JP3876294B2 - Boom control device for boom type work vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a boom control device for a boom type work vehicle.
[0002]
[Prior art]
Some boom type work vehicles such as an aerial work vehicle and a crane vehicle drive the boom by hydraulic pressure, and the boom is driven by a boom driving hydraulic circuit.
[0003]
Recently, in order to automatically control the movement speed of the boom, the hydraulic pressure applied to the hydraulic actuator installed in the hydraulic circuit is electrically controlled by using a hydraulic control means such as an electromagnetic proportional control valve. Adjustments have been made.
[0004]
On the other hand, some boom type work vehicles have a plurality of hydraulic pumps having different discharge performance as hydraulic pressure sources of boom driving hydraulic circuits and selectively use these hydraulic pumps.
[0005]
For example, it is driven by a low-noise engine unit composed of an engine and a hydraulic pump, which is equipped with a hydraulic pump driven by a PTO shaft of a traveling engine of a work vehicle and a traveling engine, or an electric motor. This is because, in a work on a boom type work vehicle equipped with a hydraulic pump unit or the like to be used, these are properly used in accordance with the circumstances such as the environment at the work site.
[0006]
However, in such a conventional boom type work vehicle, since the boom drive hydraulic circuit is single, the control target value by the hydraulic control means such as an electromagnetic proportional control valve is not limited regardless of the hydraulic source. Commonly set.
[0007]
[Problems to be solved by the invention]
In such a conventional boom type work vehicle, the boom speed cannot be satisfactorily controlled with any hydraulic power source connected, and the operability of the boom when connected to at least one hydraulic power source is not possible. Had to be somewhat damaged.
[0008]
For example, in a conventional boom type work vehicle, the movement speed of the boom (see line A in FIG. 9) when the hydraulic pump is driven by the PTO shaft of the traveling engine with a large discharge amount and the discharge amount is relatively small. The movement speed of the boom when the hydraulic pump of the motor unit is used (see the line B in FIG. 9) is the boom at the stop operation even if the deceleration start position R1, the deceleration completion position R2 or the stop operation position R5 by the hydraulic control means is the same. As a result, the boom stop positions R6 and R6 ′ are shifted.
[0009]
For example, when the performance based on the line A is used as a reference, if the stop position is R6 ′, the deviation up to the original stop position R6 cannot be fully utilized, and the shift from the stop position R6 ′ to the stop position R6. It is necessary to further operate until this time, and work efficiency is lowered. Conversely, when the performance based on the line B is used as a reference, if the stop position is R6, the original stop position R6 'is overrun, which is inconvenient.
[0010]
  The first invention isIn this type of boom type work vehicle, which has been made based on such circumstances and has a plurality of hydraulic power sources having different discharge performances in the boom driving hydraulic circuit, any hydraulic power source is connected to the boom driving hydraulic circuit. Even when connected, it is an object to improve the operability of the boom.
  Further, the second aspect of the invention improves the operability of the boom even in a boom-type work vehicle having a hydraulic pressure source that is driven by a traveling engine and has a discharge performance that is different for each accelerator opening, and is handled as a separate hydraulic pressure source. The problem is to improve.
[0011]
[Means for Solving the Problems]
  To solve this first problem, the claims1The described inventionOn the car bodyAt least a boom that can be raised and lowered, a hydraulic actuator that drives the boom, a plurality of hydraulic sources that have different discharge performance and supply pressure oil to the hydraulic actuator, and supply pressure oil from the plurality of hydraulic sources to the actuatorWhenDetects the operation amount of the hydraulic control means that controls the pressure oil and the operation lever that indicates the drive speed of the boomdo itOperation amount signal output means for outputting an operation amount signal, and detection of the posture of the boomdo itAttitude detection means for outputting an attitude detection signal;A hydraulic pressure source detection means for detecting a hydraulic pressure source that is operating among the plurality of hydraulic pressure sources and outputting a hydraulic pressure source detection signal, and different correction factors corresponding to hydraulic pressure sources having different discharge performances A correction coefficient that is determined in order to match and is determined in correspondence with a hydraulic source that is operated based on the hydraulic pressure source detection signal to which the posture detection signal, the operation amount signal, and the hydraulic pressure source detection signal are input. A processing unit for controlling the hydraulic pressure control means by outputting a control signal obtained by correcting the manipulated variable signal usingAnd a boom control device for a boom type work vehicle.
