JP2001316098A - Bending type boom device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bending type boom device for reducing the burden of a control device and offering lower cost for good operability. SOLUTION: The bending type boom 5 having free bending type (oscillating) motion in a vertical plane is pivotally connected to the end of a telescopic boom 4 having free derricking and telescopic motion with respective to a body 2. A working table 8 is mounted at the end of the bending type boom 5 while keeping a floor surface horizontal at all times. The working table 8 is provided with a boom operating device 10 for operating horizontal or vertical movement of the working table. When the vertical movement or the horizontal movement in a plane including the boom is operated by the boom operating device 10, a control unit 30 keeps a bending angle formed by the telescopic boom 4 and the bending type boom 5 constant and controls the derricking and telescopic operation of the telescopic boom 4 for vertical or horizontal movement of the working table 8.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a main boom capable of at least raising and lowering and expanding and contracting freely on a base, and being attached to a leading end of the main boom and capable of freely bending and extending with respect to the main boom. The present invention relates to a bending / extension boom device having a bending / extension boom and a work table attached to a tip portion of the bending / extension boom, and more particularly to operation control of such a boom device.

[0002]

2. Description of the Related Art As an example of the above-mentioned boom device,
There is an aerial work vehicle equipped with a bending and stretching boom device on a vehicle body.
The aerial work platform has a swivel base on the body that can swivel, and a main boom that can move up and down and expand and contract on the swivel base, and is pivotally connected to the tip of the main boom to bend and extend with respect to the main boom. A movable bending and extension boom, a work table that is attached to the tip of the bending and extension boom and that is always horizontal regardless of the elevation angle of the main boom and the bending and extension angle of the bending and extension boom. An operation control device that controls the operation and expansion / contraction operation, the bending / extension operation of the bending / extension boom, etc., and an operation signal is output to the operation control device according to the operation of an operator who is disposed on the work table and boarding the work table, and turns. It has a boom operating device for operating a table, a main boom, a bending / extension boom, and the like.

[0003] For this reason, the operator operates the boom operating device while riding on the worktable, thereby turning the swivel base, raising and lowering the main boom, and expanding and contracting the main boom, and bending and extending the boom. Thus, the work table on which the user rides can be moved to an arbitrary height, and desired height work can be performed.

[0004]

However, in a conventional aerial work vehicle, a so-called straight-extension boom-type aerial work vehicle which does not have a bending / extension boom at the tip of a main boom (telescopic boom) is used. There has been provided a horizontal-vertical movement control (also referred to as "HV control") system for moving a worktable in a horizontal direction or a vertical direction based on a boom operation. No type of aerial work vehicle was provided with such a control system.

[0005] That is, in a bending and extension boom type aerial work vehicle, each operating axis of the boom (a turning axis, an up-and-down axis, a telescopic axis,
Boom operation levers are provided corresponding to the bending axes, etc., and the boom operation control device controls each operation axis independently based on the operation direction and operation amount of the operation lever for each operation axis. It was controlled in parallel. On the other hand, some of the straight extension boom type aerial work vehicles can perform the HV control in addition to the single-axis parallel control as described above. this is,
For example, by switching the operation mode changeover switch of the boom operation device to the HV control, the function of the operation lever is switched to the operation lever of horizontal movement or vertical movement, and the operation control device of the boom operates in the operation direction and the operation amount of the operation lever. The required operation amount of each operation axis is calculated and obtained based on the above, and the operation table is controlled in a combined manner based on the calculation result to move the work table horizontally or vertically.

For this reason, in a bending and stretching boom-type aerial work vehicle, when an operator on the work table attempts to move the work table horizontally or vertically, it is necessary to simultaneously and simultaneously move a plurality of operation levers. It is necessary to operate in the operation direction and the operation amount that match the direction in which the boom operation is performed, and the boom operation is complicated.

On the other hand, in the bending and stretching boom type aerial work vehicle, the degree of freedom in controlling the posture of the boom is increased by an amount corresponding to the addition of the bending and stretching boom, as compared with the straightly extending boom type aerial work vehicle. Depending on how to control, the control load of the operation control device becomes large and the moving speed of the work table becomes slow,
If a high-speed processing device is used to compensate for this, the operation control device may be expensive. In addition, there is a problem that the operation of the boom may be difficult for an operator to use depending on how to perform the combined control of each operation shaft.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and provides a bending / extending boom device provided with a horizontal movement control system or a vertical movement control system which has good operability and excellent controllability. The purpose is to provide.

