JP2020011591A - Traveling vehicle - Google Patents

Abstract

To provide a traveling vehicle that can improve traveling operability of the vehicle during turn traveling.SOLUTION: A traveling control unit as a controller is configured such that a turn amount operation dial is operated to turn in a state where a traveling operation lever is operated. When the operation amount of the turn amount operation dial is in a first operation state (in 45 degree twist operation in Fig. 8) where a crawler traveling device located inward in a turning direction is decelerated to be brought into a stepped state, the traveling control unit controls the crawler traveling device located inward to be held in the stopped state. When the operation amount of the turn amount operation dial is in a certain range with the first operation state at the center, the traveling control unit controls the crawler traveling device located inward to be held in the stopped state.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a traveling vehicle that can travel with crawler traveling devices on both left and right sides of a vehicle body.

  In a traveling vehicle equipped with such a crawler traveling device, the rotation direction and the rotation speed of the left and right crawler traveling devices are controlled in accordance with the operation direction and the operation amount of the traveling operation lever and the turning amount operation dial, so that the vehicle travels forward or backward. Is configured to be able to perform straight running, slalom turning running, pivot turning running, and spin turning running (see, for example, Patent Document 1). A crawler-type traveling vehicle having two left and right traveling operation levers instead of the traveling operation lever and the turning amount operation dial (see, for example, Patent Document 2), and a traveling lever for switching between forward and backward travel. A crawler-type traveling vehicle having an accelerator pedal for setting a traveling speed and a handle for setting a turning direction and a turning amount (for example, see Patent Document 3), or a single traveling operation lever for forward, reverse, and traveling A crawler-type traveling vehicle equipped with a joystick-type traveling operation device capable of setting a speed, a turning direction, and a turning amount is also known (for example, see Patent Document 4).

Japanese Patent No. 6080458 JP 2003-343510 A Japanese Utility Model Publication No. Hei 5-24481 JP 2002-104227 A

  In a conventional crawler-type traveling vehicle, in an area where an output command to the crawler traveling apparatus that is on the inside in the turning direction is small (for example, a slalom turning area immediately before shifting from slalom turning to pivot turning), the inner crawler traveling apparatus is used. However, there is a problem in that the vehicle cannot travel in a straight line by losing to the outer crawler traveling device without being able to secure the torque. In particular, when traveling on a downhill, such a problem is likely to occur. In order to prevent such a problem, the torque of the inner crawler traveling device may be increased, but there is a problem that power consumption becomes excessive.

  The present invention has been made in view of such a problem, and an object of the present invention is to provide a traveling vehicle that can improve the traveling operability of the vehicle during turning while suppressing power consumption.

In order to solve the above-described problems, a traveling vehicle according to a first aspect of the present invention is a traveling vehicle in which a traveling direction and a traveling speed are set according to an operation direction and an operation amount. An operating device (for example, the traveling operation lever 47 in the embodiment), a turning operation device (for example, the turning amount operation lever 48 in the embodiment) for setting a turning direction and a turning amount according to the operation direction and the operation amount, and the traveling A travel control device (for example, an embodiment) that controls the driving of the left and right crawler traveling devices according to the traveling direction and traveling speed set by the operating device, and the turning direction and the turning amount set by the turning operation device. (A traveling control unit of the controller 60). In addition, the traveling control device, when the traveling operation device is traveling operation, when the turning operation device is turned operation,
Control is performed to decelerate the crawler traveling device that is inward in the turning direction in accordance with the operation amount of the turning operation device, and the crawler traveling device in which the operation amount of the turning operation device is inward in the turning direction is stopped. The first crawler traveling device is configured to stop and hold the inner crawler traveling device when the first crawler traveling device is decelerated until the operation amount of the turning operation device is within a predetermined range around the first operation condition. When, the control is performed to stop and hold the crawler traveling device that is inside in the turning direction.

  In the traveling vehicle having the above configuration, the traveling control device may be configured to, when the operation amount of the turning operation device is within the first operation state and the predetermined range, move the crawler traveling device that is outward in a turning direction by the turning operation. It is preferable to perform control for driving at a constant speed corresponding to the operation amount of the operation device.

  The traveling vehicle having the above configuration further includes an inclination angle detector that detects an inclination angle of the vehicle body, and the traveling control device includes an operation amount of the vehicle body inclination angle and the turning operation device detected by the inclination angle detector. It is preferable that the predetermined range is changed in accordance with

  In the traveling vehicle having the above configuration, it is preferable that a stop holding device that forcibly stops and holds the crawler traveling device that is inside in the turning direction when the operation amount of the turning operation device is the first operation state is provided. .

