JP4071316B2 - Control device for telescopic boom type work machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
[0002]
The present invention relates to a control device in a work machine having an extendable boom such as an aerial work vehicle.
[Prior art]
[0003]
Conventional From An aerial work vehicle is known as one of working machines provided with telescopic booms. This aerial work platform is equipped with a deck for boarding the operator at the tip of the telescopic boom, and the work is carried out by positioning the deck at a required work position by turning, hoisting and telescopic operations of the telescopic boom. Basically, it is provided with a turning operation lever, a hoisting operation lever, and a telescopic operation lever. It was supposed to be done individually.
[0004]
However, in recent years, in this aerial work vehicle, many of the operations that require the aerial work vehicle are operations that require the deck to be moved linearly in the horizontal or vertical direction along the wall of the building. In addition, the above-mentioned telescopic booms need to be swung, undulated and telescopically moved in order to move the deck linearly (in the case of horizontal linear movement, and in the case of vertical linear movement, the turning operation is not required). Therefore, from the viewpoint that it is necessary to improve the operability of each of these operations, the horizontal operation lever and the vertical indicating the movement direction and movement amount of the deck in horizontal linear movement or vertical linear movement depending on the operation direction and operation amount are vertical. For example, in the case of horizontal linear movement, the telescopic boom swinging operation, the hoisting operation, and the telescopic operation should be performed simultaneously in conjunction with the horizontal operation lever. Are possible manner (see Figure 1).
[Problems to be solved by the invention]
[0005]
By the way, of the horizontal linear movement and the vertical linear movement, in particular, the horizontal linear movement is based on the operation of the horizontal operation lever, and the above-mentioned deck is moved in the target movement linear direction by interlocking the operations of turning, undulation and expansion / contraction of the telescopic boom. It is an essential condition that these movements are in a state where each of these movements can be operated based on an instruction by the operation of the horizontal operation lever. When the operation limit (especially the limit in the reduction direction or elevation direction) is reached and the operation based on the instruction of the horizontal operation lever becomes impossible (for example, the extension hydraulic cylinder reaches the end of the reduction stroke and further reduction operation is performed) In the case where the movement is restricted), the horizontal linear movement control is no longer possible, and the moving operation is stopped at that time.
[0006]
Therefore, if the horizontal linear movement is to be continued, once the moving operation is stopped, the horizontal operation lever is operated once to perform a detour horizontal linear movement in a direction in which the operation limit in the reduction or raising direction is avoided. There is a need to do. For example, as shown in FIG. 11 (plan view, symbol P is the turning center, Q is the center of the deck), the deck 52 provided at the tip of the telescopic boom 51 has a constant height and is parallel to the wall surface 50. In the case where the horizontal straight line is moved from the position a to the position f along the target straight line L6 and the reduction operation reaches the limit in the middle thereof, the horizontal operation lever in the range of the position a → the position b will be described. Based on the instruction, the operations of turning, expansion / contraction, and undulation are executed in conjunction with each other, and a horizontal linear movement is performed along the target straight line L6 and at a constant height.
[0007]
However, when the position b is reached, the reduction operation is restricted by reaching the reduction stroke end of the expansion / contraction hydraulic cylinder. Accordingly, it is impossible to execute the horizontal linear movement based on the instruction of the operation lever, and the movement is stopped at this point.
[0008]
Furthermore, if an attempt is made to perform a horizontal linear movement along the target straight line L6, it is necessary to go through a horizontal linear movement that bypasses the expansion / contraction limit. That is, first, at the position b, the operation lever is once operated in the direction from the position b to the position c, and the deck 52 is moved horizontally from the position b to the position c. Furthermore, at the position c, the operation lever is operated again in the direction from the position c to the position d, and the deck 52 is moved horizontally from the position c to the position d. Further, at the position d, the operation lever is operated again in the direction from the position d to the position e, and the deck 52 is moved horizontally from the position d to the position e. Since the limit in the reduction direction is completely avoided when the position e is reached, the horizontal linear movement along the target straight line L6 is performed by operating the operation lever again in the direction from the position e to the position f. It will be resumed.
[0009]
Thus, performing a detour movement in the middle of the horizontal straight line movement along the original target straight line L6 is a movement work under an operating condition in which expansion or contraction or undulation reaches an operation limit in the middle of the movement. Although it is inevitable, re-operating the operation lever many times for this detour movement will result in a decrease in operability due to complicated operation, or it takes time to operate the lever and move the deck 52. This leads to a problem of deterioration in workability, which is not preferable.
[0010]
Accordingly, the present invention has been proposed as a control device for a telescopic boom type work machine capable of improving the operability and workability when performing horizontal linear movement.