[0009]

In order to achieve the above object, a first aspect of the present invention is directed to a base (for example, a turning third in the embodiment) which is attached to a base so that at least up-and-down movement and expansion / contraction movement with respect to the base. A flexible main boom (e.g., a telescopic boom in the embodiment), a bending / extension boom having a base end attached to a distal end of the main boom and capable of freely bending and extending with respect to the main boom in a vertical plane, and a distal end of the bending / extension boom. A workbench that is mounted on the main boom and constantly keeps the floor level irrespective of the boom posture of the main boom and the bending / extension boom, and an operation control device that controls the raising / lowering operation, the expansion / contraction operation of the main boom, and the bending / extension operation of the bending / extension boom (for example, The control unit 30 in the embodiment) and a boom operation for outputting an operation signal to the operation control device according to the boom operation to operate the main boom and the bending / extending boom. A bending and stretching type boom device having a location. In addition, the bending / extension type boom device includes an elevation angle detector that detects an elevation angle of the main boom with respect to the base, an extension amount detector that detects an extension amount of the main boom,
A bending / extension angle detector configured to detect a bending / extension angle formed by the main boom and the bending / extension boom, wherein the operation control device controls the boom operating device to vertically move the worktable or horizontally moves the worktable in a plane including the boom. When the boom operation is performed, the undulation angle of the main boom detected by the undulation angle detector, the extension amount of the main boom detected by the extension amount detector, and the main boom detected by the bending and extension angle detector Calculates the position of the workbench with respect to the base from the bending / extension angle formed by the bending / extension boom, and moves the main boom up and down and expands / contracts so that the worktable moves vertically or horizontally while maintaining the bending / extension angle according to the boom operation And a bending / extending boom device is configured.

In the bending / extension type boom device having the above-described structure, the operation control device is configured to determine the angle of the main boom, the amount of extension, and the extension / extension angle of the bending / extension boom when the operation of vertically moving the work table is performed by the boom operation device. Calculating the position of the workbench with respect to the table, calculating the amount of main boom up / down operation and the amount of expansion / contraction operation required when vertically moving the workbench with the bending / extension angle being constant at the workbench position; And the operation of the two axes of the telescopic shaft is controlled in a complex manner. For this reason,
It is not necessary to control the bending / extension angle at the time of vertical movement control, and it is possible to provide a bending / extension type boom device provided with a low-cost and highly controllable vertical movement system by reducing the number of control axes for simultaneous control.

When the boom operation device performs a boom operation for horizontally moving the workbench in a plane including the main boom, the operation control device determines the elevation angle and the extension amount of the main boom and the bending angle of the bending and extending boom. The position of the workbench with respect to the base is calculated, and the main boom necessary for horizontally moving the workbench in a plane including the main boom (that is, in the up-and-down angle plane) in a state where the bending angle is constant at the workbench position is calculated. The undulating operation amount and the expansion / contraction operation amount are calculated, and the operation of the two axes of the undulating axis and the expansion / contraction axis is controlled in a complex manner. For this reason, it is not necessary to control the bending / extension angle at the time of horizontal movement control, and it is possible to provide a bending / extension type boom device provided with a low-cost, highly controllable horizontal movement system by reducing the number of control axes for simultaneous control. .

A second aspect of the present invention is a bending / extending boom device having the same configuration as that of the first aspect except for an operation control device. Then, the operation control device of the present invention, when the boom operation to vertically move the work table in the boom operation device, the main boom undulation angle detected by the undulation angle detector, the extension amount detector While calculating the tip position of the main boom with respect to the base from the detected extension amount of the main boom, the bending / extension angle formed by the main boom and the bending / extending boom detected by the bending / extension angle detector or the bending / extending boom is perpendicular to the vertical axis. Calculates the position of the workbench with respect to the base from the absolute angle formed and the calculated main boom tip position, and moves the workbench vertically while maintaining the horizontal distance of the main boom tip with respect to the base constant. In this way, the bending / extension type boom device is configured by controlling the raising / lowering operation of the main boom, the expansion / contraction operation, and the bending / extension operation of the bending / extension boom.

In the bending / extending boom device having such a configuration,
The operation control device calculates the tip position of the main boom with respect to the base from the elevation angle of the main boom and the extension amount when the operation of vertically moving the work table is performed by the boom operation device. The position of the workbench with respect to the base is calculated from the bending angle or the absolute angle of the boom. In this position, the main boom is required to move vertically when the workbench is vertically moved while maintaining a constant horizontal distance of the tip end of the main boom with respect to the base. Is calculated, and the three axes of the up-and-down axis of the main boom, the expansion-contraction axis, and the bending-extension axis of the bending-boom are controlled in a complex manner.