  In order to solve the above-mentioned problems, a traveling vehicle according to a second aspect of the present invention is a traveling vehicle in which a traveling direction and a traveling speed are set according to an operation direction and an operation amount with left and right crawler traveling devices provided on left and right sides of a vehicle body. An operating device (for example, the traveling operation lever 47 in the embodiment), a turning operation device (for example, the turning amount operation dial 48 in the embodiment) for setting a turning direction and a turning amount according to the operation direction and the operation amount, and the traveling A travel control device (for example, an embodiment) that controls the driving of the left and right crawler traveling devices according to the traveling direction and traveling speed set by the operating device, and the turning direction and the turning amount set by the turning operation device. (A traveling control unit of the controller 60). In addition, when the travel control device is in a state where the travel operation device is operated and the operation amount of the turning operation device is a straight-ahead operation state in which the vehicle travels straight without turning the vehicle body, A control is performed to drive the left and right crawler traveling devices in a traveling direction and a traveling speed corresponding to the operation direction and the operation amount of the traveling operation device, and the operation amount of the turning operation device is changed to a predetermined first from the straight operation state. When it is within the range of less than the operation state, control is performed to decelerate the crawler traveling device that is inside in the turning direction in accordance with the operation amount of the turning operation device, and the operation amount of the turning operation device is the When the operation state is equal to or more than one operation state, the crawler traveling device that is on the inner side in the turning direction is moved in the opposite direction to the outer crawler traveling device corresponding to the operation amount of the turning operation device. Configured to perform control to be driven.

  In the traveling vehicle according to the first and second aspects of the present invention, the traveling vehicle includes a left electric motor that drives the left crawler traveling device and a right electric motor that drives the right crawler traveling device. In accordance with the traveling direction and traveling speed set by the above, and the turning direction and the turning amount set by the turning operation device, the driving of the left and right electric motors is controlled to drive the left and right crawler traveling devices. Preferably, it is configured to control.

According to the traveling vehicle according to the first aspect of the invention, the traveling control device includes a crawler traveling device that is inward in the turning direction when the turning operation device is turned while the traveling operation device is operated. Control is performed to reduce the traveling speed in accordance with the operation amount of the turning operation device. Then, when the operation amount of the turning operation device is in the first operation state in which the crawler traveling device that is on the inside in the turning direction is decelerated until it is stopped, the inner crawler traveling device is stopped and held. When the operation amount of the turning operation device is within a predetermined range centered on the first operation state, control is performed to stop and hold the crawler traveling device that is inside in the turning direction. As described above, according to the first aspect of the present invention, for example, in an area where the output command to the inner crawler traveling device is small, such as a slalom turning area immediately before shifting from the slalom turning to the pivot turning, the slalom turning is performed. Instead, it performs pivot turning. Therefore, it is possible to prevent a problem that the vehicle travels straight ahead by losing to the outer crawler traveling device because the inner crawler traveling device cannot secure torque as in the related art. Therefore, it is possible to provide a driver (operator) with a sense of operation without a sense of incongruity, and it is possible to improve the traveling operability of the vehicle during turning traveling.

  In the traveling vehicle having the above configuration, preferably, the traveling control device controls the crawler traveling device, which is located outside in the turning direction, when the operation amount of the turning operation device is within the first operation state and the predetermined range, to perform the turning operation. Control for driving at a constant speed corresponding to the operation amount of the device is performed. Thus, even if the operation amount of the turning operation device is changed within the first operation state and the predetermined range, the turning operation is performed at a constant speed without changing the speed during the turning operation. For this reason, it is possible to prevent a problem that the speed is reduced during the pivoting traveling and gives a feeling of strangeness to the driver.

  According to the traveling vehicle according to the second aspect of the present invention, the traveling control device is configured such that, in a state where the traveling operation device is operated, the operation amount of the turning operation device is in a straight traveling operation state in which the traveling operation is performed without traveling the vehicle body. At one time, control is performed to drive the left and right crawler traveling devices in a traveling direction and a traveling speed corresponding to the operation direction and the operation amount of the traveling operation device. Then, when the operation amount of the turning operation device is within the range of less than the predetermined first operation state from the straight-ahead operation state, the crawler traveling device that is on the inner side in the turning direction corresponds to the operation amount of the turning operation device. When deceleration control is performed and the operation amount of the turning operation device is equal to or more than the first operation state, the crawler traveling device that is on the inner side in the turning direction is made to correspond to the outer crawler traveling device corresponding to the operation amount of the turning operation device. Control for driving in the reverse direction is performed. As described above, according to the second aspect of the present invention, when the output command to the inner crawler traveling device is in a small area in the slalom turning traveling, the spin traveling is performed instead of the slalom turning traveling and the pivot traveling. I have. Therefore, it is possible to prevent a problem that the vehicle travels straight ahead by losing to the outer crawler traveling device because the inner crawler traveling device cannot secure torque as in the related art. Therefore, it is possible to provide the driver (operator) with a sense of operation without a sense of incongruity, and it is possible to improve the traveling operability of the vehicle during turning traveling.

1 is a side view of an aerial work vehicle that is an example of a traveling vehicle according to the present invention. FIG. 3 is a block diagram showing an operation control configuration of the aerial work vehicle. FIG. 3 is a control system diagram of left and right crawler traveling devices in the aerial work vehicle. 5 is a graph showing a relationship between the turning amount operation dial and the operation amount of the right and left crawler traveling devices when the straight traveling speed coefficient is 100% (first embodiment). It is a principal part enlarged view in FIG. 6 is a graph showing a relationship between the turning amount operation dial and the operation amount when the straight traveling speed coefficient of the right and left crawler traveling devices is 50% (first embodiment). It is the graph which showed the relationship with the operation amount of the turning amount operation dial when the straight traveling speed coefficient of the right and left crawler traveling devices is 100% (2nd Embodiment). It is the graph which showed the relationship with the operation amount of the turning amount operation dial when the straight traveling speed coefficient of the right and left crawler traveling devices is 100% (third embodiment).