  In order to solve the second problem, the invention according to claim 2 provides:On the car bodyAt least a boom that can be raised and lowered, a hydraulic actuator that drives the boom, and a hydraulic engine that is driven by the traveling engine when supplying hydraulic oil to the hydraulic actuator, and discharge performance varies depending on the accelerator opening, so that it is handled as a separate hydraulic source Supply hydraulic pump and pressure oil from this hydraulic pump to the actuatorWhenDetects the operation amount of the hydraulic control means that controls the pressure oil and the operation lever that indicates the drive speed of the boomdo itOperation amount signal output means for outputting an operation amount signal, and detection of the posture of the boomdo itAttitude detection means for outputting an attitude detection signal;Accelerator opening degree detecting means for detecting the accelerator opening degree and outputting an accelerator opening degree detecting signal, and different correction coefficients corresponding to the accelerator opening degree are determined to match the movement speed of the boom and the posture detecting means. Control obtained by correcting the operation amount signal using a correction coefficient that is input in response to the accelerator opening detection signal and the signal, the operation amount signal, and the accelerator opening detection signal A processing unit for outputting a signal for controlling the hydraulic control means;And a boom control device for a boom type work vehicle.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
In the following, the present invention will be described first with reference to the first embodiment shown in FIGS.
[0013]
In FIG. 2, 1 is an aerial work vehicle as a boom type work vehicle, and 2 is a self-propelled vehicle body.
[0014]
On this vehicle body 2 is installed a swivel base 4 that is swiveled by a hydraulic motor 3 about a vertical axis NN, and this swivel base 4 is provided with an upright column portion 4a. .
[0015]
A telescopic boom 5 is pivotally supported at the upper end of the support column 4a and can be raised and lowered by a hoisting cylinder 6 made of a hydraulic cylinder.
[0016]
Further, the telescopic boom 5 in this embodiment is obtained by telescopically connecting three boom portions 5a, 5b, 5c, and is telescopic with a telescopic cylinder 7 made of a hydraulic cylinder. The hydraulic motor 3, the undulating cylinder 6 and the telescopic cylinder 7 correspond to the hydraulic actuator referred to in the present invention.
[0017]
A bucket 8 is attached to the tip of the boom portion 5c on the tip side, and an operator who has boarded the bucket 8 raises the telescopic boom 5 to adjust the swivel base 4 and the telescopic boom 5. It can be located at the required high altitude position, and the operator can perform the altitude work.
[0018]
Further, in the aerial work vehicle 1 of this embodiment, outrigger devices 9 are respectively installed at four locations on the front and rear, left and right of the vehicle body 2 as is well known.
[0019]
The telescopic boom 5 of such an aerial work vehicle 1 is driven by the hydraulic circuit shown in FIGS.
[0020]
In this hydraulic circuit, the hydraulic pressure source is configured to have two types of discharge performance as follows.
[0021]
In other words, 11a is a normal hydraulic pump that is driven by the power of the traveling engine 12a of the aerial work vehicle 1.
[0022]
Reference numeral 11b denotes a hydraulic pump of the motor unit, which has a discharge amount smaller than that of the hydraulic pump 11a (in this specification, the discharge amount means a discharge amount per unit time), and the power of the electric motor 12b. It is driven by.
[0023]
In the hydraulic pump 11b, a low-noise engine having a smaller displacement than the traveling engine 12a may be selectively switched and connected via a clutch.
[0024]
In the hydraulic power source configured as described above, a hydraulic pump and a power source to be used are selected according to the environmental conditions at the construction site and the required high-altitude work is performed.