Although the above control is formally a three-axis composite control (synchronous control), this control is a control form in which bending / extension angle control of a bending / extension boom is added to the conventional vertical movement control for vertically moving the boom tip vertically. The advantage is that the conventional vertical movement control system which has already been used for a long time and has high reliability can be used. Further, in such vertical movement control, the relative positional relationship between the tip position of the main boom and the work table does not change at the time of vertical elevating and lowering, and the angle formed between the bending and stretching boom and the work table does not change. Therefore, it is possible to provide a bending / extension type boom device provided with a vertical movement control system having good workability without changing the working environment around the worktable due to vertical ascent / descent (not disturbed by the bending / extension boom).

A third aspect of the present invention is a bending / extending boom device having the same configuration as that of the first or second aspect except for an operation control device. Then, the operation control device of the present invention, when a boom operation is performed in the boom operation device to horizontally move the work table in a plane including the boom, the up-down angle of the main boom detected by the up-down angle detector and Calculating the tip position of the main boom with respect to the base from the extension amount of the main boom detected by the extension amount detector, and the bending / extension angle or bending / extension boom formed by the main boom and the bending / extension boom detected by the bending / extension angle detector The position of the workbench relative to the base is calculated from the absolute angle formed by the above and the calculated position of the tip of the main boom. The bending / extension type boom device is configured by controlling the raising / lowering operation and extension / retraction operation of the main boom and the bending / extension operation of the bending / extension boom so as to move horizontally in a plane including

In the bending / extending boom device having such a configuration,
The operation control device calculates the tip position of the main boom with respect to the base from the undulation angle and the extension amount of the main boom when the operation of horizontally moving the work table in the plane including the boom is performed by the boom operation device. The position of the worktable with respect to the base is calculated from the tip position and the bending / extension angle or the absolute angle of the bending / extension boom. Then, at this position, the main boom up / down operation amount and the expansion / contraction operation amount required when the work table is horizontally moved in a plane including the boom while maintaining the height position of the main boom tip portion with respect to the base constant. The bending / extension operation amount of the bending / extension boom is calculated, and the three axes, ie, the up / down axis of the main boom, the expansion / contraction axis, and the bending / extension axis of the bending / extension boom are controlled in a complex manner.

Although the above control is formally a three-axis composite control (synchronous control), a bending / extension angle control of a bending / extension boom is added to the conventional horizontal movement control in which the boom tip moves horizontally in a plane including the boom. This has the advantage that the conventional horizontal movement control system, which has already been used for a long time and has high reliability, can be used. Further, in such horizontal movement control, the relative positional relationship between the tip end position of the main boom and the work table does not change during horizontal movement as in the third aspect, and the angle formed between the bending and extension boom and the work table changes. do not do.
For this reason, the working environment around the work table does not change due to horizontal movement.For example, when entering the space between the upper and lower beams by horizontal movement, it is necessary to enter while maintaining the posture of the bending and stretching boom horizontally. Thus, it is possible to provide a bending / extending boom device provided with a horizontal movement control system having good workability.

In a bending-extension boom device that performs a so-called absolute type leveling control, in which the working table is swung with respect to the bending-extension boom in accordance with the inclination angle of the working table, and the work table is always kept horizontal, a bending-extension boom is used. The second and third inventions in which the angular positional relationship between the robot and the work table does not change mean that the control load of the leveling control is greatly reduced.
Therefore, it is possible to provide a bending / stretching boom device provided with a vertical movement control system or a horizontal movement control system with good workability without increasing the control load of the entire control system.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 2 shows an aerial work vehicle 1 having a bending / extension type boom device on a vehicle body as an example of the bending / extension type boom device according to the present invention. The aerial work vehicle 1 is provided with a swivel table 3 having a driving cabin and capable of running in a horizontal direction with respect to the vehicle body 2 by the operation of a swivel motor 11 on a vehicle body 2. A telescopic boom 4 is pivotally connected to the upper end of the swivel 3 so that the telescopic boom 4 can be raised and lowered with respect to the vehicle body 2 by a telescopic operation of a raising and lowering cylinder 12.

