reliably move the work table to a target position by horizontal movement and vertical movement, thereby improving workability and operability. It was made for the purpose of illustration.
[Means for Solving the Problems]
[0013]
In the present invention, the following configuration is adopted as a specific means for solving such a problem. That is, one or more distal booms 4 having a telescopic or fixed length are provided in a manner that can be raised and lowered sequentially at the distal end portion 3b of the telescopic base end boom 3 provided on the vehicle 1 so as to be movable up and down. The work table 5 is attached to the distal end 4a of the distal boom located on the most distal side of the distal boom 4, and the telescopic drive means 11 and the undulation drive means 12 for extending and retracting the proximal boom 3; the telescopic drive means 13 and the relief drive means 14 for stretching and undulations of Waso when the tip side boom 4 can be freely boom telescoping, when the distal end side boom 4 is a boom fixed length thereof in aerial work platforms having a contoured drive means 14 for relief, said by actuation of at least two drive means of each drive means 11 to 14 based on input information from the horizontal and vertical operation input means 22 The operation control is performed to move the work table 5 horizontally or vertically, and the individual operation is performed to activate the driving means that are not used for the horizontal movement or the vertical movement among the driving means during the horizontal movement or the vertical movement control. When the input means 23 is operated, horizontal control is performed so that the work table 5 is moved horizontally or vertically by operating the individually operated drive means and the drive means used for horizontal movement or vertical movement. A feature is that vertical control means 20 is provided.
【The invention's effect】
[0014]
In the present invention, the following effects can be obtained by adopting such a configuration.
[0015]
That is, when the horizontal / vertical operation input means 22 is operated and the individual operation input means 23 is not operated, the drive means are based on input information from the horizontal / vertical operation input means 22. The horizontal or vertical movement of the work table 5 is realized by the operation of at least two drive means among 11 to 14, and the work table 5 is set to the target work position set on the horizontal movement track or the vertical movement track. Moved to.
[0016]
On the other hand, when the horizontal / vertical operation input means 22 is operated and the individual operation input means 23 is also operated, the operation of each of the drive means used for horizontal movement or vertical movement is described. The horizontal movement or vertical movement of the work table 5 is realized by the operation of the driving means that is not used for horizontal movement or vertical movement, and the work table 5 is a target work set on the horizontal movement locus or the vertical movement locus. Moved to position.
[0017]
As described above, according to the control apparatus for an aerial work vehicle of the present invention, when the driving means that is not used for horizontal / vertical movement is individually operated in the horizontal / vertical movement control, the individual operation is performed. By adding the operation of the drive means to the horizontal and vertical movement control, the work table can be accurately moved to the target work position by horizontal movement or vertical movement, which ensures high workability and operability. It is.
DETAILED DESCRIPTION OF THE INVENTION
[0018]
Hereinafter, the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
[0019]
FIG. 1 shows an aerial work vehicle Z according to an embodiment of the present invention. The aerial work platform Z is provided with a base end portion 3a of a first boom 3 (corresponding to a “base end side boom” in claims) on a turntable 2 that is mounted on the vehicle 1 so as to be turnable. The base part 4a of the second boom 4 (corresponding to the "front end side boom" in the claims) is connected to the front end part 3b of the first boom 3 so as to move up and down. Further, a workbench 5 is attached to the tip 4b of the second boom 4.
[0020]
The first boom 3 is telescopically driven by first boom telescopic drive means 11 (corresponding to “base-end boom telescopic drive means” in the claims) constituted by a built-in hydraulic cylinder. The first boom raising / lowering drive means 12 (corresponding to “the raising / lowering drive means of the base end boom” in the claims) is driven up and down.
[0021]
The second boom 4 is telescopically driven by a second boom telescopic drive means 13 (corresponding to “the telescopic drive means of the front end boom” in the claims), which is constituted by a built-in hydraulic cylinder. The second boom raising / lowering driving means 14 (corresponding to “the raising / lowering driving means of the tip side boom” in the claims) is a raising / lowering drive.
