Traveling operation device for a caterpillar aerial work platform

Abstract

This invention provides a driving operation device for a tracked aerial work platform, featuring a control panel that can be operated with one hand and remains stable even when swaying left and right. The driving operation device includes a controller and a control panel mounted on the pedals of the self-propelled tracked aerial work platform. The controller controls the rotation of the left motor driving the left track and the right motor driving the right track based on the operation of a lever mounted on the control panel. The control panel's lever consists of a lever body that can tilt only in a forward and backward direction from a neutral position, a left turn switch, a right turn switch, and an enable switch that enables the operation of the aforementioned components. The switches are positioned on the lever body at a location where the left turn switch and / or right turn switch can be operated while pressing the enable switch with a finger holding the lever body.

Description

Technical Field

[0001] This invention relates to a driving control device for a tracked aerial work platform, and more specifically, to a driving control device for a tracked autonomous aerial work platform that enables the aerial work platform to move forward, backward, and turn according to the operation of an operator sitting on a footboard. The tracked autonomous aerial work platform is configured to have a footboard for an operator to sit on on a chassis having tracks as a driving device and a motor driving the tracks, and to have a lifting mechanism for raising and lowering the footboard on the chassis. Background Technology

[0002] like Figure 10 As shown, the tracked aerial work platform 100 has a platform 104 for raising and lowering operators on a chassis 102 equipped with tracks 105 (105a, 105b) as a driving device, and a lifting mechanism (in the illustrated example, a scissor linkage mechanism) 103 for raising and lowering the platform 104 on the chassis 102. By mounting a pair of motors (not shown) on the chassis 102 that independently drive the tracks 105a and 105b on the left and right sides of the chassis 102, it is configured to be able to drive autonomously.

[0003] In such a tracked aerial work platform 100, a driving operation device is provided, consisting of a controller and an operation panel 110 mounted on a footboard 104. The controller controls the operation of the aforementioned pair of motors according to the operation of the control levers and switches provided on the operation panel. The tracked aerial work platform 100 is configured such that an operator riding on the footboard drives the aerial work platform 100 forward, backward, and turning by operating the control levers and switches provided on the operation panel 110.

[0004] exist Figure 11 The diagram shows an example of the configuration of the control panel 110 used in the driving operation device of such a tracked aerial work platform 100.

[0005] Figure 11 The control panel 110 shown is configured to have a left travel control lever 125a for operating the left track 105a and a right travel control lever 125b for operating the right track 105b. By making both the left travel control lever 125a and the right travel control lever 125b single-axis control levers that can only tilt in one direction (forward and backward), the controller (not shown) controls the rotation direction and speed of the motors for the left and right tracks respectively according to the tilt direction and tilt angle of the left travel control lever 125a and the right travel control lever 125b.

[0006] Thus, as an example, if both the left driving control lever 125a and the right driving control lever 125b are tilted forward at the same tilt angle relative to the neutral position, the aerial work platform 100 will move straight forward. If the left driving control lever 125a and the right driving control lever 125b are tilted forward at different tilt angles, the aerial work platform 100 will move forward while turning towards the side with the smaller tilt angle.

[0007] Furthermore, if both the left driving control lever 125a and the right driving control lever 125b are tilted backward at the same tilt angle relative to the neutral position, the aerial work platform 100 will travel straight backward. If the left driving control lever 125a and the right driving control lever 125b are tilted backward at different tilt angles, the aerial work platform 100 will turn towards the side with the smaller tilt angle while reversing.

[0008] Furthermore, the configuration is as follows: when one of the left travel control lever 125a or the right travel control lever 125b is in a neutral position and the other is tilted forward or backward, a turning action is performed with the track on the neutral side as the fulcrum (in this specification, such a turning action that stops one of the tracks and uses the track on the stopped side as the fulcrum is called a "pivot turn"). When the left travel control lever 125a and the right travel control lever 125b are tilted forward and backward in opposite directions, the left track 105a and the right track 105b rotate in opposite directions, and the aerial work platform vehicle performs a turning action on the spot (in this specification, such a turning action of the aerial work platform vehicle based on the reverse rotation of the left track and the right track is called a "spin turn").

[0009] In addition, a driving operation device is proposed as the control panel 110 of the tracked aerial work platform 100, such as... Figure 12 As shown, its configuration includes: a driving operation control lever 125 that can only be tilted in one axial direction (forward and backward). By tilting the lever 125 from a neutral position in the forward and backward directions, driving operations such as moving the aerial work platform 100 forward by tilting forward, moving it backward by tilting backward, and stopping it at the neutral position are performed. A turning amount operation dial 126, which functions as a rotary switch, is also provided. By rotating the dial 126 from the neutral position to the right or left, the turning direction and turning amount of the aerial work platform 100 can be controlled according to the direction and amount of rotation (refer to Patent Document 1). Figure 3 ).

[0010] In addition, a driving control device 120 was proposed. Although it relates to the control panel of an aerial work platform vehicle equipped with a wheel (tire) type travel device, and not to the driving control device of a tracked aerial work platform vehicle, it is still applicable to... Figure 13 As shown, its configuration includes: a two-axis control lever 127 capable of tilting and moving in both forward and backward, and left and right directions. By operating this two-axis control lever 127, the aerial work platform 100 can simultaneously perform forward, backward, and stop operations based on tilting in the forward and backward directions, as well as left and right turning operations (steering operations) based on tilting in the left and right directions (refer to Patent Document 2). Figure 1 ).

[0011] Patent Document 1: Japanese Patent No. 6080458

[0012] Patent Document 2: Japanese Patent Application Publication No. 8-142873

[0013] In the control panel 110 of the driving operation device described above, as shown in the reference... Figure 11 As explained, in the configuration where a left travel control lever 125a is independently provided for operating the left track 105a and a right travel control lever 125b is provided for operating the right track 105b, the tilting direction and tilting angle of the left travel control lever 125a and the right travel control lever 125b correspond to the rotation direction and rotation speed of the left track 105a and the right track 105b, respectively. Therefore, the operator can perform the driving operation of the aerial work platform 100 by feel.

[0014] However, in the above configuration, since the rotation direction and speed of the left track 105a and the right track 105b are operated independently, it is difficult for an operator who is not yet accustomed to the operation to keep the left travel control lever 125a and the right travel control lever 125b tilted at the same tilt angle in order to make the aerial work platform 100 travel straight. Therefore, the aerial work platform 100 cannot travel straight in a stable state.

[0015] In contrast, with reference Figure 12 In the driving operation device of the control panel 110 described above, the driving operation control lever 125, which is a control lever of one axis, is used to operate the aerial work platform 100 to move forward, backward, and stop. Turning is operated by the turning amount control turntable 126. Therefore, even beginners can drive the aerial work platform 100 relatively easily.

[0016] However, in the aerial work platform 100, such as Figure 10As shown, the aforementioned control panel 110 is generally installed in a position that is easy for the operator to operate while standing on the footboard 104, for example, it is set on the upper part of the guardrail 140 of the footboard 104, so that the operator can drive the aerial work vehicle while maintaining the posture of standing on the footboard.

[0017] Therefore, as referenced Figure 11 The operating panel is explained, or you can refer to it. Figure 12 As described in Patent Document 1, when the control panel 110 is provided for the operator to operate with both hands, both hands are occupied while driving the aerial work platform 100. Therefore, the operator cannot hold onto the guardrail 140 or other supports to support their body. They need to drive while absorbing the swaying of the vehicle with only their feet. This requires not only driving skills, but also the possibility of falling onto the footplate 104 due to lack of support when the aerial work platform 100 sways violently, such as when crossing steps or encountering obstacles.

[0018] In contrast, in reference Figure 13 The control panel described in Patent Document 2 is configured such that the aerial work platform 100 can be moved forward and backward by a two-axis control lever 127 that can tilt and move in two directions (forward, backward, left, and right), and can also turn left and right. This allows the operator to operate the control lever 127 with one hand and hold the guardrail 140 with the other hand, which is convenient in terms of dealing with vibrations and collisions.

[0019] However, in tracked aerial work platforms, the contact surface of the tracks (for example, rubber tracks), i.e., the outer circumference, is as follows: Figure 10 As shown, protrusions called lugs 106 are formed at predetermined intervals. Due to the vibration of the lugs 106 when they come into contact with the ground during travel, the swaying is greater during travel compared to wheel (tire) type aerial work platforms. The operator sitting on the footboard is always in a state of swaying from side to side during travel.

[0020] Therefore, if there is only one-axis control lever that can move forward and backward, there will be no major obstacles in operation. However, if the control panel 110 of the tracked aerial work platform is equipped with a two-axis control lever that can tilt and move in two directions (forward, backward, left, and right), the aerial work platform will be difficult to drive because the control lever and the operator will sway left and right together, making it difficult to make the aerial work platform move straight stably.

[0021] In addition, in reference Figure 10The aerial work platform 100 described herein is equipped with an enable switch 122 that activates the operation of the left-side drive control lever 125a and the right-side drive control lever 125b only when the switch is pressed. This prevents the aerial work platform 100 from malfunctioning, such as starting to move, even if the operator's body comes into contact with the drive control levers 125a and 125b on the control panel 110 while the aerial work platform 100 is stopped and work is being performed on the pedals. As long as the enable switch 122 is not pressed, even if the operator accidentally comes into contact with the drive control levers 125a and 125b on the control panel 110, the aerial work platform 100 will not start to move, thus preventing accidents.

[0022] Here, in the aerial work platform 100, the aforementioned control panel 110 is generally installed on the guardrail 140, which is fixed to the footboard 104. However, the inventors of this invention considered that by configuring the control panel 110 to be detachable and removed from the footboard 104, the control panel 110 can also be used as a remote control for remotely operating the aerial work platform 100 depending on the working environment.

[0023] Thus, if the control panel 110 can also be used as a remote control, the aerial work platform 100 can be driven even without the operator sitting on the footboard 104. For example, in normal use, the control panel 110 can be installed on the guardrail 140 of the footboard 104. However, in situations where driving with someone sitting on the footboard would be dangerous, or in places where it is difficult to pass (low-altitude) with the operator sitting on the footboard, the control panel 110 can be removed and used as a remote control instead of the operator sitting on the footboard 104. The aerial work platform 100 can be driven by operating the driving control device 120 installed on the control panel 110 from outside the footboard 104. Situations where driving with someone sitting on the footboard would be dangerous include: driving the aerial work platform 100 when loading or unloading it onto a vehicle transport vehicle such as a self-loading loader or a safety loader; and driving the aerial work platform 100 onto a truck's loading platform using a loading ramp (vehicle loading ramp). Locations where it is difficult for operators to pass through while riding on the platform (low height) include: elevator entrances when loading aerial work platforms into elevators for transport during high-rise construction.

[0024] However, in the configuration where the enable switch 122 is set as a foot switch as described above, if the user is not sitting on the pedal 104, the foot switch (enable switch 122) cannot be operated, and the control panel 110 cannot function as the aforementioned remote control.

[0025] To address this issue, we considered replacing the aforementioned foot switch type enable switch 122 with a structure where an enable switch, for example, is installed on the control panel 110 as an instantaneous switch. However, the existing control panel 110 is a relatively large box-shaped structure, which cannot be moved even by an adult male unless he holds it with his arm. If an enable switch is added to such a control panel 110, both the driving control device 120 and the enable switch need to be operated simultaneously while the control panel 110 is held, which makes the operation difficult.