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a self-propelled aerial work vehicle 1 which is an example of a work vehicle according to the present invention. The aerial work vehicle 1 is configured to include a traveling body 10, a vertically extending mast 20 provided at an upper front portion of the traveling body 10, and a work table 30 provided at an upper portion of the mast 20. .

  The traveling body 10 includes a left crawler device 12a and a right crawler device 12b provided on both right and left sides of the traveling body frame 11. The left and right crawler traveling devices 12a and 12b respectively include a driving wheel 13 provided on a front side of the traveling body frame 11, a driven wheel 14 on a rear side of the traveling body frame 11, and a driving wheel 13 and a driven wheel , A crawler belt 16 (crawler belt) wrapped around the driving wheel 13, the driven wheel 14, and the plurality of rollers 15, and traveling motors 51 and 52 for rotating the driving wheel 13 (FIG. 3). And brake devices 56 and 57 (see FIG. 2) for braking the rotation of the drive wheels 13. Each of the left and right brake devices 56 and 57 is an electromagnetic brake driven by a command signal from a controller 60 described later.

  The outputs of the left and right traveling motors 51, 52 are transmitted to the left and right driving wheels 13, 13 via reduction gears (not shown), and the left and right driving wheels 13, 13 are driven to rotate. As shown in FIG. 2, the left and right traveling motors 51 and 52 are driven by electric power supplied from a battery 90 provided on the traveling body 10 via left and right traveling inverters 53 and 54, respectively, to drive the left and right driving motors. The wheels 13 and 13 are driven to rotate. The left and right traveling motors 51 and 52 have a function of being rotated by the left and right drive wheels 13 and 13 to perform regenerative power generation during deceleration traveling or the like. The rotation direction and rotation speed of the left and right traveling motors 51 and 52 are controlled in accordance with the operation direction and operation amount of a traveling operation lever 47 and a turning amount operation dial 48 provided in an operation box 40 described later. ing.

  As shown in FIG. 1, the mast 20 includes a base mast member 21, a lower intermediate mast 22, an upper intermediate mast 23, and a distal mast 24, which are nested with each other. It is configured to be vertically expandable and contractible in combination. The mast 20 is provided with a telescopic cylinder 25 (see FIG. 2) therein, and the telescopic cylinder 25 is configured to be able to expand and contract the entire mast 20 in the vertical direction by performing a telescopic operation. A work table 30 that moves up and down in accordance with expansion and contraction of the mast 20 is provided on the tip mast 24.

  As shown in FIG. 2, the telescopic cylinder 25 is driven by supplying hydraulic oil discharged from a hydraulic pump 70 provided on the traveling body 10 through a telescopic control valve 71 to cause the mast 20 to telescopically operate. . The hydraulic pump 70 is driven by a pump drive motor 75. The pump drive motor 75 is driven to rotate by electric power supplied from a battery 90 via a mast operation inverter 76. The operation direction and operation speed of the telescopic cylinder 25 are controlled according to the operation direction and operation amount of a mast operation lever 41 provided in an operation box 40 described later.

  As shown in FIGS. 1 and 2, an operation box 40 having various operation means is provided on the work table 30 (or on the top mast 24). The operation box 40 is provided with a mast operation lever 41 for performing an expansion / contraction operation of the mast 20 (a lifting / lowering operation of the work table 30). The mast operation lever 41 can be tilted in the front-rear direction from a vertically extending neutral position, and is automatically returned to the neutral position by the force of the built-in spring when the hand is released from the tilted state. I have. When the mast operation lever 41 is tilted, a voltage signal is output in accordance with the tilt operation direction and the operation amount based on the neutral position, and is input to the mast operation control unit 60a of the controller 60 as a mast operation signal.

  The mast operation control unit 60a electromagnetically drives the spool of the telescopic control valve 71 in a direction and an amount corresponding to the input mast operation signal to control the amount of hydraulic oil supplied from the hydraulic pump 70 to the telescopic cylinder 25. , The operating direction and operating speed of the telescopic cylinder 25 are controlled. Further, the boom operation control unit 60a controls the electric power supplied from the battery 90 to the pump drive motor 75 via the mast operation inverter 76 in accordance with the input mast operation signal, and the operation discharged from the hydraulic pump 70 Control the amount of oil. Therefore, the operator who has boarded the work table 30 can operate the mast operation lever 41 to extend and retract the mast 20 to move the work table 30 up and down to a desired height. .