[Means for Solving the Problems]
[0011]
In the present invention, the following configuration is adopted as a specific means for solving such a problem.
[0012]
In the first invention of the present application, a telescopic boom that can freely turn and undulate on a vehicle is provided, and a turning angle detecting means, a undulating angle detecting means, And a telescopic drive means for driving the telescopic boom to swing, a hoisting drive means for driving the telescopic boom to undulate, and an telescopic drive means for driving the telescopic boom to extend and contract, and a distal end portion of the telescopic boom Is provided with an operation lever for instructing a moving direction and an amount of movement for moving the image in an arbitrary linear direction in a plan view, and a detection signal from each of the detection means and an operation signal from the operation lever. In response, the telescopic boom type working machine is provided with drive control means for driving and controlling each of the drive means so as to move the tip of the telescopic boom based on an instruction of the operation lever. The control device includes an expansion / contraction limit detecting means for detecting the expansion boom reaching the expansion / contraction limit, and the drive control means is detected by the expansion / contraction limit detection means when the expansion boom reaches the expansion / contraction limit. When the drive control by the control means is disabled, the swivel drive means and the undulation drive so that the distal end portion of the telescopic boom moves while maintaining the arbitrary linear direction in plan view based on an instruction from the operation lever. It is characterized in that it is configured to drive-control the means.
[0013]
In the second invention of the present application, a telescopic boom that can freely turn and undulate is provided on the vehicle, and a turning angle detecting means, a undulating angle detecting means, And a telescopic drive means for driving the telescopic boom to swing, a hoisting drive means for driving the telescopic boom to undulate, and an telescopic drive means for driving the telescopic boom to extend and contract, and a distal end portion of the telescopic boom Is provided with an operation lever for instructing a moving direction and an amount of movement for moving the image in an arbitrary linear direction in a plan view, and a detection signal from each of the detection means and an operation signal from the operation lever. In response, the telescopic boom type working machine is provided with drive control means for driving and controlling each of the drive means so as to move the tip of the telescopic boom based on an instruction of the operation lever. The control device includes a undulation limit detecting means for detecting the extension boom reaching the undulation limit, and the drive control means is detected by the undulation limit detection means when the extension boom reaches the undulation limit. When the drive control by the control means is disabled, the swivel drive means and the telescopic drive so that the distal end portion of the telescopic boom moves while maintaining the arbitrary linear direction in plan view based on an instruction from the operation lever. It is characterized in that it is configured to drive-control the means.
【The invention's effect】
[0014]
In the present invention, the following effects can be obtained by adopting such a configuration.
[0015]
According to the control device for the telescopic boom type working machine according to the first invention of the present application, in the normal state where the telescopic limit detection means has not detected reaching the telescopic limit of the telescopic boom, the drive control means Three-way drive control of the turning drive means, the undulation drive means and the telescopic drive means is performed, and the distal end portion of the telescopic boom has a constant height and an arbitrary straight line in plan view based on an instruction from the operation lever. In the direction, the horizontal linear movement of the tip is realized.
[0016]
On the other hand, in the operation limit state in which the expansion limit of the telescopic boom is detected by the expansion / contraction limit detection means, the drive control means excludes the expansion / contraction drive means from the drive means. That is, drive control of the two of the turning drive means and the undulation drive means is performed, and the distal end portion of the telescopic boom maintains the arbitrary linear direction in plan view based on an instruction of the operation lever. It can be moved. In this case, since the telescopic boom is not expanded and contracted, the height of the distal end of the telescopic boom changes as the telescopic boom turns.
[0017]
That is, according to the present invention, the telescopic boom is expanded and contracted in a horizontal linear movement state in which the distal end portion of the telescopic boom is fixed in height and moves in an arbitrary linear direction in plan view based on an instruction from the operation lever. Even if the limit is reached and the operation limit state is reached, the horizontal linear movement itself based on the instruction of the operation lever is not stopped at that time as in the past, and other drives that have not reached the operation limit. The operation of the means, that is, the turning drive means and the undulation drive means is continued as it is, and the tip portion of the telescopic boom changes the height position based on the instruction of the operation lever, but the arbitrary straight line in the plan view. When the telescopic boom moves out of the stretch limit state while maintaining its direction, the drive control of the telescopic drive means by the drive control means is started again, and the extension Tip of the boom is returned to the horizontal linear movement state based on an instruction of the operation lever.
[0018]
According to the control device for the telescopic boom type working machine according to the second invention of the present application, in the normal state where the telescopic limit detecting means has not detected reaching the undulation limit, the driving control means Three-way drive control of the turning drive means, the undulation drive means and the telescopic drive means is performed, and the distal end portion of the telescopic boom has a constant height and an arbitrary straight line in plan view based on an instruction from the operation lever. In the direction, the horizontal linear movement of the tip is realized.