[0022]
The work table 5 is always maintained in a constant posture regardless of changes in the undulation angle of the booms 3 and 4 by the leveling drive means 15 disposed between the work bench 5 and the second boom 4. ing.
[0023]
By the way, the aerial work vehicle Z is outside the drive shaft related to the movement of the work table 5 except for the drive shaft related to the rotation of the turn table 2 and the drive shaft related to the rotation of the work table 5. The first boom telescopic drive means 11 and the first boom hoisting drive means 12 serve as two drive shafts for extending and lowering the first boom 3, the second boom telescopic drive means 13 and the second boom hoisting drive. two drive shaft by a means 14 according to the expansion and contraction and undulation of the second boom 4, the total has four drive shafts of the horizontal movement and vertical of the worktable 5 by actuating these four drive shaft properly It is possible to move.
[0024]
The horizontal movement or the vertical movement is performed by using two specific drive shafts, that is, the drive shafts related to expansion and contraction of the first boom 3 (in other words, the first boom expansion drive). (The operation is performed by the operation of the means 11 and the first boom raising / lowering drive means 12), while the drive control shaft that is not used for the horizontal movement or the vertical movement in the basic operation control, that is, the second boom. When the drive shafts related to 4 expansion / contraction or undulation or both expansion / contraction and undulation are used individually (that is, the second boom expansion / contraction drive means 13 or the second boom undulation drive means 14, or both of these drive means 13, 14 When both operations are performed), the second boom telescopic drive means 13 or the second boom hoist drive is used for the operation of the first boom telescopic drive means 11 and the first boom hoist drive means 12. The horizontal movement control or the vertical movement control is performed in consideration of the operation of the stage 14 or both of the driving means 13 and 14 (in the following, for convenience of explanation, this control is referred to as “arbitrary operation control”. ).
[0025]
Thus, the significance of adopting the “arbitrary operation control” in addition to the “basic operation control” is as described below.
[0026]
That is, at the time of “vertical movement” as shown in FIG. 5, the work table 5 is vertically moved from the position indicated by the solid line in FIG. 5 so that the work table 5 is indicated by the broken line. When moving to the position of the target work position Q set on the X2 side, for example, without the expansion and contraction and undulation of the second boom 4 as in the conventional control method shown in FIG. When the work table 5 is moved vertically only by expansion and contraction and undulation of the first boom 3 (with the depression angle with the second boom 4 kept constant), the work table 5 is moved as shown by a broken line in FIG. As described above, the second boom 4 interferes with the ceiling wall X2 before the target work position Q is reached, and the further raising of the work table 5 is prevented.
[0027]
In this case, for example, when the second boom 4 is lifted and positioned on the lower side of the work table 5, the work table 5 is moved to the second boom 4 and the ceiling wall X2, as shown in FIG. The target work position Q can be reached without causing any interference. Further, in order to secure the movement form of vertical movement, it is necessary to maintain the original vertical movement locus afterward regardless of the raising / lowering operation of the second boom 4. Naturally, the operation is different from the case where the second boom 4 is not raised and lowered. Therefore, the expansion and contraction and the raising and lowering of the first boom 3 are changed by the influence of the raising and lowering of the second boom 4. To do. Here, in the vertical movement control, the undulation of the second boom 4 is added to the expansion and contraction operation control of the first boom 3 (that is, the “arbitrary operation control” is adopted). Significance exists.