[0026] As explained above, when the control panel 110 constituting the driving operation device adopts a structure with a single-axis control lever that can only move in the forward and backward directions, even for tracked aerial work platforms that experience significant vibrations during travel, it still offers the advantage of easy lever operation. However, with this structure, it is not possible to simultaneously achieve forward, backward, and stop operations, as well as left and right turns, using only one single-axis control lever. Therefore, it is necessary to... Figure 11 As shown, a structure with two single-axle control levers, such as the left driving control lever 125a and the right driving control lever 125b, is adopted, or as shown in the reference... Figure 12 As described in Patent Document 1, in addition to the driving control lever 125 consisting of a single-axis control lever, a turning control turntable 126 is also required for turning operations. The above structures all have the following problems: they occupy the operator's hands when driving the aerial work platform 100, and the operator cannot hold onto the guardrail 140 to support their body.

[0027] On the other hand, as referenced Figure 13 As described in Patent Document 2, when the aerial work platform 100 is driven using a two-axis control lever 127 that can tilt and move in two directions (forward, backward, left, and right), it has the advantage that the operator can simultaneously operate the aerial work platform 100 to move forward, backward, left, and right with one hand. However, when the two-axis control lever 127 is applied to a tracked aerial work platform with large vibrations during travel, the control lever 127 also swings left and right along with the operator, causing the aerial work platform 100 to sway left and right as well, thus making it difficult to travel steadily in a straight line.

[0028] In addition, with the aforementioned enable switch 122 configured as a foot switch, the operator's hands can be prevented from being occupied since the enable switch 122 can be operated with the foot. However, on the other hand, there is a problem that the control panel 110 cannot be removed from the pedal 104 and used as a remote control.

[0029] On the other hand, when the control panel 110 is equipped with an enable switch, there are the following advantages and disadvantages: the control panel 110 can be detached from the pedal 104 and operated outside the pedal as a remote control, but for operators who are holding the control panel 110, as shown in the aforementioned Patent Document 2, even if the control panel has a control lever 127 that can be used to perform driving and steering operations with one hand, it is difficult to operate the enable switch. Summary of the Invention

[0030] Therefore, the present invention was made to overcome the shortcomings of the prior art. Its purpose is to provide a driving controller for a tracked aerial work platform equipped with an operating panel. By using a single-axis control lever with tilting movement only in the forward and backward direction as the driving operation control lever set on the operating panel, even when applied to a tracked aerial work platform that experiences large vibrations during driving, the driving operation control lever does not sway left and right, and the aerial work platform can stably perform straight-line operation. Furthermore, all driving operations of the aerial work platform, including the operation of the aforementioned enable switch, such as forward movement, backward movement, and turning (including pivoting and turning in place), can be performed with one hand. Thus, the operator does not need to adopt an unstable single-leg standing posture to operate the foot switch type enable switch, but can operate from a stable posture with both legs on the footboard, and can operate by holding the guardrail with one free hand, which can prevent the operator from falling on the footboard. Moreover, it can be detached from the footboard and used as a remote control.

[0031] Another object of the present invention is to provide a driving operation device for a tracked aerial work platform equipped with a controller, which executes rotation control of the left and right motors according to the operation of the control panel that can perform all driving-related operations with one hand, so as to enable the aerial work platform to move forward, backward and stop, as well as turn including pivoting and turning in place.

[0032] The technical means for solving the technical problem are described below together with the reference numerals used in the specific embodiments. These reference numerals are used to clarify the correspondence between the description in the claims and the description in the specific embodiments, and are not intended to limit the technical scope of the present invention.

[0033] To achieve the above objectives, the driving operation device 10 of the aerial work platform 1 of the present invention is a self-propelled tracked aerial work platform 1. The tracked aerial work platform 1 has a liftable pedal 4 on a chassis 2. The chassis 2 includes: a left track 5a and a right track 5b as driving devices; and a left motor 60a and a right motor 60b that independently drive the left track 5a and the right track 5b, respectively. The driving operation device 10 includes a controller 70 and an operation panel 11 disposed on the pedal 4. The controller 70 controls the rotation of the left motor 60a and the right motor 60b according to the operation of the operating lever 20 disposed on the operation panel 11. The operating lever 20 includes: an operating lever body 21 that can only tilt and move in the forward and backward axis direction from a neutral position, for accompanying movement in the forward and backward axis direction. The control lever 20 is equipped with a tilting mechanism for operating the aerial work platform 1 to move forward, backward, and stop; a left turn switch 24 for turning the aerial work platform 1 to the left; and a right turn switch 25 for turning the aerial work platform 1 to the right. The control lever 20 also includes an enable switch 22, which is a momentary switch that activates operations based on the control lever body 21, the left turn switch 24, and the right turn switch 25 only when pressed. The left turn switch 24, the right turn switch 25, and the enable switch 22 are positioned on the control lever body 21 at a location where the control lever body 21, the left turn switch 24, and / or the right turn switch 25 can be operated by pressing the enable switch 22 with a finger holding the control lever body 21.

[0034] Preferably, the enable switch 22 is provided on the side of the grip portion 26 of the control lever body 21 in front of it (for example, as a trigger switch).

[0035] Preferably, the left turn switch 24 and the right turn switch 25 are arranged in a left-right arrangement on the upper surface of the grip portion 26 of the control lever body 21.

[0036] The controller 70 is configured to have a storage area 71, in which the common rotational speed of the left motor 60a and the right motor 60b corresponding to the neutral, forward-tilted, and backward-tilted positions of the operating lever body 21 is stored as a basic rotational speed, and correction values ​​of the rotational speeds of the left motor 60a and the right motor 60b relative to the basic rotational speed are stored. These correction values ​​are used when the aerial work platform 1 makes a left or right turn according to the operating states of the left turn switch 24 and the right turn switch 25. The correction values ​​are determined based on the operation of the operating lever body 21, the left turn switch 24, and the right turn switch 25 while pressing the enable switch 22. When the turn switch 24 and the right turn switch 25 are not operated and only the main body of the operating lever is tilted, the left motor 60a and the right motor 60b rotate at a basic speed corresponding to the tilt position. If the left turn switch 24 or the right turn switch 25 is operated, the basic speed is corrected according to the correction value, and the speed of the left motor 60a and the right motor 60b is controlled to make the aerial work platform 1 turn. For example, when the left turn switch 24 is operated, the aerial work platform 1 turns to the left, and when the right turn switch 25 is operated, the aerial work platform 1 turns to the right.

[0037] Preferably, the controller 70 is configured to have an operation quantity counter 72 that counts the operation quantities of the left turn switch 24 and the right turn switch 25. The storage area 71 of the controller 70 stores a correction value that varies according to the count value of the operation quantity counter 72. The basic speed is corrected by changing the count value as the operation quantity of the left turn switch 24 increases, thereby reducing the speed of the left motor 60a (including reversing) and / or increasing the speed of the right motor 60b to turn the aerial work platform 1 to the left. Similarly, the basic speed is corrected by changing the count value as the operation quantity of the right turn switch 25 increases, thereby reducing the speed of the right motor 60b (including reversing) and / or increasing the speed of the left motor 60a to turn the aerial work platform 1 to the right.

[0038] Preferably, the operation quantity counter 72 is configured such that the pressing time of the left turn switch 24 and the right turn switch 25 is used as the operation quantity to count, or the number of times the left turn switch 24 and the right turn switch 25 are pressed is used as the operation quantity to count.

[0039] Preferably, the storage area 71 of the controller 70 stores the correction value when the lever body 21 is in the neutral position, and the correction value when the lever body 21 is in the forward tilt position or the backward tilt position. The controller 70 controls the basic rotation speed to be corrected if the left turn switch 24 or the right turn switch 25 is pressed when the lever body 21 is in the neutral position, so that the left motor 60a and the right motor 60b are corrected to have the same rotation speed but opposite rotation speeds. If the left turn switch 24 is pressed while the operating lever body 21 is tilted forward or backward, the basic speed of the left motor 60a is corrected to reduce its speed, thereby turning the aerial work vehicle 1 to the left. If the right turn switch 25 is pressed while the operating lever body 21 is tilted forward or backward, the basic speed of the right motor 60b is corrected to reduce its speed, thereby turning the aerial work vehicle 1 to the right.

[0040] In this case, preferably, the controller 70 is configured such that by pressing the left turn switch 24 or the right turn switch 25 while the operating lever body 21 is tilted forward or backward, the controller corrects the basic speed by reducing the speed of the left motor 60a to zero (stopping) when the left turn switch 24 is pressed, and corrects the basic speed by reducing the speed of the right motor 60b to zero (stopping) when the right turn switch 25 is pressed (causing the aerial work platform 1 to pivot).

[0041] Alternatively, preferably, the controller 70 is configured such that, by pressing the left turn switch 24 or the right turn switch 25 while the operating lever body 21 is tilted forward or backward, as the tilting movement of the operating lever body 21 increases from the neutral position, when the left turn switch 24 is pressed, a basic speed correction is performed to gradually reduce the speed of the left motor 60a to zero, and when the right turn switch 25 is pressed, a basic speed correction is performed to gradually reduce the speed of the right motor 60b to zero.

[0042] Based on the above description of the structure of the present invention, the aerial work vehicle 1 equipped with the driving operation device 10 of the present invention can achieve the following significant effects.

[0043] On the control lever body 21, an enable switch 22, a left turn switch 24, and a right turn switch 25 are provided at positions where they can be operated by the hand holding the control lever body 21. By providing such a structure for the control lever 20, a driving operation device 10 can be provided that allows the use of a control lever (control lever body 21) that swings only in the forward and backward axis direction, and allows the aerial work vehicle 1 to perform all forward, backward, and turning actions with one hand.

[0044] By forming the control lever body 21 in such a structure that can only tilt and move in one axial direction (forward and backward), in the aforementioned driving operation device described in Patent Document 2, which has a control lever that can tilt and move in two axial directions (forward, backward, left, and right), if applied to the driving operation device of a tracked aerial work platform vehicle with large vibrations during driving, the aerial work platform vehicle would be difficult to drive in a stable straight position due to the left and right swaying of the control lever. However, in the control lever 20 provided in the control panel 11 of the present invention, by using a control lever body 21 with only one axis, the aforementioned left and right swaying accompanied by vibration is not generated, and a driving operation device 10 with a control panel 11 that enables the aerial work platform vehicle 1 to drive in a stable straight position can be provided.

[0045] Furthermore, in the driving operation device 10 of the present invention, by having the aforementioned control panel 11, the aerial work platform 1 can be driven with one hand. As a result, the operator can drive the aerial work platform 1 while holding onto the guardrail 40 or other support with one free hand, which can reduce the risk of falling on the footboard 4.

[0046] Furthermore, by enabling the operation of the control panel 11 with one hand, even with the aforementioned enable switch 22 provided, the operator can still operate the control lever 20 with one hand, even when the control panel 11 is detached from the pedal 4 and the operator holds it with their arm. As a result, the control panel 11 of the present invention can also be used as a remote control when it is desired to drive the aerial work platform 1 remotely.

[0047] By setting the enable switch 22 on the side of the grip portion 26 of the control lever 20, for example as a trigger switch, it is possible to hold the control lever 20 and operate the enable switch 22 simultaneously in a very easy and natural manner without causing the operator's hand to adopt an unreasonable posture, thereby reducing operator fatigue.