  The operation box 40 is provided with a traveling operation lever 47 for performing traveling operations of the left and right crawler traveling devices 12a and 12b, and a turning amount operation dial 48. As shown in FIG. 3, the travel operation lever 47 can be tilted in the front-rear direction from a vertically extending neutral position. When the hand is released from the tilted state, the neutral position is automatically set by the force of a built-in spring. It is configured to return to. When the travel operation lever 47 is tilted, a voltage signal corresponding to the tilt operation direction and the operation amount based on the neutral position is output, and is input to the travel control unit 60b of the controller 60 as a travel command signal. The forward tilting operation from the neutral position of the traveling operation lever 47 corresponds to a forward traveling command of the left and right crawler traveling devices 12a and 12b, and the traveling control unit 60b performs a target traveling during forward traveling as the amount of the tilting operation increases. Speed is set to a large value. The tilting operation of the traveling operation lever 47 backward from the neutral position corresponds to a backward traveling command of the left and right crawler traveling devices 12a and 12b, and the traveling control unit 60b performs the target traveling during the backward traveling as the amount of the tilting operation increases. Speed is set to a large value. The operation of returning the traveling operation lever 47 to the neutral position corresponds to a stop command of the left and right crawler traveling devices 12a and 12b.

  The turning amount operation dial 48 can be twisted left and right from a neutral position (the position shown in FIG. 3), and when the hand is released from the twisted state, the dial automatically returns to the neutral position by the force of the built-in spring. Configuration. When the turning amount operation dial 48 is twisted, a voltage signal corresponding to the twisting operation direction and the operation amount based on the neutral position is output, and is input to the traveling control unit 60b as a turning amount command signal. The twisting operation to the right from the neutral position of the turning amount operation dial 48 is equivalent to a rightward turning command of the left and right crawler traveling devices 12a and 12b, and the twisting operation amount to the right from the neutral position is changed. The target turning amount to the right is set to a larger value in the traveling control unit 60b as the value is larger. The twisting operation to the left from the neutral position of the turning amount operation dial 48 corresponds to a leftward turning command of the left and right crawler traveling devices 12a and 12b, and the twisting operation amount to the left from the neutral position is changed. The target turning amount to the left is set to a larger value in the traveling control unit 60b as the value is larger. The operation of returning the turning amount operation dial 48 to the neutral position corresponds to a command for setting the turning amounts of the left and right crawler traveling devices 12a and 12b to zero (straight traveling command).

  The traveling body 10 is provided with an inclination angle detector 81 that detects an inclination angle of the traveling body 10 with respect to a horizontal plane. The inclination angle information of the traveling body 10 detected by the inclination angle detector 81 is input to the traveling control unit 60b of the controller 60.

  When a travel command signal (a signal corresponding to the tilt operation direction and the operation amount based on the neutral position) is input from the travel operation lever 47, the travel control unit 60b of the controller 60 controls the left and right corresponding to the travel command signal. The electric power supplied to the left and right traveling motors 51 and 52 so that the target straight traveling speeds of the crawler traveling devices 12a and 12b are set, and the traveling speeds of the left and right crawler traveling devices 12a and 12b both follow the target straight traveling speeds. To control the rotational speeds of the left and right traveling motors 51 and 52.

When a turning amount command signal (a signal corresponding to the twisting operation direction and the operation amount based on the neutral position) is input from the turning amount operation dial 48, the traveling control unit 60b sets the left and right corresponding to the turning amount command signal. The target turning traveling speeds of the crawler traveling devices 12a and 12b are set, and the traveling speeds of the left and right crawler traveling devices 12a and 12b are supplied to the left and right traveling motors 51 and 52 so as to follow the respective target turning traveling speeds. By controlling the electric power, the rotational speeds of the left and right traveling motors 51 and 52 are controlled. Specifically, the traveling speeds of the left and right crawler traveling devices 12a and 12b are determined in advance from the target straight traveling speed set by the traveling operation lever 47 in accordance with the turning amount command signal input from the turning amount operation dial 48. The speed of the crawler traveling device 12a, 12b on the left side is reduced by the same speed, and the traveling speed of the crawler traveling device 12a on the inner side in the turning direction is further reduced, so that the left and right crawler traveling devices 12a, 12b perform the turning traveling corresponding to the turning amount command signal. The rotation speeds of the left and right traveling motors 51 and 52 are controlled.

  FIG. 4 shows a case where the traveling operation lever 47 is tilted forward from the neutral position to twist the turning amount operation dial 48 when the straight traveling speed coefficient of the left and right crawler traveling devices 12a and 12b is 100% (maximum). It is a graph shown about running control of crawler running devices 12a and 12b on either side at the time of doing. The speed coefficients of the left and right crawler traveling devices 12a and 12b are values determined by the inclination angle of the traveling body 10 detected by the inclination angle detector 81. The case where the straight running speed coefficient shown in FIG. 4 is 100% is a case where the vehicle travels on the maximum downhill slope (rated downhill angle) set in the aerial work vehicle 1.

In FIG. 4, when the amount of twisting operation of the turning amount operation dial 48 is 0 degree (at the neutral position), the traveling speeds of the left and right crawler traveling devices 12 a and 12 b are both set by the operation amount of the traveling operation lever 47. The traveling speed of the left and right traveling motors 51 and 52 is controlled so as to follow the set target traveling speed V × 100%, and the traveling body 10 travels forward. When the traveling body 10 (the left and right crawler traveling devices 12a and 12b) is traveling straight at the traveling speed V × 100%, for example, when the turning amount operation dial 48 is twisted rightward from the neutral position by 30 degrees. Then, the traveling speed of the left crawler traveling device 12a on the outer side in the turning direction is reduced by ΔV ₁ (= V × 50%), and the traveling speed of the right crawler traveling device 12b on the inner side is reduced by ΔV ₁ + ΔV ₂ ( = V × 80%).