[0025]
Therefore, in such a hydraulic power source, the discharge performance of the hydraulic pump 11a by the power of the traveling engine 12a and the discharge performance of the hydraulic pump 11b by the power of the electric motor 12b are appropriately selected from different discharge performances. Can be used.
[0026]
Then, the pressure oil supplied from the discharge ports of the hydraulic pumps 11a and 11b passes through the switching valve 17 in the outrigger operation circuit 13 and then enters the boom operation circuit 15 and the like as shown in FIG. It comes to be supplied.
[0027]
As shown in FIG. 3, the switching valve 17 is a 6-port three-position switching valve. When this switching valve 17 is in the neutral position shown in the figure, the pressure oil from the hydraulic pumps 11a and 11b passes through the switching valve 17. After that, pressure oil is not supplied to the jack cylinders 18a, 18b, 18c, and 18d, which are hydraulic cylinders that are supplied to the boom operation circuit 15 and are installed corresponding to the outrigger devices 9, respectively.
[0028]
Further, when the switching valve 17 is in the left position or the right position, the pressure oil from the hydraulic pump 11 passes through the switching valve 17 and the control valves 21a and 21b installed in parallel corresponding to the respective outrigger devices 9. , 21c, 21d, but not supplied to the boom operation circuit 15 side.
[0029]
A first unloading valve 23 is arranged between a pipe line extending from the discharge port of the hydraulic pumps 11 a and 11 b and a return pipe line 22 from the outrigger operation circuit 13. When the first unloading valve 23 is operated, the entire amount of the pressure oil discharged from the hydraulic pumps 11a and 11b is returned to the tank 27 as it is, and the outrigger operation circuit 13 and the boom operation circuit 15 are of course used in this embodiment. The supply of pressure oil to all the hydraulic actuators installed in the hydraulic circuit is stopped, and the operation becomes impossible.
[0030]
A 6-port 3-position electromagnetic proportional control valve 25a, 25b, 25c of the same type is provided in the conduit 24 for supplying the hydraulic oil of the hydraulic pumps 11a, 11b from the switching valve 17 to the boom operation circuit 15. Pressure oil from the hydraulic pump 11a or 11b is supplied to each of the hydraulic motor 3, the undulating cylinder 6 and the telescopic cylinder 7 through these electromagnetic proportional control valves 25a, 25b and 25c. (See FIG. 4). These electromagnetic proportional control valves 25a, 25b and 25c correspond to the hydraulic control means in the present invention.
[0031]
The return oil from each of the hydraulic motor 3, the hoisting cylinder 6 and the telescopic cylinder 7 is returned to the tank 27 via the respective return valves 26a, 25b and 25c via the common return line 26. It is.
[0032]
Although not shown, the supply pipe 24 and the return pipe 26 are extended further to supply pressure oil to the swing driving hydraulic motor of the bucket 8 and the winch driving hydraulic motor. ing.
[0033]
In such a boom operation circuit 15 portion, a second unload valve 28 is provided between the supply conduit 24 and the return conduit 26 at a portion downstream of the electromagnetic proportional control valves 25a, 25b, 25c. is set up. When the second unload valve 28 is actuated, the swing drive of the bucket 8 installed downstream of the second unload valve 28 and the drive of the winch are disabled. The boom operation circuit 15 and the outrigger operation circuit 13 upstream of 28 can be driven as usual.
[0034]
In an aerial work vehicle 1 equipped with such a hydraulic circuit, an overload prevention device is installed, and this overload prevention device stores the limit boom load for each work state, and the undulation angle and boom length. When the position of the telescopic boom 5 exceeds the limit moment due to the turning position, etc., the hoisting movement, the telescopic movement or the turning movement of the telescopic boom 5 is finally stopped at the limit position and working at a high place This prevents the vehicle 1 from falling or being damaged.