[0048] With the left turn switch 24 and right turn switch 25 arranged side by side on the upper surface of the grip portion 26 of the operating lever 20, the enable switch 22 and the left turn switch 24 or right turn switch 25 can be operated simultaneously in a reasonable manner. This structure allows multiple switches to be operated simultaneously with one hand without causing the operator's hand to adopt an unreasonable posture. Therefore, an operating panel 11 can be provided that allows the operator to operate without causing excessive fatigue.

[0049] Furthermore, by arranging the left turn switch 24 and the right turn switch 25 in a left-right configuration, the turning direction is consistent with the button configuration, allowing the operator to operate the vehicle by feel. Therefore, even operators unfamiliar with the operation can easily drive the aerial work platform.

[0050] Furthermore, the controller 70 stores the aforementioned basic rotation speed and the correction value of the basic rotation speed in the storage area 71, so that the controller 70 controls the rotation speed of the left motor 60a and the right motor 60b according to the operation of the lever body 21, the left turn switch 24 and the right turn switch 25 while pressing the enable switch 22, thereby providing a driving operation device 10 that enables the aerial work platform 1 to drive in accordance with the operation of the lever 20 provided on the control panel 11.

[0051] The controller 70 is equipped with an operation quantity counter 72 that counts the operation quantities of the left turn switch 24 and the right turn switch 25. With the storage area 71 of the controller 70 storing the correction value that varies according to the count value of the operation quantity counter 72, the controller 70 performs the following control: based on the operation quantities (pressing time, number of presses) of the left turn switch 24 and the right turn switch 25, the basic rotational speed is corrected by increasing the speed difference between the left motor 60a and the right motor 60b as the operation quantity increases. This allows for easy control of changing the turning angle based on the operation quantities (pressing time, number of presses) of the left turn switch 24 and the right turn switch 25.

[0052] In addition, such changes in the turning angle can vary depending on the pressing time or number of times the left turn switch or right turn switch is pressed.

[0053] Furthermore, the controller 70 stores in its storage area 71 the correction values ​​when the lever body 21 is in the neutral position and the correction values ​​when the lever body 21 is in the forward or backward tilt position. The controller 70 performs the following control: when the lever body 21 is in the neutral position, if the left turn switch 24 or the right turn switch 25 is pressed, the basic speed is corrected, and the left motor 60a and the right motor 60b are corrected to a predetermined speed with the same speed and opposite rotation directions. If the left turn switch 24 is pressed while the lever body 21 is tilted forward or backward, the basic speed is corrected to reduce the speed of the left motor 60a. If the right turn switch 25 is pressed, the basic speed is corrected to reduce the speed of the right motor 60b. With this structure, it is easy to switch between stationary turning and other turning actions.

[0054] In this structure, when the operating lever body 21 is tilted, if the left turn switch 24 is operated, the basic speed is corrected to make the speed of the left motor 60a zero (0), so that the aerial work platform can pivot with the left track as the fulcrum. If the right turn switch 25 is operated, the basic speed is corrected to make the speed of the right motor 60b zero (0), so that the aerial work platform can pivot with the right track as the fulcrum.

[0055] Furthermore, by reducing the basic rotational speed based on the tilt movement of the control lever body 21, the turning state can be changed in stages, transforming the turning state from a turning action while driving to a pivoting motion that stops either the left or right track on the spot. Attached Figure Description

[0056] Figure 1 This is a side view of an aerial work vehicle equipped with the driving and operating device of the present invention.

[0057] Figure 2 This is a perspective view of an aerial work vehicle equipped with the driving and operating device of the present invention.

[0058] Figure 3 This is a functional block diagram of an aerial work vehicle equipped with the driving and operating device of the present invention.

[0059] Figure 4 (A) is a top view of the control panel of the driving operation device of the present invention, (B) is a left view of the control panel of the driving operation device of the present invention, and (C) is a rear view of the control panel of the driving operation device of the present invention.

[0060] Figure 5This is a perspective view of the control panel provided in the driving operation device of the present invention.

[0061] Figure 6 This is a top view showing the operation panel (main body of the operation panel) in its disassembled state.

[0062] Figure 7 This is a flowchart illustrating the operation of an aerial work platform equipped with a driving and operating device according to an embodiment of the present invention.

[0063] Figure 8 This is a flowchart of the operation of an aerial work platform equipped with a driving and operating device according to other embodiments of the present invention.

[0064] Figure 9 This is a flowchart illustrating the operation of an aerial work platform equipped with a driving and operating device according to another embodiment of the present invention.

[0065] Figure 10 This is a 3D view of an existing tracked aerial work platform vehicle.

[0066] Figure 11 This is an illustration of the existing driving control system.

[0067] Figure 12 This is an illustration of an existing driving control device (compared to Patent Document 1). Figure 3 (corresponding to the structure).

[0068] Figure 13 This is an illustration of an existing driving control device (compared to Patent Document 2). Figure 1 correspond). Detailed Implementation

[0069] The structure of the present invention will be described below with reference to the accompanying drawings.

[0070] [The overall structure of the aerial work platform]

[0071] exist Figure 1 and Figure 2 In the accompanying drawing, reference numeral 1 indicates a tracked aerial work platform equipped with the driving and operating device 10 of the present invention. The aerial work platform 1 includes: a chassis 2; tracks 5 (left track 5a, right track 5b) serving as driving devices on both sides in the width direction; and a left motor 60a and a right motor 60b respectively driving the left track 5a and the right track 5b (see reference 1). Figure 3 ); and pedal 4, which is raised and lowered on the chassis 2 by means of lifting mechanism 3 consisting of scissor linkage mechanism.

[0072] The step 4 is equipped with guardrails 40 to prevent operators, goods, etc., riding on the step 4 from falling off.

[0073] In the illustrated embodiment, as an example of an aerial work platform 1 equipped with the driving operation device 10 of the present invention, an aerial work platform 1 with a structure in which the platform can be raised and lowered using a lifting mechanism 3 composed of a scissor linkage mechanism is shown. However, the aerial work platform 1 using the driving operation device 10 of the present invention can be applied to aerial work platforms equipped with various known lifting mechanisms, such as the aforementioned Patent Document 1 (see Patent Document 1). Figure 1 The aerial work platform described herein is equipped with a box-shaped platform mounted on the top of the lifting section of a crane, which enables the platform to be raised and lowered, or the aforementioned Patent Document 2 (see Patent Document 2). Figure 4 The description includes aerial work platforms that utilize a mast with a telescopic structure that is vertically mounted on a chassis and extends and retracts in the vertical direction, allowing the platform to be raised and lowered.

[0074] [Travel Operation Device]

[0075] like Figure 3 As shown, the driving operation device 10 of the tracked aerial work platform 1 constructed as described above consists of an operation panel 11 and a controller 70. The operation panel 11 is operated by the operator, and the controller 70 controls the rotation of the left motor 60a and the right motor 60b according to the on / off state of the enable switch 22 (described later) installed on the operation panel 11, the detection signal of the tilt angle detection sensor 28 that detects the tilt angle of the operating lever body 21, and the on / off state of the left turn switch 24 and the right turn switch 25.

[0076] [Control Panel]

[0077] (1) Overall structure

[0078] like Figure 1 and Figure 2 As shown, the control panel 11 is configured to be located in a position that can be operated by an operator sitting on the footboard 4, such as near the upper end of the guardrail 40 installed on the footboard 4 of the aerial work vehicle 1. By operating the control lever 20 provided on the control panel 11, the aerial work vehicle 1 can perform various operations such as moving forward, moving backward, stopping and turning.

[0079] like Figure 3 As shown, various operation commands input via the operation panel 11 are input to the controller 70 (described later), which is composed of electronic control devices such as microcontrollers. The controller 70 controls the rotation of the left motor 60a and the right motor 60b, thereby enabling the aerial work platform 1 to be driven according to the operator's operation of the operation panel 11.

[0080] like Figure 4 and Figure 5As shown, the control panel 11 consists of a control panel body 12, an operating lever 20, and a bracket 30. The control panel body 12 is formed by housing the component equipment within a housing 13. The operating lever 20 is disposed on the control panel body 12 for driving the aerial work vehicle 1. The bracket 30 mounts the control panel body 12 to the guardrail 40.

[0081] In addition, in the illustrated embodiment, the control panel body 12 is configured to only have the aforementioned operating lever 20 and the emergency stop switch shown by reference numeral 50 as control levers and switches for operating the aerial work vehicle 1. However, the control panel body 12 may also be configured to have switches and control levers for raising and lowering the pedal 4 of the lifting mechanism 3, or to have a switch for switching between driving and lifting operations. When the lifting operation is selected by the switch, the pedal can be raised and lowered by operating the operating lever 20.

[0082] (2) Operating lever

[0083] The aforementioned control lever 20, which is located on the control panel 11, includes a control lever body 21 and an enable switch 22, a left turn switch 24, and a right turn switch 25 mounted on the control lever body 21.

[0084] The control lever body 21 is configured to swing forward and backward along a single axis starting from a neutral position. It can move forward by tilting forward, move backward by tilting backward, and stop by returning to the neutral position.

[0085] The main body 21 of the control lever has a gripping part 26 formed by installing grip rubber or the like on the part for the operator to hold. [Ref] Figure 4 (B), (C) and Figure 5 The aerial work platform can perform the aforementioned forward, backward, and stop actions by having the operator hold the grip 26 and tilt the control lever body 21.

[0086] The control lever body 21 is configured as described above to have an enable switch 22, a left turn switch 24, and a right turn switch 25. The enable switch 22 is a momentary switch, which enables driving operations that accompany the tilting movement of the control lever body 21 and turning operations based on the operation of the left turn switch 24 and the right turn switch 25, which will be described later, only while the user presses the enable switch 22.

[0087] Furthermore, the aforementioned left turn switch 24 is a switch that controls the rotation of the left motor 60a, used for making the aerial work platform vehicle turn left, to the controller 70 described later. The right turn switch 25 is a switch that controls the rotation of the right motor 60b, used for making the aerial work platform vehicle turn right, to the controller 70 described later. By operating the left turn switch 24 or the right turn switch 25, the controller 70 controls the rotation of the left motor 60a and the right motor 60b according to a predetermined correspondence. When the left turn switch 24 is operated, the aerial work platform vehicle turns left, and when the right turn switch 25 is operated, the aerial work platform vehicle turns right.

[0088] In addition, the left turn mentioned here refers to the following driving state: the left motor 60a rotates at a relatively slower speed (including stopping) or rotates in the opposite direction compared to the speed of the right motor 60b, which rotates in the driving direction specified by tilting the control lever body 21.

[0089] In addition, a right turn refers to a driving state in which the speed of the right motor 60b is relatively slower (including stopping) or turns in the opposite direction compared to the speed of the left motor 60a, which rotates in the driving direction specified by tilting the control lever body 21.

[0090] In the configuration where the vehicle turns in place without tilting or moving the control lever body 21, when viewed from above, a counter-clockwise turn is called a left turn, and a clockwise turn is called a right turn.

[0091] The left turn switch 24 and right turn switch 25 can be configured as momentary switches in the same way as the aforementioned enable switch 22. However, the left turn switch 24 and right turn switch 25 are not limited to momentary switches. For example, they can be configured as push-pull switches, i.e., they can be held in a pressed state by pushing once and released from the pressed state and returned to the original position by pushing twice (low speed level).

[0092] The aforementioned enable switch 22, left turn switch 24 and right turn switch 25 are all located on the main body of the operating lever 21 at the following positions: these positions are such that when the operator is holding the grip part 26 of the main body of the operating lever 21, the same finger holding the grip part 26 can simultaneously press the enable switch 22, left turn switch 24 and right turn switch 25.