In other words, the rotation speed of the left traveling motor 51 is controlled such that the traveling speed of the outer left crawler traveling device 12a follows the traveling speed V × 100% −ΔV ₁ (= V × 50%). The rotation speed of the right traveling motor 52 is controlled such that the traveling speed of the right crawler traveling device 12b follows the traveling speed V × 100% − (△ V ₁ + △ V ₂ ) (= V × 20%). Then, the traveling body 10 is caused to turn rightward (slalom turning) corresponding to the twisting operation amount 30 degrees of the turning amount operation dial 48. That is, the left and right crawler traveling units 12a, slowing both 12b by △ V ₁ aims to improve the cornering stability, as making a turn corresponding to the operation amount of the turning amount operation dial 48 at a speed which is the reduction The inner right crawler traveling device 12b is further decelerated by ΔV ₂ .

When the traveling body 10 (the right and left crawler traveling devices 12a and 12b) is traveling straight at the traveling speed V × 100%, the turning amount operation dial 48 is turned to the outside by twisting the turning amount dial 48 rightward from the neutral position by 45 degrees. The rotation speed of the left traveling motor 51 is controlled such that the traveling speed of the left crawler traveling device 12a follows the traveling speed V × 100% −ΔV ₃ (ΔV ₃ > ΔV ₁ ), and the right inner crawler is driven. traveling device 12b controls the right traveling motor 52 so as to run at the target vehicle speed v ₃ in the opposite direction to the spin turning the vehicle 10 to the right.

When the traveling body 10 (the right and left crawler traveling devices 12a and 12b) is traveling straight ahead at the traveling speed V × 100%, if the turning amount operation dial 48 is twisted to the right from the neutral position by 55 degrees or more, the outside is moved to the outside. The rotation speed of the left traveling motor 51 is controlled such that the traveling speed of the left crawler traveling device 12a follows the traveling speed V × 100% −ΔV ₄ (ΔV ₄ > ΔV ₃ ), and the inner right side. The right traveling motor 52 is controlled so that the crawler traveling device 12b travels at the traveling speed V × 100% −ΔV ₄ in the reverse direction to spin the traveling body 10 rightward (to pivot the center of the traveling body 10). (Center turning).

As described above, when the turning amount operation dial 48 is twisted to the right by 45 degrees from the neutral position, control is performed to cause the traveling body 10 to spin and run to the right, but in the running control unit 60b, In a twisting operation within a range of 40 degrees to less than 45 degrees (40 degrees ≦ twisting operation angle θ <45 degrees), the vehicle is caused to pivot (run around the center of the right crawler traveling device 12b). ing. As shown in FIG. 5 in which the main part of FIG. 4 is enlarged, when the traveling body 10 (the left and right crawler traveling devices 12a and 12b) is traveling straight at the traveling speed V × 100%, the turning amount operation dial 48 is turned. When the twisting operation is performed rightward from the neutral position within a range of 40 degrees to less than 45 degrees (region A shown in FIG. 5), the traveling speed of the outer left crawler traveling device 12a becomes the traveling speed V × 100% − △ controls the rotational speed of the left traveling motor 51 so as to follow the V _3, by controlling the right brake devices 57 and the right traveling motor 52 as the right crawler traveling device 12b as the inner stops, vehicle 10 Is pivoted to the right. At this time, even if the twisting operation angle of the turning amount operation dial 48 is changed within a range of 40 degrees to less than 45 degrees, the traveling speed of the outer left crawler traveling device 12a is a constant traveling speed V × 100% − △. by controlling the rotational speed of the left traveling motor 51 so as to follow the V _3, and is adapted to pivot turning traveling at a constant speed traveling body 10 to the right.

  As described above, according to the traveling control unit 60b, in the region where the output command to the right crawler traveling device 12b, which is inside in the slalom traveling, is small, the pivot traveling is performed instead of the slalom traveling. For this reason, it is possible to prevent a problem that the vehicle travels straight ahead by losing the outer left crawler traveling device 12a because the inner right crawler traveling device 12b cannot secure torque as in the related art. Therefore, it is possible to provide a driver (operator) with a sense of operation without a sense of incongruity, and it is possible to improve the traveling operability of the vehicle during turning traveling. Further, in a region where the pivot turning is performed (region A shown in FIG. 5), the pivot turning is performed while maintaining the traveling speed of the outer left crawler traveling device 12a at a constant speed. For this reason, it is possible to prevent a problem that the speed is reduced during the pivoting traveling and gives a feeling of strangeness to the driver.