The telescopic boom 4 comprises a base boom 4a pivotally connected to the swivel 3 and an intermediate boom 4b and a distal boom 4c nested in the base boom 4a. Is configured to be able to expand and contract by the operation of the telescopic cylinder 13 disposed in the first position. A bending / extension boom 5 is pivotally connected to the distal end of the tip boom 4c, and a bending / extension cylinder 1 provided between the tip boom 4c and the bending / extension boom 5 is provided.
Due to the operation of 4, the distal end boom 4c is freely swingable (referred to as “bending and extending”) within the undulating surface of the telescopic boom.

The tip of the bending / extension boom 5 is always maintained vertically by the operation of a leveling cylinder 15 which is controlled by a leveling system (not shown), regardless of the elevation angle of the telescopic boom 4 and the bending / extension angle of the bending / extension boom 5. A vertical post 6 is pivotally connected, and a worktable 8 is attached to the vertical post 6 via a swing arm 7 so as to be horizontally pivotable (referred to as "swinging").

A work table 8 is provided with a boom operating device 10 for operating the operation of the boom device. The boom operating device 10 controls a plurality of operating levers corresponding to each operating axis (a turning axis, an up / down axis, a telescopic axis, a bending / extending axis, and the like) of the boom apparatus, and controls the functions of the operating levers in horizontal-vertical movement control (HV control). It consists of switches such as an operation mode changeover switch that switches to the various types of indicators that display warnings and alarms,
An operation signal corresponding to an operation of an operator who gets on the work table 8 is output to the control unit 30 to operate the boom device.

The work table 8 is turned on the vehicle body 2 by turning the turntable 3 or extending the telescopic boom 4.
The outer trigger jack 1 acts on the vehicle body 2 via the swivel base 3 to stably support the vehicle body 2 against the overturning moment when the vehicle is moved far away.
7, 17,... Are disposed on the front, rear, left, and right sides of the vehicle body 2.

An operator places the boom operating device 1 on the work table 8.
The control unit 30 receives an operation signal from the boom operating device 10 when the "0" is operated, and controls an actuator of each operating axis such as a turning axis and an up / down axis based on the signal. The configuration of a control device including the control unit 30 is shown in FIG. 1, and the control device will be described below with reference to FIG.

When the control unit 30 receives an operation signal from the boom operating device 10, the control unit 30 calculates the amount of operation of each operating shaft based on the operation signal, and performs the turning operation of the turning table 3 by the turning motor 11 and the turning operation of the up / down cylinder 12. Up and down operation of the telescopic boom 4, telescopic boom 4 by the telescopic cylinder 13
, The bending and stretching operation of the bending and stretching boom 5 by the bending and stretching cylinder 14, and the like. Specifically, the above operations are performed by a hydraulic cylinder, a hydraulic motor, or the like, and the control unit 30 outputs an operation control signal based on an operation signal to a hydraulic unit (not shown) disposed on the vehicle body, The operation of the electromagnetic control valve in this unit is controlled to control the operation of each hydraulic cylinder, hydraulic motor, and the like.

With such a control action, the operator who gets on the worktable 8 operates the operation levers corresponding to the respective operating axes, for example, operates the swivel lever to turn the swivel table 3, and Alternatively, the operating shaft can be moved to an arbitrary height by operating the operating shafts independently and in parallel, such as operating the telescopic boom 4 by operating the raising / lowering lever.

A boom position signal indicating the boom posture with respect to the vehicle body is also input from the boom position detection device 20 to the control unit 30. Boom position detection device 20
Are a turning angle detector 21 for detecting a turning angle α of the turntable 3 with respect to the vehicle body 2, an undulating angle detector 22 for detecting an undulating angle β of the telescopic boom 4, and an extension amount detection for detecting an extension amount 1 of the telescopic boom 4. And a bending / extension angle detector 24 for detecting a bending / extension angle γ formed by the bending / extension boom 5 with respect to the telescopic boom 4. Detection signals from these detectors are input to the control unit 30.

The control unit 30 determines the position of the tip of the telescopic boom 4 with respect to the vehicle body 2 and the position of the worktable 8 with respect to the vehicle body 2 based on the input detection signals. It is calculated by an arithmetic processing unit inside the unit. Then, using the boom tip position and the worktable position calculated in this manner, for example, a work range regulation control for preventing the vehicle from tipping over is performed, or the operation thereof will be described below in the first and second embodiments. Horizontal-vertical movement control described in detail below.