[0093] In this embodiment, such as Figure 4As shown in (B), the configuration is such that the aforementioned enable switch 22 is provided as a trigger switch on the side of the grip portion 26 in front of the control lever body 21. By holding the grip portion 26 with the fingertips hooked on the enable switch 22, the control lever body 21 can be held while pressing the enable switch 22.

[0094] In addition, in this embodiment, such as Figure 4 and Figure 5 As shown, the configuration is such that the aforementioned left turn switch 24 and right turn switch 25 are arranged side by side on the upper surface of the grip portion 26 of the control lever body 21, so that the left turn switch 24 or right turn switch 25 can be easily operated selectively with the thumb while holding the grip portion 26 and pressing (holding) the enable switch 22.

[0095] (3) Main body of the control panel

[0096] The housing 13 of the control panel body 12 equipped with the aforementioned control lever 20 contains equipment for extracting the driving operation of the aerial work vehicle 1 input by the operation of the aforementioned control lever 20 into an electrical signal, such as various sensors and electronic control devices.

[0097] As an example of such a housing device, a tilt movement angle detection sensor 28 is housed within the aforementioned housing 13. The tilt movement angle detection sensor 28 is connected to the lower end of the operating lever body 21 that penetrates through the housing 13 and is inserted into the housing 13, and is capable of detecting the tilt movement angle of the operating lever body 21 in the front-back direction.

[0098] In addition, a force-applying member (not shown) is provided in the aforementioned housing 13 to apply force to the operating lever body 21 and return the operating lever body 21 to the neutral position. If the operating lever body 21 is released from a state in which it is tilted and moved in either forward or backward, the operating lever body 21 will automatically return to the neutral position.

[0099] The aforementioned tilt angle detection sensor 28 detects the tilt angle of the operating lever body 21 in the forward and backward direction. The controller 70 controls the rotation of the left motor 60a and the right motor 60b installed on the chassis based on the tilt angle detected by the tilt angle detection sensor 28 and the operation status of the aforementioned left turn switch 24 and right turn switch 25, so that the aerial work vehicle 1 can move forward, backward, and turn (including pivoting and turning in place).

[0100] Furthermore, in the example described above, the tilt angle detection sensor 28 detects the tilt angle of the joystick body 21. However, this structure can be replaced by a sensor (not shown) that does not detect the tilt angle of the joystick body 21 but only detects the direction of tilt movement (forward tilt, backward tilt, neutral). When the joystick body 21 tilts forward by a certain angle or more, it is detected that the joystick body 21 is in a forward tilt state. When the joystick body 21 tilts backward by a certain angle or more, it is detected that the joystick body 21 is in a backward tilt state. In cases other than the forward tilt state and the backward tilt state, it is detected that the joystick body 21 is in a neutral state.

[0101] (4) Bracket

[0102] As the aforementioned bracket 30 for mounting the aforementioned control panel body 12 to the guardrail 40, in this embodiment, such as Figure 5 As shown, it includes: a back panel 31, which forms an inclined surface that supports the back of the operation panel body 12; a side panel 32, which is erected vertically from one side 31a in the width direction of the back panel 31; and a front panel 33, which is erected vertically from the upper edge 31b of the back panel 31, with one side 33a in the width direction of the front panel 33 and one side 32a in the height direction of the side panel 32 connected at a right angle.

[0103] The device can be configured such that a suspension member 34 is provided on the upper edge 33b of the front panel 33 and the upper edge 32b of the side panel 32, respectively. The suspension member 34 includes: an upwardly protruding suspension piece 34a; a locking piece 34b protruding outward from the upper end of the suspension piece 34a and in a horizontal direction; and a flange portion 34c protruding downward from the other end edge of the locking piece 34b. By inserting and fitting the upper end of the guardrail 40, which is erected on the pedal 4, into the downwardly opening U-shaped portion formed by the upper end of the suspension piece 34a, the locking piece 34b, and the flange portion 34c of the suspension member 34, the operation panel 11 can be suspended and mounted near the upper end of the guardrail 40.

[0104] In this embodiment, the control panel 11 is installed at the corner of the guardrail 40 using the aforementioned suspension member 34. Thus, without bolt tightening or other fixing, the control panel 11 can be installed so that it does not move on the guardrail 40 simply by hooking the two suspension members 34 to the upper end of the guardrail 40. Furthermore, the control panel 11 can be easily removed from the guardrail 40 simply by lifting it.

[0105] Furthermore, the illustrated embodiment shows a structure in which the control panel body 12 and the bracket 30 can be detached from the guardrail 40 of the pedal 4 as a single unit. However, this structure can be replaced by, for example, a structure in which the aforementioned bracket 30 is fixedly installed to the guardrail 40 by means of bolt fastening or the like, and the control panel body 12 is detachably installed relative to the bracket 30. It can also be configured such that when the control panel body 12 is detached from the guardrail 40, the bracket 30, which is part of the control panel 11, the accessories provided on the bracket 30, and other components of the control panel 11 (such as the installation and removal detection unit 29, which will be described later in the case of installation on the guardrail 40 side) are left on the side of the guardrail 40 of the pedal 4.

[0106] Additionally, an assembly / disassembly detection unit 29 can be provided on the operation panel 11 of the present invention (see reference). Figure 3 The assembly / disassembly detection unit 29 detects the assembly / disassembly status of the control panel body 12 relative to the guardrail 40. In the illustrated embodiment where the bracket 30 and the control panel body 12 are detached from the guardrail 40 as a single unit, as described above, it can also be configured such that a limit switch, proximity sensor, etc., are provided on the suspension member 34 of the aforementioned bracket 30 as the assembly / disassembly detection unit 29. If the suspension member 34 is hooked onto the upper end of the guardrail 40, the assembly / disassembly detection unit 29 detects the presence of the upper end of the guardrail 40. Using the aforementioned assembly / disassembly detection unit 29, it is possible to detect whether the control panel 11 is installed on the guardrail 40 or whether the control panel 11 is detached.

[0107] In addition, the aforementioned assembly and disassembly detection unit 29 is not limited to the structure set on the side of the bracket 30, as long as it can detect the assembly and disassembly of the operation panel 11, it can also be set on the side of the guardrail 40.

[0108] In addition, as described above, with the structure that allows the operation panel body 12 to be assembled and disassembled relative to the bracket 30, the assembly and disassembly detection unit 29 can also be located on the side of the operation panel body 12, or on the side of the bracket 30, and remain on the side of the guardrail 40 together with the bracket 30 when the operation panel body 12 is disassembled.

[0109] Thus, a detection signal indicating the installation / removal status of the control panel 11 relative to the guardrail 40 is input to the controller 70. When the controller 70 is used with the control panel 11 removed from the guardrail 40, the driving speed is obtained by reducing the driving speed by a predetermined deceleration compared to the driving speed when the controller 70 is used with the control panel 11 installed on the guardrail.

[0110] (5) Operating methods of the control panel, etc.

[0111] The control panel 11 configured as described above, provided in the driving operation device 10 of the present invention, can not only be used in the same state as known control panels when mounted on the guardrail 40 of the footboard 4, but also the control panel body 12 can be detached from the guardrail 40 and taken out of the footboard 4, and used as a remote control when remotely driving the aerial work platform 1 (see reference). Figure 6 ).

[0112] Regardless of the method of use, if the operator holds the grip portion 26 of the control lever body 21 with the pad of their finger on the enable switch 22, which is provided as a trigger switch, pressing the enable switch 22 will enable driving operations based on the tilting movement of the control lever body 21 and the operation of the left turn switch 24 and the right turn switch 25.

[0113] In this state, the operator can tilt the control lever body 21 forward or backward to move the aerial work platform 1 forward or backward, and can operate the left turn switch 24 and the right turn switch 25 to make the aerial work platform 1 turn. Any driving operation can be performed with one hand.

[0114] When the control panel body 12 is installed on the guardrail 40, the operator operates the control lever 20 in a swaying manner due to vibrations during driving. However, by configuring the control lever body 21 to tilt and move only in the forward and backward axis direction, the operator can make the aerial work platform 1 move straight without shaking even if such swaying occurs. On the other hand, by providing a left turn switch 24 and a right turn switch 25 on the control lever body 21, left turn operation and right turn operation can also be performed with one hand.

[0115] Additionally, the control panel body 12 was disassembled from the guardrail 40, and as follows: Figure 6 When used as a remote control as shown, although the operator operates the control panel 12 while holding the control panel body 12 with their arm, the control lever 20 provided on the control panel body 12 is designed to be easily operated by the operator with one hand as described above. Therefore, even when holding the control panel body 12 with their arm, the aerial work platform 1 can be easily driven with one hand.

[0116] Thus, by making the control panel body 12 detachable from the guardrail 40 and used as a remote control, in normal use, the control panel body 12 is installed on the guardrail 40 and operated by an operator, as before. However, in situations where driving with a person on the platform 4 would be dangerous, or in places where it is difficult to pass (low-altitude) with the operator on the platform 4, the aerial work platform 1 can be driven by operating the lever 20 provided on the control panel body 12 from outside the platform 4, without the operator sitting on the platform 4. Situations where driving with a person on the platform would be dangerous include: driving the aerial work platform 1 when loading and unloading it onto vehicle transport vehicles such as autonomous loaders and safety loaders; and driving the aerial work platform 1 onto the loading platform of a truck using a loading ramp (vehicle stowage ramp). Places where it is difficult to pass with the operator on the platform 4 include: elevator entrances when loading the aerial work platform into an elevator for transport during high-rise construction.

[0117] [Controller]

[0118] (1) Overall structure

[0119] In addition to the aforementioned control panel 11, the driving operation device 10 of the tracked aerial work platform 1 of the present invention is also provided with the following: Figure 3 As shown, a controller 70 composed of electronic control devices such as microcontrollers is also provided. The controller 70 receives the tilt angle detection signal of the operating lever body 21 detected by the tilt angle detection sensor 28 installed on the operating panel 11, as well as the on / off signals of the left turn switch 24 and the right turn switch 25, and controls the rotation of the left motor 60a and the right motor 60b according to the pre-stored correspondence.

[0120] The controller 70 controls the rotation of the left motor 60a and the right motor 60b, thereby enabling the aerial work platform 1 to perform predetermined driving actions consisting of forward, backward, stop, and turn according to the input made by the operator using the control panel 11.

[0121] In addition, Figure 3 In the illustrated embodiment, the controller 70 is represented as a different component from the aforementioned operation panel 11. However, the controller 70 may also be housed together with the tilt movement angle detection sensor 28 and the like within the housing 13 of the aforementioned operation panel 11, and be configured as one of the components of the operation panel 11.

[0122] In order to control the rotation of the left motor 60a and right motor 60b by using the detection signal of the tilt movement angle detection sensor 28 that detects the movement of the control lever body 21, and the on / off signals of the operation of the left turn switch 24 and right turn switch 25, the controller 70 stores "basic speed information" and "correction information" in its storage area 71. The "basic speed information" specifies the common speed (basic speed) of the left motor 60a and right motor 60b that is preset according to the tilt movement position of the control lever body 21 (the detection signal of the tilt movement angle detection sensor 28). The "correction information" specifies the correction value of the basic speed required to make the aerial work platform 1 turn in accordance with the operation of the left turn switch 24 and right turn switch 25.