  In FIG. 4, when the turning amount operation dial 48 is operated within a range of 40 degrees to less than 45 degrees, pivot turning is performed. An area A (range) in which the pivot turning is performed is as follows. The speed coefficient of the left and right crawler traveling devices 12a and 12b is multiplied by the target traveling speed set by the operation amount of the traveling operation lever 47, and is changed by the traveling speed of the left and right crawler traveling devices 12a and 12b. . The speed coefficient is a value determined by the inclination angle of the traveling body 10 detected by the inclination angle detector 81 as described above. Therefore, in other words, the area A in which the pivoting traveling is performed changes according to the inclination angle of the traveling body 10 and the operation amount of the traveling operation lever 47.

FIG. 6 shows the case where the traveling operation lever 47 is tilted forward from the neutral position to twist the turning amount operation dial 48 when the straight traveling speed coefficient of the left and right crawler traveling devices 12a and 12b is 50%. It is a graph shown about traveling control of crawler traveling devices 12a and 2b on either side. When the traveling body 10 (the right and left crawler traveling devices 12a and 12b) is traveling straight at the traveling speed V × 50%, the turning amount operation dial 48 is turned to the right from the neutral position in a range of 35 ° to less than 45 ° ( When the twisting operation is performed within the region A ′ (A ′> A) shown in FIG. 6, the traveling speed of the outer left crawler traveling device 12a follows the traveling speed V × 50% −ΔV _{6 so as} to follow the traveling speed. The rotation speed of the traveling motor 51 is controlled, and the right brake device 57 and the right traveling motor 52 are controlled so that the inner right crawler traveling device 12b is stopped, so that the traveling body 10 pivotally travels to the right. At this time, even if the twisting operation angle of the turning amount operation dial 48 is changed within a range of 35 degrees to less than 45 degrees, the traveling speed of the outer left crawler traveling device 12a is a constant traveling speed V × 50% − △. by controlling the rotational speed of the left traveling motor 51 so as to follow the V _6, and is adapted to pivot turning traveling at a constant speed traveling body 10 to the right.

  As described above, the area in which the pivoting traveling is performed is changed according to the speed coefficient of the left and right crawler traveling devices 12a and 12b, that is, the inclination angle of the traveling body 10 detected by the inclination angle detector 81. However, in addition to the above, it may be configured to be changed by the influence on the torque of the inner crawler traveling device, for example, by increasing the motor temperature or decreasing the battery voltage.

  As described above, during the slalom turning travel, the pivot turning travel, and the spin turning travel, the inner right crawler traveling apparatus 12b may be driven by the outer left crawler traveling apparatus 12a (for example, a gentle (This phenomenon may occur in slalom turning travel), the regenerative power is generated by the right running motor 52 using the driving force at this time, and the generated power is charged to the battery 90 via the right running inverter 54. It has become.

  The control when the turning amount operation dial 48 is twisted leftward from the neutral position is the same as the above-described running control except that the crawler running devices 12a and 12b on the inside and outside in the turning direction are reversed. . FIGS. 4 and 6 show traveling control tables (graphs) for the operation amounts of the turning amount operation dial 48 in which the straight traveling speed coefficients of the left and right crawler traveling devices 12a and 12b are 100% and 50%. The section 60b stores a travel control table for the operation amount of the turning amount operation dial 48 for each of the straight traveling speed coefficients (the inclination angle of the traveling body 10) of the left and right crawler traveling devices 12a and 12b. The case of other speed coefficients is the same as the above-described traveling control except that the respective deceleration speeds are different.

  Next, another embodiment of the work vehicle according to the present invention will be described. Second and third embodiments to be described later are constructed to have a configuration similar to that of the aerial work vehicle 1 described in the above embodiment, and are different in the control form of the traveling control by the controller 60.

  The travel control unit 160b according to the second embodiment sets the travel speed of the left and right crawler travel devices 12a and 12b to the target straight travel speed set by the travel operation lever 47 (to be precise, like the travel control unit 60b). As described above, a value obtained by multiplying the speed coefficient determined by the inclination angle of the traveling body 10) is decelerated by the same speed predetermined in accordance with the turning amount command signal input from the turning amount operation dial 48. The rotation speed of the left and right traveling motors 51 and 52 is further reduced so that the traveling speed of the crawler traveling device that is on the inner side in the turning direction is further reduced, and the left and right crawler traveling devices 12a and 12b perform the turning traveling corresponding to the turning amount command signal. Control the speed.

FIG. 7 shows that the traveling operation lever 47 is tilted forward from the neutral position to twist the turning amount operation dial 48 when the straight traveling speed coefficient of the left and right crawler traveling devices 12a and 12b is 100% (maximum). It is a graph shown about running control of crawler running devices 12a and 12b on either side at the time of doing. When the amount of twisting operation of the turning amount operation dial 48 is 0 degree (at the neutral position), when it is less than 40 degrees, and when it is 55 degrees or more, the same traveling control as the traveling control unit 60b is performed. When the traveling body 10 (the right and left crawler traveling devices 12a and 12b) is traveling straight at a traveling speed V × 100%, the turning amount operation dial 48 is turned outward by twisting the turning amount operation dial 48 rightward from the neutral position by 40 degrees. The rotation speed of the left traveling motor 51 is controlled such that the traveling speed of the left crawler traveling device 12a follows the traveling speed V × 100% −ΔV ₃ (ΔV ₃ > ΔV ₁ ), and the right inner crawler is driven. The traveling device 12b moves the target traveling speed v in the reverse direction.
_The right traveling motor 52 is controlled so as to travel at ₃ , and the traveling body 10 is caused to spin rightward by traveling.

