CN-115362123-B - Running operation device for crawler type overhead working truck

Abstract

The invention provides a traveling operation device of a crawler type overhead working truck, which is provided with an operation panel capable of being operated by one hand and having stable operation state even if the crawler type overhead working truck swings left and right. A travel operation device is provided, which is provided with a controller and an operation panel provided on a pedal of an autonomous travel crawler type overhead working truck, wherein the controller controls rotation of a left motor for driving a left crawler and a right motor for driving a right crawler in accordance with an operation of an operation lever provided on the operation panel. The control lever of the control panel is composed of a lever main body capable of tilting in a front-rear one-axis direction only from a neutral position, a left turn switch, a right turn switch, and an enabling switch for enabling the operation of the above-mentioned components, and the above-mentioned switch is provided in a position on the lever main body where the left turn switch and/or the right turn switch can be operated while the enabling switch is pressed by a finger holding the lever main body.

Inventors

• Hiwatashi Makoto
• Zeng Tiangong
• Isodo Masahide

Assignees

• 北越工业株式会社

Dates

Publication Date

20260505

Application Date

20210311

Priority Date

20200401

Claims (10)

1. 1. A traveling operation device of a crawler type high-altitude operation vehicle is an autonomous traveling type traveling operation device of the crawler type high-altitude operation vehicle, wherein the crawler type high-altitude operation vehicle is provided with a lifting pedal on a chassis, the chassis comprises a left crawler and a right crawler which are used as traveling devices, a left motor and a right motor which respectively and independently drive the left crawler and the right crawler, The travel operation device is characterized in that, The travel operation device includes a controller that controls rotation of the left motor and the right motor in accordance with an operation of an operation lever provided to the operation panel, The operation lever includes: An operation lever main body which is capable of tilting movement in only a front-rear one-axis direction from a neutral position and is used for operating the forward, backward and stop of the overhead working truck along with the tilting movement in the front-rear one-axis direction; A left turn switch for performing an operation of turning the aerial work device to the left, and A right turn switch for performing an operation of turning the aerial lift device to the right, Further, the lever further includes an enable switch constituted by a momentary switch that makes an operation based on the lever main body, the left turn switch, and the right turn switch effective only when pressed, The left turn switch, the right turn switch, and the enable switch are provided in positions on the lever body where the lever body, the left turn switch, and/or the right turn switch can be operated while the enable switch is pressed by a finger holding the lever body, The controller is configured to: A storage area in which rotational speeds common to the left motor and the right motor corresponding to respective positions of neutral, forward-leaning, and backward-leaning of the operation lever main body are stored as basic rotational speeds, and correction values of rotational speeds of the left motor and the right motor with respect to the basic rotational speeds are stored, the correction values being employed when turning the aerial vehicle left or right according to operation conditions of the left turn switch and the right turn switch, The basic rotation speed is corrected with the correction value corresponding to the operation states of the left turn switch and the right turn switch.
2. 2. The travel operation device for a crawler type aerial work vehicle according to claim 1, wherein the enabling switch is provided on a side surface of a front side of the grip portion of the lever main body.
3. 3. The travel operation device for a crawler-type overhead working truck according to claim 1, wherein the left turn switch and the right turn switch are arranged in a left-right arrangement on an upper surface of the grip portion of the lever main body.
4. 4. A traveling operation apparatus for a crawler type aerial work vehicle according to any one of claims 1 to 3, wherein, The controller is configured to: when the left turn switch and the right turn switch are not operated and only the tilting operation of the lever body is performed according to the operation of the lever body, the left motor and the right motor are rotated so that the rotation speeds are the basic rotation speeds corresponding to the tilting positions, And if the left turning switch or the right turning switch is operated, correcting the basic rotation speed according to the correction value, and controlling the rotation speeds of the left motor and the right motor so as to enable the aerial vehicle to perform turning action.
5. 5. The traveling operation apparatus for a crawler type aerial work vehicle as set forth in claim 4, wherein, The controller is configured to: Has an operation amount counter that counts operation amounts of the left turn switch and the right turn switch, and The storage area of the controller stores the correction value that varies according to the count value of the operation amount counter, The basic rotation speed is corrected so as to reduce the rotation speed of the left motor and/or increase the rotation speed of the right motor in association with a change in the count value that occurs with an increase in the operation amount of the left turn switch, thereby turning the overhead working truck to the left, The basic rotation speed is corrected so as to reduce the rotation speed of the right motor and/or increase the rotation speed of the left motor in association with a change in the count value that occurs with an increase in the operation amount of the right turn switch, thereby turning the overhead working truck to the right.
6. 6. The travel operation device for a crawler-type aerial work vehicle according to claim 5, wherein the operation amount counter counts a pressing time of the left turn switch and the right turn switch as an operation amount.
7. 7. The travel operation device for a crawler-type aerial work vehicle according to claim 5, wherein the operation amount counter counts the number of times the left turn switch and the right turn switch are pressed as an operation amount.
8. 8. The traveling operation apparatus for a crawler type aerial work vehicle as set forth in claim 4, wherein, The correction value when the lever body is in a neutral position and the correction value when the lever body is in a forward-tilted position or a backward-tilted position are stored in the storage area of the controller, The controller performs control so that if the left turn switch or the right turn switch is pressed while the lever body is in the neutral position, the basic rotation speed is corrected, the left motor and the right motor are corrected to the same rotation speed and are predetermined rotation speeds in opposite rotation directions from each other, If the left turn switch is pressed in a state where the lever body is tilted forward or backward, correction of the basic rotation speed that reduces the rotation speed of the left motor is performed to turn the aerial vehicle to the left, and if the right turn switch is pressed in a state where the lever body is tilted forward or backward, correction of the basic rotation speed that reduces the rotation speed of the right motor is performed to turn the aerial vehicle to the right.
9. 9. The travel operation device for a crawler type aerial work vehicle according to claim 8, wherein the controller is configured to perform correction of the basic rotation speed of decelerating the rotation speed of the left motor to zero when the left turn switch is pressed by pressing the left turn switch or the right turn switch in a state where the operation lever main body is tilted forward or backward, and perform correction of the basic rotation speed of decelerating the rotation speed of the right motor to zero when the right turn switch is pressed.
10. 10. The travel operation device for a crawler type aerial work vehicle according to claim 8, wherein the controller is configured to perform correction of the basic rotation speed of decelerating the rotation speed of the left motor to zero stepwise when the left turn switch is pressed and perform correction of the basic rotation speed of decelerating the rotation speed of the right motor to zero stepwise when the right turn switch is pressed, with an increase in the amount of tilting movement of the lever body from the neutral position by pressing the left turn switch or the right turn switch in a state where the lever body is tilted forward or backward.