[0028]
On the other hand, the same applies to the “horizontal movement” of the work table 5. That is, at the time of horizontal movement control as shown in FIG. 6, the work table 5 is horizontally moved forward from the position shown by the solid line in the figure, and the work table 5 is shown by the vertical wall X1 of the structure X as shown by the broken line. When moving to the position of the target work position Q set on the side, the second boom 4 is not expanded and contracted (that is, the depression angle between the first boom 3 and the second boom 4 is kept constant). ) When the workbench 5 is moved horizontally only by expansion and contraction and undulation of the first boom 3, the second workbench 5 reaches the target work position Q before the workbench 5 reaches the target work position Q as shown by the broken line in FIG. As described above, the boom 4 interferes with the ceiling wall X2 and further advancement of the work table 5 is prevented. In this case, for example, when the second boom 4 is lifted and positioned at the same height as the work table 5, the work table 5 is placed on the second boom 4 and the ceiling wall X2 as shown in FIG. The target work position Q can be reached without causing any interference. Further, in order to secure the movement form of horizontal movement, it is necessary to maintain the initial horizontal movement locus afterward regardless of the raising / lowering operation of the second boom 4. Naturally, the operation is different from the case where the second boom 4 is not raised and lowered. Therefore, the expansion and contraction and the raising and lowering of the first boom 3 are changed by the influence of the raising and lowering of the second boom 4. To do. Here, in the horizontal movement control, the undulation of the second boom 4 is taken into account in the expansion and contraction and undulation operation control of the first boom 3 (that is, the “arbitrary operation control” is adopted). Significance exists.
[0029]
In order to realize “basic operation control” and “arbitrary operation control” as described above, in the aerial work platform Z of this embodiment, as shown in FIG. And a work posture detection means 21, a horizontal / vertical operation input means 22 and an individual operation input means 23.
[0030]
The work posture detection means 21 detects the current work postures of the first boom 3 and the second boom 4 (ie, the amount of expansion and contraction and the undulation angle), and uses these as work posture signals to the horizontal / vertical control means 20. Output.
[0031]
The horizontal / vertical operation input means 22 is manually operated by an operator, obtains an operation direction and an operation speed in horizontal movement or vertical movement corresponding to the operation direction and operation amount, and obtains the horizontal speed signal or the vertical speed signal. Is output to the horizontal / vertical control means 20.
[0032]
The individual operation input means 23 is for causing the drive shaft that is not used in horizontal movement or vertical movement, that is, the second boom 4 to expand or contract separately from the operation of the horizontal / vertical operation input means 22. The operation direction and the operation speed corresponding to the operation direction and the operation amount are obtained by being individually operated by the operator, and this is output to the horizontal / vertical control means 20 as an individual speed signal. is there. The individual speed signal by the individual operation input means 23 includes three patterns, that is, only the expansion / contraction of the second boom 4, only the undulation, and both the expansion / contraction and the undulation. A case of “undulation only” will be described as an example.
[0033]
The horizontal / vertical control means 20 includes a speed correction means 24, a target speed calculation means 25, and a control output calculation means 26.
[0034]
The speed correction means 24 receives the work posture signal from the work posture detection means 21 and the individual speed signal from the individual operation input means 23, and converts the individual speed signal into a horizontal movement speed or a vertical movement speed. This is output as a speed correction signal to the target speed calculation means 25 described below.
[0035]
The target speed calculation means 25 receives a work posture signal from the work posture detection means 21, a horizontal speed signal or vertical speed signal from the horizontal / vertical operation input means 22, and a speed correction signal from the speed correction means 24. In response, the first boom telescopic drive means 11, the first boom hoist drive means 12, the second boom telescopic drive means 13 (except in this embodiment) or the second boom hoist drive means 14 based on the work posture signal. Each is converted into a target speed and output to the control output calculation means 26 described below as a target speed signal.
[0036]
The control output calculation means 26 receives each target speed signal from the target speed calculation means 25 and receives the first boom extension / contraction drive means 11, the first boom raising / lowering drive means 12, and the second boom extension / contraction drive means 13 ( Except in this embodiment) or a control output is calculated for each second boom raising / lowering drive means 14, and this is output to each of the drive means 11-14 as a control output signal.
[0037]
Here, the control in the speed correction means 24 and the target speed calculation means 25 as the center of the control in the “arbitrary operation control” peculiar to the present invention in which individual operations are added to the horizontal movement or the vertical movement is the “vertical movement”. Taking time as an example, a specific description will be given with reference to FIG.
[0038]
In FIG. 4, a vector a is a vertical operation speed instructed by the horizontal / vertical operation input means 22, and when the individual operation input means 23 is not operated, the extension operation and start of the first boom 3 are started. The work table 5 is moved vertically upward at a speed corresponding to the vector a by the back-up operation.