[0123] (2) Basic speed information

[0124] (2-1) Overview

[0125] The controller 70 stores "basic speed information" in its storage area 71. This "basic speed information" specifies the correspondence between the tilt position of the control lever body 21 detected by the tilt movement angle detection sensor 28 and the basic speed. The basic speed is the common speed of the left motor 60a and the right motor 60b corresponding to the tilt position of the control lever body 21.

[0126] Here, the "basic speed" specifies the common speed that the left motor 60a and the right motor 60b should take when the left turn switch 24 and the right turn switch 25 are not operated. Therefore, when the operating lever body 21 is tilted and moved when the left turn switch 24 and the right turn switch 25 are not operated, the controller 70 applies the basic speed to both the left motor 60a and the right motor 60b according to the tilting position of the operating lever body 21.

[0127] Therefore, when neither the left turn switch 24 nor the right turn switch 25 is operated, the aerial work vehicle 1 moves forward in the straight direction when the operating lever body 21 is tilted forward, and moves backward in the straight direction when the operating lever body 21 is tilted backward. Finally, the aerial work vehicle 1 stops when the operating lever body 21 is in the neutral position.

[0128] In addition, the basic speed information does not necessarily have to be stored as "speed" in the storage area 71 of the controller 70. For example, it can also be specified by the current value, voltage value, etc. corresponding to the speed.

[0129] In the following description, as an example, it is assumed that the operating lever body 21 is used with an operating lever body having a tilt angle (θ) of 50° forward and backward, and a rated speed of 50 min. -1The motors have been described as left motor 60a and right motor 60b, but the structure of the control lever body 21, left motor 60a and right motor 60b is not limited to the above example and various structures can be adopted.

[0130] In addition, in the following description, the neutral position of the control lever body 21 is represented as 0°, the forward tilt angle is represented as positive (+), the backward tilt angle is represented as negative (-), and the rotational speed of the left motor 60a and the right motor 60b in the direction that causes the aerial work platform 1 to move forward is represented as positive (+), and the rotational speed of the left motor 60a and the right motor 60b in the direction that causes the aerial work platform 1 to move backward is represented as negative (-).

[0131] Based on the above premises, Tables 1 to 3 below show examples of the correspondence between the tilting position of the control lever body 21 and the basic rotation speed.

[0132] (2-2) Specification of basic speed Example 1: Constant speed type

[0133] Table 1 below shows a first example of the tilting position of the control lever body 21 and the basic rotational speed common to the left motor 60a and the right motor 60b corresponding to the tilting position.

[0134] In this example, the basic rotational speed when the control lever body 21 is in the neutral position (0°) is taken as "0" (stop), and when the control lever body 21 is in the forward tilt position (0°<θ≤+50°), a constant positive (+) rotational speed (+50 min in the example of Table 1) will be maintained regardless of the tilt angle. -1 As the basic rotational speed, and when the operating lever body 21 is in the tilt position (0°>θ≥-50°), regardless of the tilt angle, it will be a constant negative (-) rotational speed (-50 min in the example of Table 1). -1 () is used as the basic rotational speed.

[0135] [Table 1]

[0136] Example 1 of basic speed specification: constant speed type

[0137] The tilt angle θ of the control lever body Basic speed r 0°<θ≤+50° <![CDATA[r=+50min -1 (constant) θ = 0° <![CDATA[r=0min -1 (Stop) 0°>θ≥-50° <![CDATA[r=-50min -1 (constant)

[0138] In addition, if there is a non-sensitive area in the tilt angle detection sensor 28 (there is clearance in the neutral position of the control stick body 21), the "0°" in "θ=0°" in Table 1 above can include the non-sensitive area (clearance). For example, if there is a non-sensitive area (clearance) centered on the upright position of the control stick body 21 with a forward and backward range of ±6°, "0°" can be "0±6°" (the same applies below).

[0139] (2-3) Example 2 of the basic speed specification: Variable (linear change) type

[0140] In addition, the basic rotational speed is not limited to the example shown in Table 1, and can also be specified as the speed changing in an increasing manner as the tilt angle of the operating lever body 21 increases.

[0141] As an example, Table 2, described later, shows an example where the absolute value of the basic rotational speed increases linearly with the increase of the absolute value of the tilt angle corresponding to the operating lever body 21.

[0142] [Table 2]

[0143] Example 2 of basic speed specification: Variable (linear change) type

[0144] The tilt angle θ of the control lever body Basic speed r 0°<θ≤+50 <![CDATA[0min -1 <r≤+50min -1 (Variable) θ = 0° <![CDATA[r=0min -1 (Stop) 0°>θ≥-50° <![CDATA[0min -1 >r≥-50min -1 (Variable)

[0145] (2-4) Example 3 of the basic speed specification: Variable (stage change) type

[0146] Furthermore, when the basic rotation speed is configured to change in accordance with the change in the tilt angle of the control lever body 21, it is not limited to the configuration where the basic rotation speed changes linearly as described with reference to Table 2. For example, it can also be set such that the basic rotation speed increases in stages according to each predetermined range of the tilt angle of the control lever body 21, as shown in Table 3.

[0147] [Table 3]

[0148] Example 3 of basic speed specification: Variable (stage-changing) type

[0149] The tilt angle θ of the control lever body Basic speed r +30°<θ≤+50° <![CDATA[r=+50min -1 ]]> +15°<θ≤+30° <![CDATA[r=+30min -1 <!-- 14 -->]]> 0°<θ≤+15° <![CDATA[r=+15min -1 ]]> θ=0 <![CDATA[r=0min -1 (Stop) 0°>θ≥-15° <![CDATA[r=-15min -1 ]]> -15°>θ≥-30° <![CDATA[r=-30min -1 ]]> -30°>θ≥-50 <![CDATA[r=-50min -1 ]]>

[0150] (3) Correction information

[0151] (3-1) Overview

[0152] The basic rotation speed described above defines the common rotation speed of the left motor 60a and the right motor 60b corresponding to the tilting position of the control lever body 21. By controlling the rotation of the left motor 60a and the right motor 60b based on this basic rotation speed, the aerial work platform 1 can move forward in the straight direction, move backward in the straight direction, and stop. However, it cannot control the aerial work platform 1 to turn left or right.

[0153] In order for the aerial work platform 1 to make such a turning action, according to the operation of the left turn switch 24 and the right turn switch 25, it is necessary to correct the basic speed of either or both of the left motor 60a and the right motor 60b, so that the speed of the left motor 60a and the right motor 60b are different.

[0154] As a correction value for such a basic rotational speed, correction information is stored in the storage area 71 of the aforementioned controller 70, which specifies how to correct the aforementioned basic rotational speed according to the operating conditions of the left turn switch 24 and the right turn switch 25.

[0155] In this embodiment, the controller 70 stores any one of the three modes described below as the correction information in its storage area 71. However, it can also be configured to store two or more of these modes in advance, and change the setting of the correction mode by the operator's selection, thereby changing the driving operation according to the operator's preferences.

[0156] (3-2) Correction Mode 1: Turning operation based on the operation amount of the turn switch

[0157] Table 4 shows an example of a correction mode configuration whereby the speed difference between the left motor 60a and the right motor 60b can be varied based on the amount of operation (pressing time or number of presses) of the left turn switch 24 and the right turn switch 25, thereby making the turning radius variable.

[0158] In addition, Table 4 below expresses the correction values ​​as a percentage (%) relative to the basic speed. For example, 50% is half the speed of the basic speed, 100% is the same speed as the basic speed (no correction), 0% is the speed of 0 (stop), and -100% is the rotation in the opposite direction at the same speed as the basic speed (the same applies below).

[0159] [Table 4]

[0160] Calibration table (turn switch operation response type)

[0161]

[0162] In the configuration example shown in Table 4 above, the driving state of the aerial work platform is divided into 7 levels (referred to as "turning levels" in this specification) for both the forward and reverse directions, starting from "0" which indicates turning to the left with the minimum turning radius (turning on the spot), passing through "3" which corresponds to straight travel, and ending at "6" which indicates turning to the right with the minimum turning radius (turning on the spot). A correction value for the basic speed is specified for each turning level from 0 to 6.

[0163] Furthermore, the controller 70 is configured such that it uses the correction value of the turning level selected by the operator through the operation of the left turn switch 24 and the right turn switch 25 to correct the basic speed, thereby enabling the aerial work vehicle 1 to perform turning actions corresponding to the operator's operation.

[0164] like Figure 3As shown, the controller 70 is equipped with an operation quantity counter 72, which enables the operator to select the turning level by operating the right turn switch 24 and the left turn switch 25.

[0165] The operation counter 72 counts the operation quantities of the left turn switch 24 and the right turn switch 25. In this embodiment, the initial value is set to "3", the operation of the left turn switch 24 is counted as "-1", and the operation of the right turn switch 25 is counted as "+1".

[0166] The lower limit of the count value is "0", which means that even if the left turn switch 24 is operated further when the count value is "0", the count value will remain "0".

[0167] In addition, the upper limit of the count value is "6", which is configured so that even if the right turn switch 25 is operated further when the count value is "6", the count value will remain "6".

[0168] Furthermore, the configuration is as follows: the operation counter 72 sequentially overwrites and stores the count values ​​obtained by such counting, and holds the stored count values ​​until the enable switch set on the aforementioned operation lever 20 becomes open, and returns to the initial value "3" when the enable switch is opened.

[0169] Furthermore, the controller 70 is configured to correct the basic rotational speed with a predetermined correction value for the turning level corresponding to the number of levels stored in the operation quantity counter 72.

[0170] As a result, when neither the left turn switch 24 nor the right turn switch 25 is operated, i.e., when the count value of the operation quantity counter 72 is the initial value "3", the controller 70 adopts the correction value of "turning level 3" in Table 4.

[0171] As shown in Table 4, for both the left motor 60a and the right motor 60b, the correction value for turning level 3 is 100%. Both the left motor 60a and the right motor 60b directly adopt a speed relative to 100% of the basic speed, that is, any one of the basic speeds shown in Tables 1 to 3 above. When the main body 21 of the control lever is in the forward tilt position, the aerial work vehicle 1 moves forward in the straight direction. When the main body 21 of the control lever is in the backward tilt position, the aerial work vehicle 1 moves backward in the straight direction. When the main body 21 of the control lever is in the neutral position, the aerial work vehicle 1 stops.

[0172] From this state onwards, as an example, only the left turn switch 24 is operated. If the count value of the operation quantity counter 72 changes to "2", "1", or "0" corresponding to the increase of the operation quantity (press time, number of presses) of the left turn switch 24, then the controller 70 changes the turning level adopted corresponding to the change of the count value to "turning level 2", "turning level 1", or "turning level 0", maintains the speed of the right motor 60b at 100% of the basic speed, and corrects the speed of the left motor 60a to 50% of the basic speed (turning level 2), 0% of the basic speed (turning level 1), or -100% of the basic speed (turning level 0).

[0173] Thus, by creating a speed difference between the left motor 60a and the right motor 60b, the aerial work platform 1 performs a left turn. The speed difference between the left motor 60a and the right motor 60b increases with the increase of the operation amount of the left turn switch 24. As a result, the aerial work platform 1 changes its driving state from a state of driving while turning left (turning level 2) to a pivot in the direction of turning left on the spot (turning level 1) and a stationary turn in the direction of turning left on the spot (turning level 0), thereby reducing the turning radius to the left in stages.