[0035]
The control operation of the telescopic boom 5 by such an overload prevention device includes adjusting the moving speed by controlling the flow rate of the electromagnetic proportional control valves 25a, 25b, 25c, and stopping the movement by opening the unload valve 23. However, in addition to the above limit position, such a control operation is also performed at the stroke end of the hydraulic cylinder constituting the undulation cylinder 6 and the telescopic cylinder 7.
[0036]
In this embodiment, the boom control device 31 is configured using the components of the overload prevention device. However, the boom control device may be provided separately from the overload prevention device.
[0037]
As shown in FIG. 1, the boom control device 31 of this embodiment includes a processing unit 32, various detectors 33 to 36, a hydraulic pressure source detection circuit 37, electromagnetic proportional control valves 25a to 25c, and a first unload valve. 23.
[0038]
The processing unit 32 is composed of a microcomputer and functions also as a calculation unit and a storage unit of the overload prevention device.
[0039]
The various detectors 33 to 36 also have a function as a detector for detecting a signal necessary for a required calculation as the overload prevention device.
[0040]
In this embodiment, an operation amount signal from an operation amount signal output means 38 for detecting an operation amount of an operation lever for instructing a driving speed of the telescopic boom 5 is input to the processing unit 32. A hoisting angle detector 33 for detecting the hoisting angle, a boom length detector 34 for detecting the boom length of the telescopic boom 5, and a turning angle detector for detecting the turning angle of the telescopic boom 5 from the turning displacement of the swivel 4. 35, and signals are also input from a moment detector 36 that detects the moment applied to the telescopic boom 5. The undulation angle detector 33, the boom length detector 34, the turning angle detector 35, and the moment detector 36 correspond to the posture detection means in the present invention.
[0041]
The hydraulic pressure source detection circuit 37 corresponds to the hydraulic pressure source detection means of the present application, and includes an engine rotation signal relay 41, a motor unit power switch 42, a motor unit signal relay 43, and a motor unit power relay 44, and the engine rotation signal. The signal relay 41 is installed between a power line from the alternator 45 that generates power in conjunction with the traveling engine 12a and a power line from the battery.
[0042]
When the traveling engine 12a is rotating and the hydraulic pump 11a is operating, the alternator 45 is generating power, so there is no potential difference between the power lines of the engine rotation signal relay 41, and no excitation is performed. Therefore, the switching contact 46 linked to the engine rotation signal relay 41 remains connected to the engine rotation signal line 47 and is transmitted to the processing unit 32 via the engine rotation signal line 47 as an engine rotation signal. In this way, it is detected that the traveling engine 12a is rotating and the hydraulic pump 11a is operating.
[0043]
On the other hand, the operation of the hydraulic pump 11b of the motor unit is detected as follows.
[0044]
In this case, since the traveling engine 12a is not rotating and the alternator 45 is not generating electric power, a potential difference is generated in the power supply line of the engine rotation signal relay 41 to be excited.
[0045]
Therefore, the switching contact 46 interlocked with the engine rotation signal relay 41 connects the motor unit side terminal 48 and the ground. When the motor unit power switch 42 is turned on, both the motor unit signal relay 43 and the motor unit power relay 44 are energized because the motor unit side terminal 48 and the ground are connected.
[0046]
When the motor unit signal relay 43 is energized, the contact 52 installed in the motor unit signal line 51 is closed, and a motor unit signal indicating that the motor unit is being driven is input to the processing unit 32. Further, when the motor unit power relay 44 is energized, the contact 54 arranged on the motor unit power line 53 is closed, and the motor 12b of the motor unit is driven.
[0047]
That is, in the hydraulic pressure source detection circuit 37, when the traveling engine 12a is driven and the hydraulic pump 11a is in operation, an engine rotation signal is input to the processing unit 32 through the engine rotation signal line 47, and the motor of the motor unit. When 12b is driven and the hydraulic pump 11b is in operation, a motor unit signal is input from the motor unit signal line 51.