[0039]
Here, it is assumed that the raising operation of the second boom 4 is performed by the individual operation input means 23 and the operating speed indicated by the vector b is instructed. Then, the current work posture signals of the first boom 3 and the second boom 4 are inputted from the work posture detection means 21 to the speed correction means 24, and the work table 5 is moved to the vector a based on the work posture signals. The first boom 3 is given an operating speed indicated by a vector c so as to move vertically while maintaining the operating speed indicated by.
[0040]
Therefore, the second boom 4 is lifted at the operating speed indicated by the vector b given by the individual operation input means 23, and the first boom 3 is operated with the operation signal from the horizontal / vertical operation input means 22. Based on the work posture signal from the work posture detection means 21, the raising operation is performed at the operation speed indicated by the vector c. As a result, the work table 5 moves vertically at the operating speed indicated by the combined vector a of the vector b and the vector c, and the work table 5 does not move regardless of the operation of the individual operation input means 23. The vertical movement is continued while maintaining the operation state before the operation of 23 (that is, the operation speed instructed by the horizontal / vertical operation input means 22).
[0041]
Next, the overall control of the horizontal / vertical control means 20 including the control in the target speed calculation means 25 will be described based on the flowchart shown in FIG.
[0042]
In FIG. 3, after the control is started, it is first determined in step S1 whether or not the horizontal / vertical operation input means 22 is being operated. If it is determined that “not operated”, it is determined in step S6 whether or not each drive shaft (that is, each of the drive means 11 to 14) is individually operated. If the individual operation is not performed, “stop processing” is executed (step S7). If the individual operation is performed, the drive control output corresponding to the operation of each drive shaft is performed. Conversion processing is performed (step S5), and the operation for each drive shaft is executed.
[0043]
On the other hand, if it is determined in step S1 that the horizontal / vertical operation input means 22 is being operated, whether or not individual operation of each drive shaft is performed in step S2 (specifically, It is determined whether or not a request for expansion / contraction or undulation of the second boom 4 has been issued by the operation of the individual operation input means 23.
[0044]
If the individual operation input unit 23 is not operated, horizontal movement or vertical movement control based on the operation of the horizontal / vertical operation input unit 22 is executed in step S4. That is, a horizontal speed signal or a vertical speed signal from the horizontal / vertical operation input means 22 is received and converted into a target speed for each of the first boom telescopic drive means 11 and the first boom raising / lowering drive means 12 (that is, , Conversion processing of horizontal speed signal or vertical speed signal into each drive axis operation component). In step S5, based on the target speeds of the first boom telescopic drive means 11 and the first boom raising / lowering drive means 12, this is converted into a control output for each of the drive means 11 and 12, and this is output. To do. Thus, horizontal movement or vertical movement based only on the expansion and contraction and undulation of the first boom 3 without the operation of the second boom 4 is realized.
[0045]
On the other hand, if it is determined in step S2 that the individual operation input means 23 is being operated, first, in step S3, each drive shaft position is calculated, that is, the first boom telescopic drive means 11 and the first. The positions of the boom hoisting drive means 12 and the second boom hoisting drive means 14 are calculated, and in step S4, the horizontal / vertical movement operation is changed to the operation components according to the positions of the drive means 11, 12, and 14. Conversion processing, that is, speed correction control by the speed correction means 24 is executed. Specifically, the operation of the second boom 4, in particular, in this embodiment, the raising and lowering operation of the second boom 4 is added to the expansion and contraction and raising and lowering operations of the first boom 3, so Speed correction of the first boom raising / lowering driving means 12 and the second boom raising / lowering driving means 14 is performed, and the target speed of each of the driving means 11, 12, 14 is obtained.
[0046]
In step S5, based on the target speed for each of the driving means 11, 12, and 14, this is converted into a control output for each of the driving means 11 and 12, and this is output. Thus, horizontal movement or vertical movement is realized in consideration of the operation of the second boom 4 in addition to the expansion and contraction and undulation of the first boom 3.