Description

Running operation device for crawler type overhead working truck Technical Field The present invention relates to a travel operation device for a crawler-type overhead working truck, and more particularly, to a travel operation device for causing an overhead working truck to travel forward, backward, and turn in accordance with an operation by an operator riding on a step in a crawler-type autonomous overhead working truck configured to include a step on which the operator rides on and off the step on a chassis provided with a crawler as a travel device and a motor for driving the crawler, and to include a lifting mechanism for lifting and lowering the step on and off the chassis. Background As shown in fig. 10, the crawler-type aerial vehicle 100 includes a chassis 102 having crawler belts 105 (105 a, 105 b) as traveling devices, a step 104 on which an operator or the like is mounted to lift, and a lifting mechanism (in the illustrated example, a scissor link mechanism) 103 for lifting the step 104 on the chassis 102, and is configured to be capable of autonomous traveling by mounting a pair of motors (not shown) on the chassis 102 that independently drive the crawler belts 105a, 105b provided on the left and right of the chassis 102. In this crawler-type overhead working truck 100, a travel operation device is provided which is composed of a controller for controlling the operation of the pair of motors in accordance with the operation of a lever and a switch provided on the operation panel and an operation panel 110 attached to the pedal 104, and the crawler-type overhead working truck 100 is configured such that an operator riding on the pedal operates the lever and the switch provided on the operation panel 110 to drive the overhead working truck 100 forward, backward, and turn. Fig. 11 shows an exemplary configuration of an operation panel 110 used for the travel operation device of the crawler-type aerial work vehicle 100. The operation panel 110 shown in fig. 11 is configured to include a left travel lever 125a for operating the left crawler 105a and a right travel lever 125b for operating the right crawler 105b, respectively, and to control the rotational directions and rotational speeds of the motors for the left and right crawler according to the tilting directions and the tilting angles of the left travel lever 125a and the right travel lever 125b by tilting the left travel lever 125a and the right travel lever 125b in a single axis direction only. Thus, as an example, if both the left travel control lever 125a and the right travel control lever 125b are tilted forward at the same tilt angle, the aerial vehicle 100 moves straight forward, and if the left travel control lever 125a and the right travel control lever 125b are tilted forward at different tilt angles, the aerial vehicle 100 moves forward while turning to the side with the smaller tilt angle. If both the left travel control lever 125a and the right travel control lever 125b are tilted rearward at the same tilt angle, the overhead working truck 100 is moved straight rearward, and if the left travel control lever 125a and the right travel control lever 125b are tilted rearward at different tilt angles, the overhead working truck 100 is retracted while turning to the side with the smaller tilt angle. Further, when one of the left travel control lever 125a and the right travel control lever 125b is tilted in the neutral position and the other is tilted in the forward or backward direction, a turning operation is performed with the neutral side crawler as a fulcrum (in this specification, such a turning operation performed with the left and right side crawler stopped and the stopped side crawler as a fulcrum is referred to as "pivot turn"), and when the left travel control lever 125a and the right travel control lever 125b are tilted in the opposite directions, the left crawler 105a and the right crawler 105b are rotated in the opposite directions, respectively, and the aerial vehicle performs a turning operation on the spot (in this specification, a turning operation of the aerial vehicle performed by the reverse rotation of the left crawler and the right crawler is referred to as "spot turn"). As an operation panel 110 of the crawler type aerial work vehicle 100, there has been proposed a travel operation device configured such that, as shown in fig. 12, a travel operation lever 125 capable of being tilted and operated only in one axial direction in the front-rear direction is provided, and the travel operation lever 125 is tilted and moved in the front-rear direction from a neutral position, whereby the aerial work vehicle 100 is advanced by being tilted and moved in the front direction, the aerial work vehicle 100 is retracted by being tilted and moved in the rear direction, and the aerial work vehicle 100 is stopped at a neutral position, and a turning amount operation dial 126 as a turning switch is provided, and the turning directio