[0048]
Thus, the processing unit 32 can recognize the distinction between the hydraulic pumps 11a and 11b that are driven as the hydraulic power source.
[0049]
In addition, as a detection method of the hydraulic pumps 11a and 11b driven as the hydraulic pressure source, it is detected which one is driven by detecting the hydraulic pressure and the flow rate at the positions closest to the downstream side of the hydraulic pumps 11a and 11b. can do.
[0050]
In this way, required signals are input from the detectors 33 to 36 and the hydraulic pressure source detection circuit 37. In the processing unit 32, a predetermined calculation is performed using these detection signals. The calculation result is used as a control signal, and a signal is output as a voltage to any solenoid part of the electromagnetic proportional valves 25a to 25c corresponding to the operation of the telescopic boom 5 to adjust the moving speed of the telescopic boom 5, Stop at the limit position.
[0051]
In this case, since the engine rotation signal or the motor unit signal is input to the processing unit 32 from the engine rotation signal line 47 or the motor unit signal line 51, the processing unit 32 depends on which of these signals is input. The output of the control signal from is different as follows.
[0052]
For example, FIG. 5 shows correction coefficient data for controlling the speed of the telescopic boom 5 in the vicinity of the limit position. A is the case of the hydraulic pump 11a driven by the traveling engine 12a, and B is the motor unit. This is the case of the hydraulic pump 11b.
[0053]
Here, the correction coefficient = (valve output / operation amount) × 100.
[0054]
In A, the output of H1 is maintained up to the position of the working radius R1, and beyond this, the output is gradually reduced so that the output of H2 is at the position of the working radius R2, and the moving speed of the telescopic boom 5 is decelerated. .
[0055]
On the other hand, in B, the output of H3 is maintained up to the position of the working radius R3, and beyond this, the output is gradually reduced so that the output of H4 is at the position of the working radius R4, and the moving speed of the telescopic boom 5 is reduced. Is done.
[0056]
  Here, the correction coefficient H3 is larger than H1 and the correction coefficient H4 is larger than H2. This is because the discharge amount of the hydraulic pump 11b is larger than the discharge amount of the hydraulic pump 11a.smallTherefore, the applied voltage to the solenoid part of the electromagnetic control throttle valves 25a to 25c to be controlled is increased to increase the flow rate at the electromagnetic control throttle valves 25a to 25c so as to be as equal as possible. This is to match the speed.
[0057]
In A and B, the correction coefficient between the points may be obtained by interpolation according to a conventional method.
[0058]
Changes in the moving speed of the telescopic boom 5 when the correction coefficient shown in FIG. 5 is output are as shown in FIG.
[0059]
That is, in the case of using the hydraulic pump 11a (see line A), since the correction coefficient H1 is output up to the position of the working radius R1, the moving speed is V1, and when it exceeds this, the flow rate gradually decreases. Become.
[0060]
  On the other hand, in the case of using the hydraulic pump 11b (see line B), since the discharge amount is smaller than that of the hydraulic pump 11a, the correction coefficient is larger than the correction coefficient H1.H3However, the moving speed is V2 which is lower than V1, and this moving speed is maintained up to the working radius R3, and the moving speed by the hydraulic pump 11a is reduced to V2 at the position of the working radius R3. ing.
[0061]
Thereafter, regardless of which of the hydraulic pumps 11a and 11b is used, each correction coefficient changes as described above, so that the moving speed of the telescopic boom 5 according to the working radius is the same. Decelerate.
[0062]
Thereafter, after the telescopic boom 5 is decelerated to a moving speed V3 that can be stopped at the working radius R4 or R2, when the telescopic boom 5 reaches the working radius R5, the first unloading valve 23 is activated. Accordingly, the telescopic boom 5 can be smoothly stopped at the position of the working radius R6.
[0063]
In the embodiment shown in FIG. 5, in setting correction coefficients by the hydraulic pumps 11a and 11b, (R1, H1), (R2, H2), (R3, H3), (R4, H4) 4 It is necessary to store the points as data, which is complicated.