[0047]
Therefore, for example, as shown in FIG. 5 or FIG. 6, the horizontal movement or vertical movement only by the expansion and contraction operation of the first boom 3 causes the work table due to the interference between the second boom 4 and the structure X. Even if it is not possible to move 5 to the predetermined target work position Q, the work table 5 can be reliably moved to the target work position Q by avoiding such interference.
[0048]
Others (1) In the embodiment described above, the boom including the first telescopic boom 3 and the second telescopic boom 4 has been described as an example. For example, the second boom 4 may be a non-expandable boom that is fixed to a predetermined length. Further, the number of booms mounted is not limited to the one provided with two booms of the first boom 3 and the second boom 4 as in the above-described embodiment, and one or more booms are further provided at the tip of the second boom 4. The booms may be sequentially connected (in this case, the additional boom may be of a telescopic type or a non-extensible type).
[0049]
(2) In the above embodiment, in the case of horizontal movement or vertical movement based on the operation of the horizontal / vertical operation input means 22, as an example of control, a case in which this is realized by expansion and contraction of the first boom 3 is described. Although shown, the present invention is not limited to such a configuration, and a drive shaft that can be involved in horizontal movement or vertical movement, that is, a combination of any two of the drive means 11 to 14 described above. For example, this can be realized by expansion and contraction and undulation of the second boom 4.
[Brief description of the drawings]
FIG. 1 is an overall view of an aerial work vehicle equipped with a control device according to the present invention.
FIG. 2 is a control block diagram in the control device for an aerial work vehicle shown in FIG. 1;
FIG. 3 is a control flowchart in the control device for an aerial work vehicle shown in FIG. 1;
4 is an operation direction explanatory view of the aerial work vehicle shown in FIG. 1. FIG.
FIG. 5 is an operation explanatory diagram when the aerial work vehicle shown in FIG. 1 moves vertically.
6 is an operation explanatory diagram when the aerial work vehicle shown in FIG. 1 is moved horizontally. FIG.
FIG. 7 is an operation explanatory diagram during vertical movement of a conventional aerial work vehicle.
FIG. 8 is an operation explanatory diagram when a conventional aerial work vehicle is moved horizontally.
[Explanation of symbols]
1 is a vehicle, 2 is a swivel, 3 is a first boom, 4 is a second boom, 5 is a workbench, 11 is a first boom telescopic drive means, 12 is a first boom hoist drive means, and 13 is a second boom telescopic Drive means, 14 is a second boom raising / lowering drive means, 15 is a leveling drive means, 20 is a horizontal / vertical control means, 21 is a work posture detection means, 22 is a horizontal / vertical operation input means, 23 is an individual operation input means, 24 Is a speed correction means, 25 is a target speed calculation means, 26 is a control output calculation means, Q is a target work position, X is a structure, and Z is an aerial work vehicle.

Claims (1)

One or more distal booms (4) that are telescopic or fixed length are sequentially raised and lowered to the distal end (3b) of a telescopic base end boom (3) that can be raised and lowered on the vehicle (1). A work table (5) is attached to the tip end (4a) of the tip side boom located on the most distal side of the tip side boom (4).
A telescopic drive means (11) for performing expansion and undulations of the base end side boom (3) and relief drive means (12), telescopic and Waso when the tip side booms (4) is freely boom telescoping The telescopic driving means (13) and the hoisting driving means (14) for hoisting are provided, and the hoisting driving means (14) for hoisting when the tip end boom (4) is a fixed length boom is provided. In an aerial work platform,
Based on the input information from the horizontal / vertical operation input means (22), the work table (5) is moved horizontally or vertically by the operation of at least two of the drive means (11) to (14). When the individual operation input means (23) is operated to operate the driving means not used for the horizontal movement or the vertical movement among the driving means during the horizontal movement or vertical movement control. Horizontal / vertical control means (20) for controlling the movement of the work table (5) horizontally or vertically by operation of the individually operated drive means and the drive means used for horizontal movement or vertical movement. A control device for an aerial work vehicle.

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