When the HV control (horizontal-vertical movement control) is selected by the operation mode changeover switch of the boom operating device 10, the control unit 30 switches the function of the operation lever in accordance with a preset rule.
Perform vertical movement control. For example, the raising / lowering lever is switched to a vertical raising / lowering lever, and the conventional operation signal in the raising / lowering direction is recognized as a vertical raising operation signal. Similarly, the telescopic lever is switched to a horizontal moving lever in the plane including the telescopic boom 4, and the conventional operation signal in the extension direction is recognized as a horizontal movement operation signal in a direction away from the vehicle.

Here, the HV control is selected in a boom posture as shown in FIGS. 3 and 4, for example, when the work table 8 is vertically moved up and down, or when the work table 8 is horizontally moved in a plane including the telescopic boom 4. Consider the case of moving. As is apparent from both figures, these worktable movements are linear movements in a plane including the telescopic boom 4 and the bending / extending boom 5, and the four control axes (the pivot axis,
Among the undulating axes, the expansion and contraction axes, and the bending and stretching axes), the turning axis (turning angle α) is a fixed value. In order to move the work table 8 linearly in the plane, the function can be achieved by performing synchronous control on at least one of the remaining three axes in both the vertical movement and the horizontal movement. In this case, the control means capable of ensuring the widest working range will differ depending on the dimensions (shape, dimensions, control range, etc.) of each control axis of the target control object, as shown in FIG. In such an aerial work vehicle 1, it is most effective to fix the bending / extension axis (bending / extension angle γ) and to synchronously control the two axes of the undulating axis (undulating angle β) and the telescopic axis (extension l). Control means.

Therefore, when the operation mode is switched to the HV control and the vertical lifting lever is operated, the control unit 30 in the first embodiment transmits the detection signals (α) detected by the boom position detection device 20. , β, γ,
The position of the worktable 8 is calculated from 1). Then, as shown in FIG. 3, when the bending / extension angle γ formed by the telescopic boom 4 and the bending / extension boom 5 is constant (ie, when the bending / extension cylinder 14 is not operated), a constant horizontal distance r _{s at} the worktable position is set. The vertical movement of the telescopic boom 4 and the vertical movement of the telescopic boom 4 required for vertically raising and lowering the work table 8 are calculated, and an operation control signal is output in accordance with the required vertical movement to generate the vertical cylinder 12 and the telescopic cylinder. 13 is operated in a combined manner, and the worktable 8 is vertically moved up and down.

Further, when the horizontal moving lever is operated, the control unit 30 operates the boom position detecting device 2.
The position of the work table 8 is calculated from each detection signal detected at 0. Then, as shown in FIG. 4, when the bending / extension angle γ formed by the telescopic boom 4 and the bending / extending boom 5 is constant, when the work table 8 is horizontally moved at a certain height position h _s at the work table position. The required amount of up / down operation of the telescopic boom 4 and the amount of telescopic operation are obtained by arithmetic processing, and an operation control signal corresponding to the required amount of operation is output to operate the up / down cylinder 12 and the telescopic cylinder 13 in a complex manner. the table 8 is moved horizontally in a plane including the telescopic boom 4 on a line of constant height h _s.

In such a vertical-horizontal movement control, when a vertical movement operation or a horizontal movement operation in a plane including a boom is performed, the control unit 30 operates under a constant bending and stretching angle at the worktable position. At workbench 8
What is necessary is just to calculate the operation amounts of the undulating axis and the telescopic axis necessary for linearly moving the, and perform synchronous control of these two axes. Therefore, the number of control axes of the synchronous control in the vertical movement control or the horizontal movement control can be reduced, and a bending / stretching boom device provided with a low-cost, highly controllable horizontal movement system can be provided.

Next, a second embodiment of the bending and stretching type boom device according to the present invention is a device having the same configuration as that already described with reference to FIGS. This device differs only in the content of the horizontal-vertical movement control of ()). The control unit 35 in the present embodiment controls the bending and stretching axis (bending and stretching angle γ) in addition to the two control axes (the undulating axis and the expansion and contraction axis) described above.
Perform axis synchronization control. Hereinafter, the operation of the control unit 35 in the present embodiment will be described with reference to FIGS.

When the operation mode is switched to the HV control in the boom operating device 10 and the vertical lifting lever is operated, the control unit 35 detects the detection signals (α, β, γ) detected by the boom position detecting device 20. , l), the tip position of the telescopic boom 4 and the position of the worktable 8 are calculated. The relief operation of the telescopic boom 4 required when both to vertical lift the platform 8 and maintained constant and the horizontal distance r _b of the telescopic boom tip and a horizontal distance r _s workbench 8 relative to the vehicle body 2 Amount and telescopic operation amount, and bending and stretching boom 5
The operation amount of bending operation is calculated, and an operation control signal corresponding to the required operation amount is output to operate the up / down cylinder 12, the telescopic cylinder 13, and the bending / extending cylinder 14 in a complex manner.
The work table 8 is vertically moved up and down.