When the turning amount operation dial 48 is twisted 45 degrees to the right from the neutral position, the traveling speed of the outer left crawler traveling device 12a becomes traveling speed V × 100% −ΔV ₇ (ΔV ₃ <ΔV _7). While controlling the rotation speed of the left traveling motor 51 so as to follow <５１V ₄ ), the inner right crawler traveling device 12b travels in the opposite direction at the target traveling speed v ₇ (v ₇ > v ₃ ). Then, the right traveling motor 52 is controlled to cause the traveling body 10 to spin rightward and rotate. As described above, when the turning amount operation dial 48 is twisted to the right by 40 degrees or more from the neutral position, the traveling control unit 160b performs control to cause the traveling body 10 to spin to the right. The control when the turning amount operation dial 48 is twisted leftward from the neutral position is the same as the above-described running control except that the crawler running devices 12a and 12b on the inside and outside in the turning direction are reversed. .

  As described above, according to the traveling control unit 160b, when the output command to the inner right crawler traveling device 12b is small in the slalom traveling, the spin traveling is performed instead of the slalom traveling and the pivot traveling. It has become. For this reason, it is possible to prevent a problem that the vehicle travels straight ahead by losing the outer left crawler traveling device 12a because the inner right crawler traveling device 12b cannot secure torque as in the related art. Therefore, it is possible to provide a driver (operator) with a sense of operation without a sense of incongruity, and it is possible to improve the traveling operability of the vehicle during turning traveling.

  The timing of transition from slalom turning to spin turning (in the present embodiment, when the turning amount operation dial 48 is twisted by 40 degrees) is the same as in the above-described embodiment, for the left and right crawler running devices 12a and 12b. The traveling speed, that is, the inclination angle of the traveling body 10 (the velocity coefficient of the left and right crawler traveling devices 12a and 12b) and the amount of operation of the traveling operation lever 47 are changed. Further, it may be configured to be changed by an influence on the torque of the inner crawler traveling device, for example, a rise in the motor temperature or a decrease in the battery voltage.

  The travel control unit 260b according to the third embodiment sets the travel speeds of the left and right crawler travel devices 12a and 12b in the same manner as the travel control unit 60b by using the target straight travel speed set by the travel operation lever 47 (accurately). As described above, a value obtained by multiplying the speed coefficient determined by the inclination angle of the traveling body 10) is decelerated by the same speed predetermined in accordance with the turning amount command signal input from the turning amount operation dial 48. The rotation speed of the left and right traveling motors 51 and 52 is further reduced so that the traveling speed of the crawler traveling device that is on the inner side in the turning direction is further reduced, and the left and right crawler traveling devices 12a and 12b perform the turning traveling corresponding to the turning amount command signal. Control the speed.

FIG. 8 shows that the traveling operation lever 47 is tilted forward from the neutral position to twist the turning amount operation dial 48 when the straight traveling speed coefficient of the left and right crawler traveling devices 12a and 12b is 100% (maximum). It is a graph shown about running control of crawler running devices 12a and 12b on either side at the time of doing. When the amount of twisting operation of the turning amount operation dial 48 is 45 degrees from 0 degrees (neutral position) and exceeds 50 degrees, the same traveling control as the traveling control unit 60b is performed. When the traveling body 10 (the right and left crawler traveling devices 12a and 12b) is traveling straight at the traveling speed V × 100%, the turning amount operation dial 48 is turned rightward from the neutral position within a range of 40 ° to 50 °. When twisting operation, the traveling speed of the left crawler traveling device 12a is traveling velocity V × 100% as the outer - △ controls the rotational speed of the left traveling motor 51 so as to follow the V _3, the right crawler traveling device comprising an inner The right side brake device 57 and the right side traveling motor 52 are controlled so that 12b is stopped, and the traveling body 10 is pivotally driven to the right.
At this time, even if the twisting operation angle of the turning amount operation dial 48 is changed within the range of 40 degrees to 50 degrees, the traveling speed of the outer left crawler traveling device 12a is constant traveling speed V × 100% −ΔV. The rotation speed of the left traveling motor 51 is controlled so as to follow Step ₃ , so that the traveling body 10 pivotally travels to the right at a constant speed.

  As described above, according to the traveling control unit 260b, when the output command to the right inner crawler traveling device 12b in the slalom turning traveling and the spin turning traveling is in a small region, the pivoting is performed instead of the slalom turning traveling and the spin turning traveling. The vehicle is to make a turning run. For this reason, it is possible to prevent a problem that the vehicle travels straight ahead by losing the outer left crawler traveling device 12a because the inner right crawler traveling device 12b cannot secure torque as in the related art. Therefore, it is possible to provide a driver (operator) with a sense of operation without a sense of incongruity, and it is possible to improve the traveling operability of the vehicle during turning traveling. Further, in the area where the pivot turning travel is performed, the pivot turning travel is performed while keeping the traveling speed of the outer left crawler traveling device 12a at a constant speed. For this reason, it is possible to prevent a problem that the speed is reduced during the pivoting traveling and gives a feeling of strangeness to the driver.