[0174] On the other hand, starting from the state where the count value of the operation quantity counter 72 changes to "0" due to the operation of the left turn switch 24, if the right turn switch 25 is operated, the count value of the operation quantity counter 72 increases to "1", "2", or "3" according to the increase of the operation quantity (pressing time, pressing number) of the right turn switch 25. The controller 70 changes the adopted turning level to "turning level 1", "turning level 2", or "turning level 3", and increases the speed of the left motor 60a, which is at -100% (turning level 0), to 0% (turning level 1), 50% (turning level 2), or 100% (turning level 3) of the basic speed. The driving direction of the aerial work platform 1 changes to the right and returns to the straight-going state.

[0175] If the right turn switch 25 is operated further from this state, the count value of the operation quantity counter 72 will increase to "4", "5", or "6" according to the increase of the operation quantity (press time, number of presses) of the right turn switch 25, and the controller 70 will further change the adopted turning level to "turning level 4", "turning level 5", or "turning level 6".

[0176] As a result, the speed of the right motor 60b is corrected to 50% of the basic speed (turning level 4), 0% of the basic speed (turning level 5), and -100% of the basic speed (turning level 6), creating a speed difference with the speed of the left motor 60a, which maintains 100% of the basic speed. This causes the aerial work platform 1 to make a right turn. Furthermore, by increasing the speed difference between the left motor 60a and the right motor 60b, the aerial work platform 1 transitions from a state of turning right while driving (turning level 4) to a state of turning right with a smaller turning radius, i.e., a pivoting turn in the direction of right turn (turning level 5), and then a stationary turn in the direction of right turn (turning level 6).

[0177] Furthermore, in the example above, the configuration of the operation quantity counter 72 starting to count with the initial value set to "3" was described. It can also be configured so that the operation quantity counter starts to count with the initial value set to "0", and the controller 70 uses the correction value of the turning level obtained by adding 3 to the count value of the operation quantity counter 72.

[0178] In addition, each turning level is assigned a number from 0 to 6 in Table 4 mentioned above. However, it is also possible to classify the straight-going state (the correction values ​​of the left motor 60a and the right motor 60b are both 100%) as turning level 0, assign turning levels of -1 to -3 to the left turning direction, and assign turning levels of 1 to 3 to the right turning direction. In this case, the operation counter 72 can also be configured to start counting with the initial value set to "0".

[0179] Furthermore, in the above explanation, the turning level is set to 7 levels from 0 to 6, but the turning level can also be set more finely to make the driving state change more smoothly.

[0180] Thus, as long as the driving state can be changed according to the operation amount of the left turn switch 24 and the right turn switch 25, the aforementioned driving state can be appropriately changed. Figure 4 The configuration of the calibration table and the operation quantity counter 72.

[0181] (3-3) Correction Mode 2: Turning operation based on the tilt movement position of the control stick body

[0182] The above describes the following example in the configuration described as correction mode 1: As correction information, it can be configured to change the correction value in response to changes in the amount of operation (pressing time or number of presses) of the left turn switch 24 and the right turn switch 25, so that the driving state of the aerial work vehicle 1 changes from turning while moving forward or backward to turning state with a phased reduction in turning radius, that is, it changes to pivoting and turning in place while in a stopped state.

[0183] In contrast, Table 5 below specifies the correction values ​​used based on whether the left turn switch 24 and the right turn switch 25 are operated when the operating lever body 21 is in any tilting position, thereby enabling the aerial work platform 1 to selectively pivot or turn in place.

[0184] In this configuration, it is not necessary to set up controller 70. Figure 3 The operation quantity counter 72 shown.

[0185] In addition, in Table 5 below, the correction values ​​are expressed as a percentage (%) relative to the basic rotational speed, although not specifically stated otherwise.

[0186] [Table 5]

[0187] Calibration table (for turning operations based on the tilt position of the control stick).

[0188]

[0189] By performing correction according to the correction mode shown in Table 5 above, when neither the left turn switch 24 nor the right turn switch 25 is operated, the common basic speed shown in Tables 1 to 3 is directly applied to both the left motor 60a and the right motor 60b. Therefore, the aerial work platform 1 moves forward in the straight direction by tilting the operating lever body 21 forward, and moves backward in the straight direction by tilting the operating lever body 21 backward. The aerial work platform 1 stops by bringing the operating lever body 21 to a neutral position.

[0190] Furthermore, when the control lever body 21 is in a neutral position without being tilted, if the left turn switch 24 is pressed, a correction is performed to replace the basic speed (0) of the left motor 60a with a negative constant value, and a correction is performed to replace the basic speed (0) of the right motor 60b with a positive constant value. When viewed from above, the aerial work platform 1 turns counterclockwise in place. Conversely, if the right turn switch 25 is pressed, the aerial work platform 1 turns clockwise in place.

[0191] Furthermore, if the left turn switch 24 is pressed while the operating lever body 21 is tilted forward or backward, or if the operating lever body 21 is tilted forward or backward while the left turn switch 24 is pressed, the right motor 60b maintains a basic speed of 100%, and the speed of the left motor 60a is corrected to 0% of the basic speed and stops rotating. Thus, the aerial work platform 1 pivots in the left turning direction. Conversely, if the right turn switch 25 is pressed while the operating lever body 21 is tilted forward or backward, or if the operating lever body 21 is tilted forward or backward while the right turn switch 25 is pressed, the aerial work platform 1 pivots in the right turning direction.

[0192] (3-4) Correction Mode 3: Turning operation based on the tilt position and tilt angle of the control stick body.

[0193] Furthermore, in the tilt movement position corresponding type correction described above as correction mode 2, the correction value is set only for one of the three positions of the control stick body 21 being tilted forward, neutral, or tilted backward, without considering the change in the tilt movement angle of the control stick body 21. However, as shown in Table 6 below, it is also possible to further adopt a configuration in the aforementioned correction mode 2 configuration in which the correction value changes due to the change in the tilt movement angle of the control stick body 21.

[0194] [Table 6]

[0195] Calibration table (for turning operations based on the tilt position and tilt angle of the control stick body)

[0196]

[0197] In the configuration shown in Table 6 above, the following aspects are the same as those in the correction mode shown in Table 5 for the correction of the basic speed: when neither the left turn switch 24 nor the right turn switch 25 is operated, the left motor 60a and the right motor 60b are both operated at a speed of 100% relative to the basic speed. The aerial work vehicle 1 moves forward in the straight direction by tilting the operating lever body 21 forward, and moves backward in the straight direction by tilting the operating lever body 21 backward. The aerial work vehicle 1 stops by bringing the operating lever body 21 to a neutral position.

[0198] In addition, the following aspects are the same as those in the correction mode in Table 5: if the left turn switch 24 is pressed while the control lever body 21 is in a neutral position without being tilted, the aerial work platform 1 will turn counterclockwise in place when viewed from above. Conversely, if the right turn switch 25 is pressed, the aerial work platform 1 will turn clockwise in place.

[0199] However, in the correction mode described in Table 5 above, in the configuration that controls the rotation of the left motor 60a and the right motor 60b, when the left turn switch 24 or the left turn switch 25 is operated while the operating lever body 21 is tilted forward or backward, or when the left turn switch 24 or the right turn switch 25 is pressed while the operating lever body 21 is tilted forward or backward, regardless of the tilt angle of the operating lever body 21, the aerial work platform 1 will pivot in the left turning direction when the left turn switch 24 is operated, and will pivot in the right turning direction when the right turn switch 25 is pressed.

[0200] In contrast, when the speed control is performed using the correction mode described in Table 6 above, the configuration is as follows: if the left turn switch 24 or right turn switch 25 is operated while the operating lever body 21 is tilted forward or backward, or if the operating lever body 21 is tilted forward or backward while the left turn switch 24 or right turn switch 25 is pressed, then if the tilt movement amount measured from the neutral position of the operating lever body 21 is 45° or more, the aerial work platform 1 will pivot on the spot. However, if the tilt movement amount is less than 45°, the speed of the left motor 60a will decrease within the range of 100% to 0% of the basic speed according to the increase of the tilt movement amount. As the tilt movement amount increases, the turning state will be changed by gradually decreasing the turning radius of the aerial work platform 1. If the tilt movement amount becomes 45° or more, then the system will switch to pivoting.

[0201] [Operation of the driving control device]

[0202] Reference Figures 7-9 The flowchart shown illustrates the operation of the driving operation device 10 of the present invention, which includes the controller 70 described above.

[0203] Furthermore, in the driving operation device 10 of the present invention, the correction information stored in the storage area 71 of the controller 70 is explained separately for each case, since the operating state of the operating lever 20 and the rotation control of the left motor 60a and the right motor 60b are different depending on which mode in Tables 4 to 6 is used.

[0204] (1) Turning operations based on the operation amount (operation time) of the turn switch (corresponding to Table 4)

[0205] Figure 7 The operation of the driving operation device 10 with controller 70 is shown. The controller 70 stores the correction information described with reference to Table 4 in the storage area 71, and has an operation quantity counter 72 that counts and stores the operation quantities of the left turn switch 24 and the right turn switch 25.

[0206] In addition, in this embodiment, the operation quantity counter 72 is configured to count the pressing time of the left turn switch 24 and the right turn switch 25 as operation quantities, and count a long press of 2 seconds as 1 operation quantity. For example, the operation of pressing the right turn switch for 6 seconds or repeatedly pressing for 2 seconds 3 times is counted as "+3".

[0207] In the driving operation device 10 of the present invention, which has a controller 70 configured in this way, the aerial work vehicle 1 is in a stopped state when the operating lever 20 provided on the operating panel 11 is not operated. In addition, by turning off the enable switch 22, the count value of the operation quantity counter 72 becomes the initial value "3".

[0208] If the grip portion 26 of the control lever 20 provided on the control panel 11 is held together with the enable switch 22 from this state, the enable switch 22 is turned on (S1-1), and the tilting operation of the control lever body 21 and the driving operation based on the operation of the left turn switch 24 and the right turn switch 25 become effective.

[0209] Thus, when the enable switch 22 is turned on, if the left turn switch 24 is operated ("left turn on" in S1-2), the operation counter 72 determines whether the pressing time of the left turn switch 24 is more than 2 seconds (S1-3). If the pressing time is more than 2 seconds, the counter counts "-1" for pressing time greater than 2 seconds but less than 4 seconds and "-2" for pressing time greater than 4 seconds but less than 6 seconds. The counter counts "-1" for every 2 seconds increase in pressing time (where the minimum value of the count is "0", and counts less than 0 are not performed), and the obtained count value is stored (S1-4).

[0210] On the other hand, when the enable switch 22 is turned on, if the right turn switch 25 is operated ("right turn on" in S1-2), the operation counter 72 determines whether the pressing time of the right turn switch 25 is more than 2 seconds (S1-5). If the pressing time is more than 2 seconds, the counter counts by "+1" for pressing time of more than 2 seconds but less than 4 seconds and by "+2" for pressing time of more than 4 seconds but less than 6 seconds (where the maximum value of the count is "6", and no count exceeding 6 is performed), and the count value is stored (S1-6).

[0211] In addition, after the enable switch 22 is turned on, if neither the left turn switch 24 nor the right turn switch 25 is operated ("no operation" in S1-2), or if the left turn switch 24 or the right turn switch 25 is operated but the pressing time is less than 2 seconds ("no" in S1-3 or "no" in S1-5), the operation quantity counter 72 does not perform a new count of the operation quantity, but maintains the original count value (in this example, the initial value "3") (S1-7).