When the horizontal moving lever is operated, the control unit 35 calculates the position of the tip of the telescopic boom 4 and the position of the worktable 8 from each detection signal detected by the boom position detecting device 20. Then, required when horizontally moving the work platform 8 and a height h _s of the height h _b and platform 8 of the telescopic boom tip with respect to the vehicle body 2 together kept constant in a plane containing the boom The amount of up / down operation and expansion / contraction of the telescopic boom 4 and the amount of bending / extension of the bending / extension boom 5 are calculated, and an operation control signal corresponding to the required amount of operation is output to output the up / down cylinder 12, the expansion / contraction cylinder 13 and the bending / extension. The cylinder 14 is operated in a combined manner, and the worktable 8 is horizontally moved in a plane including the telescopic boom 4.

In such a vertical-horizontal movement control, when a vertical movement operation or a horizontal movement operation in a plane including the boom is performed, the control unit 35 linearly moves the boom tip at the worktable position. The amount of operation of the raising and lowering axis and the expansion and contraction axis required for the movement and the amount of operation of the bending and stretching axis corresponding to this, that is, the amount of correction of the bending and stretching angle corresponding to the change in the undulation angle are calculated, and the three axes are synchronously controlled.

The control for linearly moving the end of the boom can use the conventional horizontal-vertical movement control which has already been used for a long time and has high reliability.
The control of the bending / extension angle γ may be relatively simple control determined (for example, β + γ = constant value) corresponding to the change of the undulation angle β. Therefore, the control load is greatly increased in spite of the three-axis synchronous control. Nothing. Furthermore, according to this control, the relative angle between the worktable 8 and the bending / extending boom 5 does not change, so that the control load of the leveling control can be reduced. Therefore, it is possible to provide a bending and stretching type boom device having a low-cost, highly controllable horizontal movement system without complicating the control device or significantly increasing the control load.

According to the above-described horizontal-vertical movement control, since the relative angle between the worktable 8 and the bending / extension boom 5 does not change, the work environment around the worktable changes due to vertical ascent and descent and horizontal movement. It is possible to provide a linear movement control with good workability (without being disturbed by the bending / extension boom). For example, even when entering into an architectural structure having beams B above and below as shown in FIG. 6, there is no concern that the bending / extension boom will contact the upper and lower beams B.

In each of the embodiments described above, the bending / extension angle detector 24 detects the relative angle (clamp angle) between the telescopic boom 4 and the bending / extension boom 5, but the so-called absolute angle type angle is used. A detector (an angle detector for detecting an absolute angle formed with respect to a vertical axis or a horizontal axis) can also be used. For example, in the second embodiment, the bending / extension boom 5 is provided with an absolute type angle detector, and the bending / extension cylinder 14 can be controlled so that the detected angle becomes constant. further,
In the second embodiment, the leveling control for maintaining the level of the work table 8 is not performed on the leveling cylinder 15, but the leveling cylinder 15 may be fixed on the bending cylinder 14. is there. According to such a configuration, it is possible to provide a bending / extending boom device that performs horizontal-vertical movement control without increasing the control load.

[0041]

As described above, the first aspect of the present invention is as follows.
A main boom that can freely move up and down and expand and contract with respect to the base, a bending boom that can flex and extend freely in a vertical plane with respect to the main boom, and a work table attached to the tip of the bending boom. In the bending and extending boom device having
An elevation angle detector for detecting the elevation angle of the main boom with respect to the base, an extension amount detector for detecting the extension amount of the main boom, and a flexion / extension angle detector for detecting a flexion / extension angle formed by the main boom and the flexion / extension boom. The operation control device for controlling the operation of the boom device, when a boom operation for vertically moving the work table or a boom operation for horizontally moving the work table in a plane including the boom in the boom operation device,
Calculates the position of the platform with respect to the base from the elevation angle and extension of the main boom, and the flexion and extension angle between the main boom and the flexion / extension boom, and maintains the flexion / extension angle in accordance with the boom operation to move the platform vertically or horizontally. The bending and stretching type boom device is configured by controlling the raising and lowering operation and the expansion and contraction operation of the main boom.