  Although the embodiments according to the present invention have been described, the scope of the present invention is not limited to the above-described embodiments. For example, in the above-described embodiment, the configuration in which the left and right crawler traveling devices 12a and 12b are driven by the electric motors (the traveling motors 51 and 52) is described. However, the left and right crawler traveling devices are driven by the hydraulic motors. It may be configured. In the case of a hydraulic motor, for example, in FIG. 2, the traveling inverters 53 and 54 are changed to traveling proportional solenoid valves, respectively, and the spool moving amount (opening amount) of the traveling proportional solenoid valve is controlled respectively. Thus, the number of rotations of each hydraulic motor is controlled.

  Further, in the above-described embodiment, the configuration in which the traveling operation lever 47 and the turning amount operation dial 48 are provided as the traveling operation device has been described. However, the traveling operation device includes an accelerator pedal for setting the traveling speed, the turning direction and the turning amount. A travel operation device having a handle to be set or a joystick-type travel operation device capable of setting forward, backward, traveling speed, turning direction, and turning amount by a single traveling operation lever may be used. Further, in the above-described embodiment, the aerial work vehicle having the mast 20 and the work table 30 on the traveling body 10 has been described. However, the aerial work vehicle having the boom type or scissor link type aerial work apparatus on the traveling body is described. The present invention can also be applied to a working vehicle or a traveling vehicle having a crane device or the like on a traveling body.

1 aerial work vehicles (running vehicles)
10 Running body 11 Running body frame (body)
12a Left crawler traveling device 12b Right crawler traveling device 40 Operation box 47 Travel operation lever (travel operation device)
48 Turning amount operation dial (turning device)
60 Controller 60b, 160b, 260b Travel control unit (travel control device)

Claims (6)

Left and right crawler traveling devices provided on the left and right of the vehicle body,
A traveling operation device that sets the traveling direction and the traveling speed according to the operation direction and the operation amount;
A turning operation device that sets the turning direction and the turning amount according to the operation direction and the operation amount;
A traveling control device that controls driving of the left and right crawler traveling devices according to a traveling direction and a traveling speed set by the traveling operation device, and a turning direction and a turning amount set by the turning operation device. ,
The travel control device,
When the turning operation device is turned in a state in which the traveling operation device is operated, a control for decelerating the crawler traveling device that is on the inside in the turning direction in accordance with the operation amount of the turning operation device is performed. Do
When the operation amount of the turning operation device is the first operation state in which the crawler traveling device that is on the inside in the turning direction is decelerated until the crawler traveling device is stopped, the inner crawler traveling device is stopped and held. ,
When the operation amount of the turning operation device is within a predetermined range centered on the first operation state, control is performed to stop and hold the crawler traveling device that is inside in the turning direction.   The travel control device, when the operation amount of the turning operation device is within the first operation state and the predetermined range, causes the crawler traveling device that is outward in the turning direction to correspond to the operation amount of the turning operation device. The traveling vehicle according to claim 1, wherein control is performed to drive the vehicle at a constant speed. An inclination angle detector for detecting an inclination angle of the vehicle body,
The said travel control device changes the said predetermined range according to the inclination angle of the said vehicle body detected by the said inclination angle detector, and the operation amount of the said turning operation device, The Claims 1 or 2 characterized by the above-mentioned. Traveling vehicle.   4. A stop holding device for forcibly stopping and holding the crawler traveling device which is inside in the turning direction when the operation amount of the turning operation device is in the first operation state. The traveling vehicle according to any one of the above. Left and right crawler traveling devices provided on the left and right of the vehicle body,
A traveling operation device that sets the traveling direction and the traveling speed according to the operation direction and the operation amount;
A turning operation device that sets the turning direction and the turning amount according to the operation direction and the operation amount;
A traveling control device that controls driving of the left and right crawler traveling devices according to a traveling direction and a traveling speed set by the traveling operation device, and a turning direction and a turning amount set by the turning operation device. ,
The travel control device,
When the travel amount of the turning operation device is a straight operation state in which the traveling operation device is operated to travel straight without turning the vehicle body, the operation direction and the operation amount of the travel operation device are changed. Perform control to drive the left and right crawler traveling device in the corresponding traveling direction and traveling speed,
When the operation amount of the turning operation device is within a range of less than the predetermined first operation state from the straight operation state, the crawler traveling device that is inside in the turning direction corresponds to the operation amount of the turning operation device. Control to decelerate
When the operation amount of the turning operation device is equal to or more than the first operation state, the crawler traveling device that is on the inner side in the turning direction is moved in the opposite direction to the outer crawler traveling device corresponding to the operation amount of the turning operation device. A traveling vehicle that performs control to drive the vehicle. A left electric motor that drives the left crawler traveling device and a right electric motor that drives the right crawler traveling device,
The travel control device controls the driving of the left and right electric motors according to a travel direction and a travel speed set by the travel operation device, and a turning direction and a turning amount set by the turning operation device. The traveling vehicle according to any one of claims 1 to 5, wherein driving of the left and right crawler traveling devices is controlled.

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