[0064]
For such complexity, for example, if a correction coefficient is given as in the second or third embodiment shown in FIG. 7 or FIG. 8, it is practically the same as described above. It is possible to avoid complications while enjoying the effects.
[0065]
In the second embodiment shown in FIG. 7, the correction coefficient in the case of the hydraulic pump 11a indicated by A is given in the same manner as described above, but the correction coefficient in the case of the hydraulic pump 11b indicated by B1 is that of A in the corresponding case. The correction coefficient multiplied by the hydraulic source specific coefficient Xa by using the hydraulic pump 11b is used.
[0066]
As in this embodiment, when the discharge amount of the hydraulic pump 11b is smaller than that of the hydraulic pump 11a, the hydraulic source-specific coefficient Xa is a value larger than 1.
[0067]
The correction coefficient obtained when the hydraulic pump 11b is obtained in this way substantially matches the correction coefficient shown in FIG. 5, and thus the same effect as described above can be obtained.
[0068]
Further, in the third embodiment shown in FIG. 8, the correction coefficient in the case of the hydraulic pump 11a indicated by A is the same as described above, but the correction coefficient in the case of the hydraulic pump 11b indicated by B2 corresponds to the corresponding case. A correction coefficient of A is added with a hydraulic source specific coefficient Xb (where Xb> 0) by using the hydraulic pump 11b.
[0069]
Also in this case, since the correction coefficient when the hydraulic pump 11b is used substantially matches the correction coefficient shown in FIG. 5, the same effect as described above can be obtained.
[0070]
In these second and third embodiments, when the correction coefficients for B2 and B3 exceed 100, the correction coefficients may be controlled as 100%.
[0071]
In the embodiment described above, the two types of identification between the hydraulic pump 11a driven by the traveling engine 12a and the hydraulic pump 11b of the motor unit have been described. However, the present application is not limited to this. it can.
[0072]
For example, even in the same hydraulic pump 11a driven by the traveling engine 12a, when the accelerator opening of the traveling engine 12a is different, the discharge performance such as the discharge amount from the hydraulic pump 11a is different. This application can be implemented as handling as a separate hydraulic pump for every opening.
[0073]
In addition, the present invention can be implemented even when the boom type work vehicle has three or more types of hydraulic pumps, or when a plurality of hydraulic pumps are simultaneously driven and pressure oils from both are combined and used. Since the discharge performance is different from the case of driving the hydraulic pump alone, the present application can be implemented also in such a case.
[0074]
Further, in the case of having an extremely small discharge amount such as an emergency hydraulic pump, the moving speed of the telescopic boom as in the present application is not controlled for the hydraulic source having an extremely small discharge amount, and other hydraulic pressures are not controlled. Needless to say, the present application may be implemented using only a pump.
[0075]
In the embodiment described above, the electromagnetic proportional control valves 25a, 25b, and 25c are used as the hydraulic control means. However, the present invention is not limited to this, and another type is provided upstream or downstream of the main valve. A flow control valve may be provided in series and used.
[0076]
Further, in the present application, as in the embodiment described above, the control signal as the present application is obtained by using the correction coefficient calculated as described above for the control signal obtained by using the overload prevention device. However, the control signal may be obtained by directly using the correction coefficient for the operation amount signal of the operation lever. The correction coefficient is not limited to the calculated value, and a stored value may be used.
[0077]
Furthermore, although the above-mentioned embodiment is implemented on the basis of the working radius, it is needless to say that the present application can be applied on the basis of the turning position instead of the working radius.
[0078]
【The invention's effect】
As described above, according to the first aspect of the present invention, in the boom type work vehicle of this type, when the processing result is output to the hydraulic pressure control unit, the output value of the processing unit is output from the hydraulic pressure source detection unit. Therefore, the flow rate control of the hydraulic control means is improved as compared with the conventional case where a common value is output.