For this reason, there is no need to control the bending / extension angle in the vertical movement control or the horizontal movement control, and the number of control axes for simultaneous control is reduced, so that the bending / extension boom device provided with a low-cost and highly controllable vertical movement system. Can be provided.

According to a second aspect of the present invention, in the bending and stretching type boom device having the same configuration as the first aspect of the invention, the operation control device for controlling the operation of the boom device is a boom for vertically moving a worktable in the boom operating device. When an operation is performed,
The main boom tip position with respect to the base is calculated from the main boom undulation angle and the extension amount, and the bending angle of the main boom and the bending / extension boom or the absolute angle formed by the bending / extending boom with respect to the vertical axis and the tip of the main boom. Calculate the position of the workbench with respect to the base from the position and move the main boom up and down, extend and retract, and extend and retract so that the workbench moves vertically while keeping the horizontal distance of the tip of the main boom to the base constant. A bending / extension type boom device is configured by controlling the bending / extending operation of the boom.

According to a third aspect of the present invention, in the bending / extending boom device having the same configuration as that of the first or second aspect, the operation control device for controlling the operation of the boom device includes a boom operating device including a boom. When the boom operation to move the workbench horizontally is performed, the tip position of the main boom with respect to the base is calculated from the elevation angle and the amount of extension of the main boom, and the bending and stretching angle formed by the main boom and the bending and stretching boom Or, calculate the position of the workbench with respect to the base from the absolute angle formed by the bending and extension boom with respect to the vertical axis and the calculated tip position of the main boom, and make sure that the height position of the tip of the main boom with respect to the base is constant. Control the up / down operation of the main boom, the expansion / contraction operation, and the bending / extension operation of the bending / extension boom so that the work table moves horizontally in the plane including the boom, and configure the bending / extension type boom device. To.

In the bending / extension type boom device according to the second or third aspect of the present invention, the vertical movement control system and the horizontal movement system of the highly reliable conventional straight-extension boom device have a relatively simple bending / extension angle with a small control load. By adding the correction control, a vertical movement control system and a horizontal movement system of the bending / extending boom device can be easily constructed. In addition, in such a linear movement control, since the relative positional relationship between the tip position of the main boom and the worktable does not change during movement, the work environment around the worktable does not change due to the movement of the worktable and the workability is good. A bending / extending boom device provided with a simple vertical movement control system can be provided.

Further, in a bending and stretching type boom device which performs a so-called absolute type leveling control, in which the working table is swung with respect to the bending and stretching boom in accordance with the tilt angle of the working table, and the working table is always kept horizontal, a bending and stretching boom is provided. In the second and third inventions in which the angular positional relationship between the work and the worktable does not change, the control load of the leveling control can be significantly reduced.
Therefore, it is possible to provide a bending / extending boom device provided with a vertical movement control system or a horizontal movement control system with good workability without increasing the control load on the entire control system.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a control device including an operation control device of a bending and extending boom device according to the present invention.

FIG. 2 is a side view of an aerial work vehicle equipped with the bending and extending boom device according to the present invention.

FIG. 3 is an explanatory diagram for explaining the operation (vertical movement control) of the first embodiment in the bending and stretching boom device according to the present invention.

FIG. 4 is an explanatory diagram for explaining the operation (horizontal movement control) of the first embodiment in the bending and stretching type boom device according to the present invention.

FIG. 5 is an explanatory diagram for explaining the operation (vertical movement control) of the second embodiment in the bending and stretching boom device according to the present invention.

FIG. 6 is an explanatory diagram for explaining the operation (horizontal movement control) of the second embodiment in the bending and stretching type boom device according to the present invention.

[Explanation of symbols]

 Reference Signs List 3 swivel base (base) 4 telescopic boom (main boom) 5 bending / extension boom 8 working table 10 boom operating device 22 undulation angle detector 23 extension amount detector 24 bending / extension angle detector 30 control unit (operation control device)

Continuation of the front page F term (reference) 3F333 AA08 AA15 AB01 AC08 BA12 BB03 BB09 BB23 BD02 BE02 FA03 FA09 FB04 FD02 FD08 FD09 FE04

Claims (3)