[0212] Here, the controller 70 uses the correction value of the turning level corresponding to the count value of the operation quantity counter 72 in the correction value recorded in Table 4 to correct the basic speed of the left motor 60a and the right motor 60b. So when the count value of the operation quantity counter 72 is "3", the basic speed is corrected using the correction value specified as "turning level 3" and applied to the left motor 60a and the right motor 60b.

[0213] The correction value for "turning level 3" is 100% for both the left motor 60a and the right motor 60b (refer to Table 4). Therefore, if the left turn switch 24 and the right turn switch 25 have not been operated since the start of the driving operation, or if the left turn switch 24 and the right turn switch 25 have been operated but the pressing time is less than 2 seconds, and the operating lever body 21 is tilted in this state (S1-8), the left motor 60a and the right motor 60b will rotate forward at a common basic speed due to the forward tilting operation of the operating lever body 21, thereby causing the aerial work platform vehicle to move in the straight direction (S1-9). For example, if the fixed basic speed shown in Table 1 above is used as the basic speed, regardless of the tilting angle of the operating lever body, the left motor 60a and the right motor 60b will rotate at a common basic speed of 50 min. -1 The constant forward speed, with the variable basic speed shown in Tables 2 and 3 as the basic speed, the left motor 60a and the right motor 60b move according to the tilt angle of the operating lever body 21, at a speed of 50 minutes. -1 The basic rotational speed varies within the following range. By tilting the control lever body 21 backward, the left motor 60a and the right motor 60b also reverse at the same basic rotational speed and move backward in the straight direction (S1-10). If the control lever body 21 is not operated and is kept in the neutral position, the aerial work platform will not move but will remain stationary (S1-11).

[0214] On the other hand, when the left turn switch 24 is operated for more than 2 seconds (count value is 2-0), a correction value corresponding to the turn level (turn level 2-0) is used. If the operating lever body 21 is tilted in this state (S1-12), the right motor 60b maintains 100% of the reference speed under the forward tilting operation of the operating lever body 21, but the speed of the left motor 60a is corrected to 50% of the reference speed (turn level 2) according to the turn level (count value of the operation amount counter 72). The speed difference between the right motor 60b and the left motor 60a is caused by 0% of the rotational speed (turning level 1) and -100% of the reference speed (turning level 0) (refer to Table 4). The aerial work platform 1 turns left (S1-13). In addition, the driving state is changed by gradually reducing the turning radius according to the pressing time of the left turn switch 24, so that the driving state is left turn while moving forward (turning level 2), pivoting in the direction of turning left on the spot (turning level 1), and turning in place in the direction of turning left (counterclockwise) on the spot (turning level 0).

[0215] Furthermore, the same applies when the control lever body 21 is tilted backward. The right motor 60b maintains 100% of the reference speed, but the speed of the left motor 60a is corrected according to the turning level (the count value of the operation quantity counter 72), thus creating a difference in the speed of the right motor 60b and the left motor 60a. The aerial work platform 1 turns left (S1-14). In addition, based on the pressing time of the left turn switch 24, its driving state is changed by gradually reducing the turning radius, making its driving state a left turn while reversing (turning level 2), a pivot turn in the direction of turning left on the spot (turning level 1), and a stationary turn in the direction of turning left (clockwise) on the spot (turning level 0).

[0216] Furthermore, even if the count value changes when the left turn switch 24 is operated and the turning level is changed, the aerial work platform 1 will not move but will remain stationary when the operating lever body 21 is not operated and is kept in the neutral position (S1-15). However, since the operation quantity counter 72 maintains the count value, the operation of the left turn switch 24 at this time is reflected in the rotational speed of the left motor 60a and the right motor 60b when the operating lever body 21 is tilted and moved next.

[0217] Furthermore, if the operating lever body 21 is tilted while the right turn switch 25 is operated for more than 2 seconds (turning level 4 to 6) (S1-16), the left motor 60a maintains 100% of the reference speed under the forward tilting operation of the operating lever body 21, but the speed of the right motor 60b is corrected to 50% of the reference speed (turning level 4), 0% of the reference speed (turning level 5), or -100% of the reference speed (turning level 6) according to the turning level (refer to Table 4). As a result, the speeds of the left motor 60a and the right motor 60b are different, and the aerial work platform 1 turns right (S1-17). In addition, according to the pressing time of the right turn switch 25, the driving state is changed by gradually reducing the turning radius and turning right, so that the driving state is a right turn while driving (turning level 4), a pivot in the direction of turning right on the spot (turning level 5), or a stationary turn in the direction of turning right (clockwise) on the spot (turning level 6).

[0218] Furthermore, the same applies when the control lever body 21 is tilted backward. The left motor 60a maintains 100% of the reference speed, but the speed of the right motor 60b is corrected according to the change in the turning level, thus creating a difference in the speed of the left motor 60a and the right motor 60b. The aerial work platform 1 turns right (S1-18). In addition, depending on the pressing time of the right turn switch 25, its driving state is changed by gradually reducing the turning radius while turning right, so that its driving state is right turn while driving (turning level 4), pivoting in the direction of right turn on the spot (turning level 5), and turning in place in the direction of right turn (counterclockwise) on the spot (turning level 6).

[0219] Furthermore, even if the count value changes due to the operation of the right turn switch 25, and the turning level changes, when the operating lever body 21 is not operated and is kept in the neutral position, neither the left motor 60a nor the right motor 60b will rotate, and the aerial work platform 1 will remain stationary (S1-19). However, since the operation quantity counter 72 counts the operation quantity of the right turn switch 25 and maintains the count value, the operation of the right turn switch 25 at this time is reflected in the rotation speed of the left motor 60a and the right motor 60b when the operating lever body 21 is tilted and moved next.

[0220] As previously stated, the count value of the operation quantity counter 72, which is used in conjunction with the operation of the left turn switch 24 and the right turn switch 25, is maintained until the enable switch 22 is turned off and initialized (S1-20).

[0221] Therefore, starting from any of the aforementioned driving or stopping states (S1-9 to 11, 13 to 15, 17 to 19), if the enable switch 22 is kept on (S1-1), and the left turn switch 24 or the right turn switch 25 is operated (S1-2), each time the left turn switch 24 is operated, the count value stored in the operation quantity counter 72 is counted "-1", and each time the right turn switch 25 is operated, the count value stored in the operation quantity counter 72 is counted "+1", and the aforementioned actions are repeated until the enable switch 22 is turned off.

[0222] Thus, in the driving operation device 10 of the present invention, the aerial work vehicle 1 can be driven by tilting the lever body 21 provided on the lever 20 and by operating the left turn switch 24 and the right turn switch 25. The lever body 21 can be tilted only in the forward and backward axis direction, and the aerial work vehicle 1 can be driven by one hand.

[0223] Furthermore, by changing the amount of operation of the left turn switch 24 and the right turn switch 25, the left and right turns can be changed in stages by reducing the turning radius, thus changing naturally.

[0224] (2) Turning operations based on the number of turns operated (number of operations) of the turn switch (corresponding to Table 4)

[0225] Furthermore, in the configuration of the driving operation device 10 described above, it is explained that the operation quantity counter 72 counts the pressing time of the left turn switch 24 and the right turn switch 25. However, it is also possible to replace this configuration by having the aforementioned operation quantity counter 72 count the number of times the left turn switch 24 and the right turn switch 25 are pressed.

[0226] In this case, in reference Figure 7 In the described driving operation device 10, it is determined whether the pressing time of the left turn switch 24 and the right turn switch 25 is more than 2 seconds (S1-3, S1-5), and a count corresponding to the pressing time is performed (S1-4, S1-6). In contrast, in the configuration of this embodiment, from... Figure 7 The action sequence shown has removed the judgment on whether the pressing time is more than 2 seconds (S1-3, S1-5), and changed the counting sequence (S1-4, S1-6) from counting based on pressing time to counting based on the number of pressings. Other components are the same as referenced. Figure 7 The descriptions are identical in structure, therefore the descriptions are omitted.

[0227] (3) Turning operations based on the tilting position of the control lever body (corresponding to Table 5)

[0228] Figure 8 This is a flowchart illustrating the operation of the driving operation device 10 equipped with a controller 70, which stores the correction modes shown in Table 5 above.

[0229] like Figure 8 As shown, in the following aspects, it is consistent with the reference. Figure 7 The same applies to the driving operation device 10 described above. That is, if the grip part 26 of the operating lever 20 provided on the control panel 11 and the enable switch 22 are held together from the state where the aerial work vehicle 1 is stopped, the enable switch 22 is turned on (S2-1), and the driving operation based on the tilting operation of the operating lever body 21 and the operation of the left turn switch 24 and the right turn switch 25 becomes effective.

[0230] Thus, if the lever body 21 is tilted without operating either the left turn switch 24 or the right turn switch 25 while the enable switch 22 is on (S2-2) ("no operation" in S2-3 to S2-5), the common basic speed shown in Tables 1 to 3 (refer to Table 5) is directly applied to both the left motor 60a and the right motor 60b. Therefore, the aerial work platform 1 moves forward in the straight direction by tilting the lever body 21 forward (S2-6), and moves backward in the straight direction by tilting the lever body 21 backward (S2-7). If the lever body 21 is kept in a neutral position, the aerial work platform 1 remains stationary (S2-8).

[0231] Furthermore, when the control lever body 21 is not tilted and is in a neutral position ("neutral" in S2-2), the basic rotational speed is zero (0) in both the left motor 60a and the right motor 60b (refer to Tables 1-3). However, if the left turn switch 24 is pressed in this state ("left turn on" in S2-4), a correction is performed to replace the basic rotational speed (0) of the left motor 60a with a negative constant value and to replace the basic rotational speed (0) of the right motor 60b with a positive constant value. The left motor 60a rotates backward at a constant speed and the right motor 60b rotates forward at a constant speed, so that the aerial work platform 1 turns counterclockwise in place when viewed from above (S2-9).

[0232] Conversely, if the right turn switch 25 ("right on" in S2-4) is pressed when the main body 21 of the control lever is in the neutral position, the aerial work vehicle 1 will turn clockwise in place (S2-10).

[0233] This configuration allows for the following: if the left turn switch 24 (S2-3 or S2-5 "left on") is pressed while the operating lever body 21 is tilted forward or backward ("tilt forward" or "tilt backward" in S2-2), or if the operating lever body 21 is tilted forward or backward while the left turn switch 24 is pressed, the right motor 60b maintains its basic speed, while the speed of the left motor 60a is corrected to 0% of its basic speed and stops (refer to Table 5), thus enabling high-altitude operation. The aerial work vehicle 1 pivots in the left-turn direction (S2-11, 12). Conversely, if the right-turn switch 25 is pressed while the operating lever body 21 is tilted forward or backward ("tilt forward" or "tilt backward" in S2-2), or if the operating lever body 21 is tilted forward or backward while the right-turn switch 25 is pressed, the aerial work vehicle 1 makes a right turn by pivoting (S2-13, 14).

[0234] Thus, in this embodiment, the left turn switch 24 and right turn switch 25 are operated when the control lever body 21 is in a neutral position, or when the control lever body 21 is tilted and moved. This allows for easy differentiation between turning in place and pivoting, making it extremely easy to operate the aerial work platform 1.

[0235] (4) Turning operations based on the tilt position and tilt angle of the control lever body (corresponding to Table 6)

[0236] Reference Figure 9 The operation of the driving operation device 10 equipped with a controller 70 is described, the controller 70 storing the correction information shown in Table 6 above.