[0079]
  Therefore, even when any hydraulic pressure source is connected to the boom driving hydraulic circuit, the operability of the boom can be improved.
  According to invention of Claim 2,Even if it is a boom control device of a boom type work vehicle that is driven by a traveling engine and has a hydraulic pressure source that is handled as a separate hydraulic pressure source because the discharge performance varies depending on the accelerator opening, the flow rate control of the hydraulic pressure control means Is improved and the operability of the boom is improved.
[Brief description of the drawings]
FIG. 1 is a block diagram of a boom control device.
FIG. 2 is a side view of an aerial work vehicle.
FIG. 3 is an outrigger operation circuit.
FIG. 4 is a boom operation circuit.
FIG. 5 is a relationship diagram between a correction coefficient and a working radius.
6 is a relationship diagram between a telescopic boom speed and a working radius corresponding to FIG.
FIG. 7 is another relationship diagram between a correction coefficient and a working radius.
FIG. 8 is still another relationship diagram between the correction coefficient and the working radius.
FIG. 9 is a relationship diagram between a telescopic boom speed and a working radius in a conventional example.
[Explanation of symbols]
1 High-altitude work vehicle (boom-type work vehicle)
3 Hydraulic motor (hydraulic actuator)
5 Telescopic boom (boom)
6 Rolling cylinder (hydraulic actuator)
7 Telescopic cylinder (hydraulic actuator)
11a, 11b Hydraulic pump (hydraulic power source)
15 Boom operation circuit
25a, 25b, 25c Electromagnetic proportional control valve (hydraulic control means)
31 Boom control device
32 processor
33 Relief angle detector (posture detection means)
34 Boom length detector (Attitude detection means)
35 Turning angle detector (attitude detection means)
36 Moment detector (attitude detection means)
37 Hydraulic source detection circuit (hydraulic source detection means)
38 Operation amount signal output means

Claims (2)

At least a boom that can be raised and lowered on a vehicle body, a hydraulic actuator that drives the boom, a plurality of hydraulic sources that have different discharge performance and supply pressure oil to the hydraulic actuator, and pressure oil from the plurality of hydraulic sources is used as the actuator. a hydraulic control means for controlling the pressure oil when fed to a manipulated variable signal output means for outputting the detection to the operation amount signal an operation amount of the operation lever for instructing the driving speed of the boom, the posture of the boom a posture detection means for outputting a position detection signal is detected and a hydraulic source detecting means for outputting a hydraulic pressure source detecting signal by detecting the hydraulic pressure source is operating among said plurality of hydraulic sources, hydraulic source discharge performance is different Different correction coefficients are determined to match the movement speed of the boom, and the posture detection signal, the operation amount signal, and the hydraulic pressure source detection signal are input. The hydraulic control means outputs a control signal obtained by correcting the manipulated variable signal using a correction coefficient determined corresponding to the hydraulic source operating based on the hydraulic source detection signal. boom type working vehicle of the boom control device characterized by being provided with a processing unit for controlling. At least a boom that can be raised and lowered on the vehicle body, a hydraulic actuator that drives the boom, and a separate hydraulic pressure that is driven by a traveling engine when supplying hydraulic oil to the hydraulic actuator and discharge performance varies depending on the accelerator opening. A hydraulic pump handled as a source, a hydraulic control means for controlling the pressure oil when supplying the hydraulic oil from the hydraulic pump to the actuator, and an operation amount of an operation lever for instructing a driving speed of the boom are detected and operated. a manipulated variable signal output means for outputting the amount signal, a posture detecting means for outputting a position detection signal by detecting the attitude of the boom, an accelerator opening to output the accelerator opening degree detection signal by detecting the accelerator opening Different correction coefficients corresponding to the detection means and the accelerator opening are determined to match the movement speed of the boom and Obtained by correcting the manipulated variable signal using a correction coefficient that is determined in response to the accelerator detected signal, the manipulated variable signal, and the accelerator detected signal. And a processing unit that outputs the control signal to control the hydraulic control means .

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