[Claims] A main boom attached to a base and capable of at least raising and lowering and expanding and contracting with respect to the base;
A bending / extension boom having a base end attached to the tip of the main boom and capable of flexing and extending with respect to the main boom in a vertical plane; and the main boom and the bending / extension boom being attached to the tip of the bending / boom. A workbench that constantly maintains the floor level regardless of the boom posture, an operation control device that controls the up / down operation and expansion / contraction operation of the main boom, and the bending / extending operation of the bending / extending boom, and the operation according to the boom operation. In a bending and stretching type boom device having a boom operating device that outputs an operation signal to a control device to operate the main boom and the bending and stretching boom, a rising and falling angle detector that detects a rising and falling angle of the main boom with respect to the base, An extension amount detector for detecting an extension amount of the main boom, and a flexion / extension angle for detecting a flexion / extension angle formed by the main boom and the flexion / extension boom. The operation control device, when a boom operation for vertically moving the work table or a boom operation for horizontally moving the work table in a plane including the boom is performed in the boom operation device. An elevation angle of the main boom detected by the elevation angle detector, an extension amount of the main boom detected by the extension amount detector, and the main boom and the flexion / extension detected by the flexion angle detector. Calculate the position of the work table with respect to the base from the bending angle formed by the boom and the main boom so that the work table moves vertically or horizontally while maintaining the bending angle in accordance with the boom operation. A bending / extension type boom device which controls an up / down operation and an expansion / contraction operation. 2. A main boom attached to a base and capable of at least raising and lowering and expanding and contracting with respect to the base.
A bending / extension boom having a base end attached to the tip of the main boom and capable of flexing and extending with respect to the main boom in a vertical plane; and the main boom and the bending / extension boom being attached to the tip of the bending / boom. A workbench that constantly maintains the floor level regardless of the boom posture, an operation control device that controls the up / down operation and expansion / contraction operation of the main boom, and the bending / extending operation of the bending / extending boom, and the operation according to the boom operation. In a bending and stretching type boom device having a boom operating device that outputs an operation signal to a control device to operate the main boom and the bending and stretching boom, a rising and falling angle detector that detects a rising and falling angle of the main boom with respect to the base, An extension amount detector for detecting an extension amount of a main boom, and a flexion / extension angle or the flexion / extension boo formed by the main boom and the flexion / extension boom. When having a bending angle detector for detecting an absolute angle formed with respect to a vertical axis, said actuation control device, the boom operation for vertically moving the work platform in the boom operating device has been made,
Calculating the tip position of the main boom with respect to the base from the undulation angle of the main boom detected by the undulation angle detector and the extension amount of the main boom detected by the extension amount detector, The workbench relative to the base from the bending / extension angle formed by the main boom and the bending / extension boom detected by the bending / extension angle detector or the absolute angle formed by the bending / extension boom, and the calculated tip position of the main boom. , And the horizontal movement of the main boom tip with respect to the base is maintained at a constant distance, and the main boom is raised and lowered, and the telescopic operation is performed so that the work table moves vertically. A bending / extension type boom device characterized by controlling operation. 3. A main boom attached to a base and capable of at least raising and lowering and expanding and contracting with respect to the base,
A bending / extension boom having a base end attached to the tip of the main boom and capable of flexing and extending with respect to the main boom in a vertical plane; and the main boom and the bending / extension boom being attached to the tip of the bending / boom. A workbench that constantly maintains the floor level regardless of the boom posture, an operation control device that controls the up / down operation and expansion / contraction operation of the main boom, and the bending / extending operation of the bending / extending boom, and the operation according to the boom operation. In a bending and stretching type boom device having a boom operating device that outputs an operation signal to a control device to operate the main boom and the bending and stretching boom, a rising and falling angle detector that detects a rising and falling angle of the main boom with respect to the base, An extension amount detector for detecting an extension amount of a main boom, and a flexion / extension angle or the flexion / extension boo formed by the main boom and the flexion / extension boom. And a bending / extension angle detector for detecting an absolute angle formed with respect to a vertical axis, wherein the operation control device performs a boom operation of horizontally moving the work table in a plane including the boom in the boom operation device. When the main boom angle detected by the undulation angle detector, and the extension amount of the main boom detected by the extension amount detector, the tip position of the main boom with respect to the base is determined. Calculating and calculating the bending / extension angle between the main boom and the bending / extension boom detected by the bending / extension angle detector or the absolute angle of the bending / extension boom, and the calculated tip position of the main boom. The position of the work table with respect to the base is calculated, and the height position of the tip of the main boom with respect to the base is maintained at a constant height. Platform is bending and stretching type boom and wherein the controlling the bending and stretching operation of the main boom hoisting operation and telescopic operation and the bending boom to horizontal movement in a plane containing the boom.