[0237] When using the correction mode shown in Table 6 above, it also differs from the reference mode in the following aspects. Figure 8 The operation is the same in the correction mode described in Table 5. That is, when the enable switch 22 is turned on (S3-1), and the driving operation based on the tilting operation of the control lever body 21 and the operation of the left turn switch 24 and the right turn switch 25 is effective, if the tilting operation of the control lever body 21 is performed without operating either the left turn switch 24 or the right turn switch 25 (S3-2) ("no operation" in S3-3 to S3-5), then the left motor 60a and the right motor 60b directly adopt the common basic speed shown in Tables 1 to 3 (refer to Table 6). Therefore, the aerial work platform 1 moves forward in the straight direction by tilting the control lever body 21 forward (S3-6), and moves backward in the straight direction by tilting the control lever body 21 backward (S3-7). If the control lever body is kept in the neutral position, the aerial work platform 1 remains in the stopped state (S3-8).

[0238] In addition, it also differs from the reference in the following aspects. Figure 8 The operation is the same in the correction mode described in Table 5. That is, if the left turn switch 24 is pressed (left on in S3-4) while the control lever body 21 is in a neutral position ("neutral" in S3-2) without tilting the control lever body 21, the aerial work platform 1 will turn counterclockwise in place when viewed from above (S3-9). Conversely, if the right turn switch 25 is pressed (right on in S3-4) while the control lever body 21 is in a neutral position, the aerial work platform 1 will turn clockwise in place (S3-10).

[0239] Referring to the foregoing Figure 8 The configuration for driving operation in the correction mode described in Table 5 includes the following configuration: when the left turn switch 24 or right turn switch 25 is operated (S2-3, S2-5) with the control lever body 21 tilted forward or backward ("forward" or "backward" in S2-2), or when the control lever body 21 is tilted forward or backward while the left turn switch 24 or right turn switch 25 is pressed, regardless of the tilt angle of the control lever body 21, the aerial work platform 1 is pivoted in the left turn direction when the left turn switch 24 is operated, and the aerial work platform 1 is pivoted in the right turn direction when the right turn switch 25 is pressed.

[0240] In contrast, such as Figure 9As shown, in this embodiment where driving is performed using the correction mode described in Table 6, when the left turn switch 24 or right turn switch 25 is operated while the control lever body 21 is tilted forward or backward ("forward" or "backward" in S3-2) (S3-3, 5), or when the control lever body 21 is tilted forward or backward while the left turn switch 24 or right turn switch 25 is pressed, the tilt movement measured from the neutral position of the control lever body 21 is further determined. If the tilt movement is greater than +45° in the forward tilt direction and greater than -45° in the backward tilt direction (S3-11~14), and if it is greater than +45° or greater than -45° ("Yes" in S3-11~14), then when the left turn switch 24 is operated, the aerial work platform 1 will pivot in the left turn direction (S3-15, 16), and when the right turn switch 25 is pressed, the aerial work platform 1 will pivot in the right turn direction (S3-15, 16). -17, 18), however, when the left turn switch 24 is pressed ("left on" in S3-3, S3-5), if the tilt movement is less than +45° or less than -45° ("no" in S3-11, 12), the speed of the left motor 60a is reduced within 100% to 0% of the basic speed according to the increase of the absolute value of the tilt movement angle (S3-19, 20). Additionally, when the right turn switch 25 is pressed ("right on" in S3-3, 5), If the tilt movement is less than +45° or less than -45° ("No" in S3-13, 14), the speed of the right motor 60b is reduced within the range of 100% to 0% of the basic speed according to the increase of the absolute value of the tilt movement angle (S3-21, 22). As a result, as the tilt movement of the operating lever body 21 from the neutral position increases, the turning of the aerial work vehicle 1 gradually becomes a small circle, and eventually it can naturally transfer to a pivot.

[0241] In this configuration, with reference Figure 8 The driving operation device 10 described is the same, retaining the advantages of simple and easy operation. As the tilting angle of the main body 21 of the operating lever increases, the driving state of the aerial work vehicle 1 can be reduced by decreasing the turning radius and eventually become pivoting. It can transfer from straight driving to pivoting in stages, thereby naturally transferring from straight driving to pivoting.

[0242] Explanation of reference numerals in the attached figures

[0243] 1. Aerial work platform vehicle

[0244] 2. Chassis

[0245] 3. Lifting mechanism (scissor lift mechanism)

[0246] 4 pedals

[0247] 5 Tracks

[0248] 5a Left track

[0249] 5b Right side track

[0250] 10. Driving control device

[0251] 11. Control Panel

[0252] 12. Main body of the control panel

[0253] 13. Shell

[0254] 20 control levers

[0255] 21. Control lever body

[0256] 22 Enable Switch

[0257] 24. Left turn switch

[0258] 25 Right turn switch

[0259] 26. Grip section

[0260] 28 Tilt Angle Detection Sensor

[0261] 29 Assembly / Disassembly Testing Unit

[0262] 30 stents

[0263] 31 Back panel

[0264] 31a (back panel) one side in the width direction

[0265] 31b (back panel) top edge

[0266] 32 side panels

[0267] 32a (side panel) one side in the height direction

[0268] 32b (side panel) top edge

[0269] 33 front panel

[0270] 33a (front panel) one side in the width direction

[0271] 33b (front panel) top edge

[0272] 34 Suspension components

[0273] 34a suspension plate

[0274] 34b locking clip

[0275] 34c Flange

[0276] 40 guardrails

[0277] 50 Emergency Stop Switch

[0278] 60a Left side motor

[0279] 60b Right side motor

[0280] 70 Controller

[0281] 71 Storage Area

[0282] 72 Operation Quantity Counter

[0283] 80 cable

[0284] 100 Aerial Work Platform Vehicle

[0285] 102 Chassis

[0286] 103 Lifting mechanism (scissor lift mechanism)

[0287] 104 pedals

[0288] 105a Left track

[0289] 105b right track

[0290] 106 Protruding Ears

[0291] 110 control panel

[0292] 120 Driving control device

[0293] 122 Enable Switch

[0294] 125 Driving Operation Control Lever

[0295] 125a Left driving control lever

[0296] 125b Right-side driving control lever

[0297] 126 Turning Point Operation Turntable

[0298] 127 control lever

[0299] 140 guardrails.

Claims

1. A driving and operating device for a tracked aerial work platform, which is a self-propelled tracked aerial work platform, wherein the tracked aerial work platform has a liftable step on its chassis, and the chassis includes: The left and right tracks serve as the driving mechanism; And a left motor and a right motor that drive the left track and the right track independently, respectively. The driving operation device is characterized in that... The driving operation device includes a controller and an operation panel mounted on the pedal. The controller controls the rotation of the left and right motors based on the operation of the lever mounted on the operation panel. The control lever includes: The main body of the control lever can only tilt and move in the forward and backward direction from the neutral position, and is used to operate the aerial work vehicle to move forward, backward and stop in the direction of the forward and backward axis. A left-turn switch is used to turn the aerial work platform vehicle to the left; and The right turn switch is used to turn the aerial work platform vehicle to the right. Furthermore, the control lever also includes an enable switch, which is a momentary switch that activates operations based on the control lever body, the left turn switch, and the right turn switch only when pressed. The left turn switch, the right turn switch, and the enable switch are disposed at the following positions on the main body of the control lever: the positions are such that the main body of the control lever, as well as the left turn switch and / or the right turn switch, can be operated by pressing the enable switch while holding the main body of the control lever. The controller is configured as follows: The system has a storage area that stores a basic rotational speed common to the left and right motors corresponding to the neutral, forward, and backward positions of the control lever body, and also stores correction values ​​for the rotational speeds of the left and right motors relative to the basic rotational speed. These correction values ​​are used when the aerial work platform vehicle makes a left or right turn based on the operation of the left and right turn switches. The basic rotational speed is corrected using the correction value corresponding to the operating states of the left turn switch and the right turn switch.

2. The driving and operating device of the tracked aerial work platform according to claim 1, characterized in that, The enable switch is provided on the side of the grip portion of the control lever body, in front of it.

3. The driving and operating device of the tracked aerial work platform according to claim 1, characterized in that, The left turn switch and the right turn switch are arranged in a left-right arrangement on the upper surface of the grip portion of the control lever body.

4. The driving and operating device of the tracked aerial work platform according to any one of claims 1 to 3, characterized in that, The controller is configured as follows: Based on the operation of the lever body, the left turn switch, and the right turn switch performed while the enable switch is pressed, if the left turn switch and the right turn switch are not operated and only the lever body is tilted, the left motor and the right motor rotate at a basic speed corresponding to the tilting position. If the left turn switch or the right turn switch is operated, the basic speed is corrected according to the correction value, and the speed of the left motor and the right motor is controlled to enable the aerial work platform to make a turning motion.

5. The driving and operating device of the tracked aerial work platform according to claim 4, characterized in that, The controller is configured as follows: It has an operation quantity counter that counts the operation quantities of the left turn switch and the right turn switch, and, The controller's storage area stores the correction value that varies according to the count value of the operation quantity counter. The change in the counter value accompanying the increase in the amount of operation of the left turn switch corrects the basic speed by slowing down the speed of the left motor and / or increasing the speed of the right motor, thereby causing the aerial work platform to turn to the left. The change in the counter value that occurs as the amount of operation of the right turn switch increases corrects the basic speed by slowing down the speed of the right motor and / or increasing the speed of the left motor, thereby causing the aerial work platform to turn to the right.

6. The driving and operating device of the tracked aerial work platform according to claim 5, characterized in that, The operation quantity counter counts the pressing time of the left turn switch and the right turn switch as the operation quantity.

7. The driving and operating device of the tracked aerial work platform according to claim 5, characterized in that, The operation quantity counter counts the number of times the left turn switch and the right turn switch are pressed as the operation quantity.

8. The driving and operating device of the tracked aerial work platform according to claim 4, characterized in that, The controller's storage area stores the correction value when the joystick body is in the neutral position, and the correction value when the joystick body is in the forward tilt position or the backward tilt position. The controller adjusts the base rotation speed so that if the left turn switch or the right turn switch is pressed when the lever body is in the neutral position, the left and right motors are adjusted to a predetermined rotation speed with the same speed but opposite directions of rotation. If the left turn switch is pressed while the main body of the control lever is tilted forward or backward, the basic speed is corrected to reduce the speed of the left motor, thereby causing the aerial work platform to turn to the left. If the right turn switch is pressed while the main body of the control lever is tilted forward or backward, the basic speed is corrected to reduce the speed of the right motor, thereby causing the aerial work platform to turn to the right.

9. The driving and operating device of the tracked aerial work platform according to claim 8, characterized in that, The controller is configured such that, by pressing the left turn switch or the right turn switch while the main body of the operating lever is tilted forward or backward, the controller corrects the basic speed by reducing the speed of the left motor to zero when the left turn switch is pressed, and corrects the basic speed by reducing the speed of the right motor to zero when the right turn switch is pressed.

10. The driving and operating device of the tracked aerial work platform according to claim 8, characterized in that, The controller is configured such that, by pressing the left turn switch or the right turn switch while the main body of the control lever is tilted forward or backward, as the tilt movement of the main body of the control lever increases from the neutral position, when the left turn switch is pressed, a basic speed correction is performed to gradually reduce the speed of the left motor to zero, and when the right turn switch is pressed, a basic speed correction is performed to gradually reduce the speed of the right motor to zero.

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