[0019]
On the other hand, in the operation limit state where the reach of the telescopic boom to the undulation limit is detected by the expansion / contraction limit detection means, the drive control means excludes the undulation drive means from among the drive means. That is, the two drive controls of the turning drive means and the telescopic drive means are performed, and the distal end portion of the telescopic boom maintains the arbitrary linear direction in plan view based on the instruction of the operation lever. It can be moved. In this case, since the hoisting operation of the telescopic boom is not performed, the height of the distal end portion of the telescopic boom changes as the telescopic boom turns.
[0020]
That is, according to the present invention, the telescopic boom is raised and lowered in a horizontal linear movement state in which the distal end portion of the telescopic boom moves at a constant height and moves in an arbitrary linear direction in plan view based on an instruction from the operation lever. Even if the limit is reached and the operation limit state is reached, the horizontal linear movement itself based on the instruction of the operation lever is not stopped at that time as in the past, and other drives that have not reached the operation limit. The operation of the means, that is, the turning drive means and the expansion / contraction drive means is continued as it is, and the tip portion of the expansion / contraction boom changes the height position based on the instruction of the operation lever, but the arbitrary straight line in the plan view. When the telescopic boom moves out of the undulation limit state while maintaining the direction, drive control of the undulation drive means by the drive control means is started again, and the extension Tip of the boom is returned to the horizontal linear movement state based on an instruction of the operation lever.
[0021]
As described above, in each invention of the present application, even if the telescopic boom reaches the telescopic limit or the undulation limit during the horizontal linear movement based on the operation of the control lever, the operator can operate the control lever. , The distal end of the telescopic boom is temporarily "moved while maintaining only an arbitrary linear direction in plan view" at the telescopic limit or undulation limit, but the telescopic limit or In states other than the undulation limit, “horizontal linear movement with a constant height and maintaining an arbitrary linear direction in plan view” is continued. For example, the telescopic boom reaches the expansion limit or the undulation limit as in the past. At that point, the horizontal linear movement is stopped, and at that point, the operator operates the control lever in a direction that can avoid the expansion / contraction limit or undulation limit. Compared to the case where it is necessary to operate, the operability is remarkably improved, and the moving time of the tip of the telescopic boom can be shortened, and the working time can be shortened. It is what
DETAILED DESCRIPTION OF THE INVENTION
[0022]
First embodiment
In FIG. 1, an aerial work vehicle 30 is shown as a telescopic boom type working machine that is the subject of the present invention. The aerial work vehicle 30 is connected to a swivel base 32 mounted on a vehicle 31 so that the base end portion of the telescopic boom 33 can be raised and lowered in a vertical direction, and a deck 34 is attached to the distal end portion of the telescopic boom 33. It is configured to be pivotably mounted in a state where it is always level. The telescopic boom 33 is swiveled by a swivel hydraulic motor 35 (corresponding to “swivel drive means” in the claims) provided on the swivel base 32 side, and is disposed in the interior thereof. A telescopic hydraulic cylinder 36 (corresponding to “extension drive means” in the claims) is driven to expand and contract, and a hoisting hydraulic cylinder 36 disposed between the swivel base 32 (in the claims) Corresponding to “undulation drive means”). The deck 34 is driven to turn by a deck turning hydraulic motor 38.
[0023]
Further, the state of the telescopic boom 33, that is, the turning angle, the telescopic length, and the undulation angle, respectively correspond to the boom turning angle detector 5 (corresponding to “turning angle detecting means” in the claims) and the boom length. It is detected by the detector 3 (corresponding to “length detecting means” in the claims) and the undulation angle detector 4 (corresponding to “undulation angle detecting means” in the claims). In this embodiment, the boom length detector 3 is used as “extension limit detecting means” for detecting the stroke end of the expansion / contraction hydraulic cylinder 37, and the undulation angle detector 4 is used for the undulation hydraulic cylinder 36. These are also used as “undulation limit detection means” for detecting the stroke end of each. Further, the turning angle of the deck 34 is detected by the deck turning angle detector 6.
[0024]
On the other hand, the swivel base 32 and the deck 34 are respectively provided with a vertical operation lever 1 and a horizontal operation lever 2 (note that, here, the operation levers 1 and 2 on the swivel base 32 side are illustrated, and The operation levers for individual operation of the hydraulic actuators provided in addition to the operation levers 1 and 2 are not shown). A control unit 41 and a hydraulic unit 42 are arranged on the swivel base 32 side. The control unit 41 includes a controller 10 (corresponding to “driving control means” in the claims) and amplifiers 11 to 14 shown in FIG. 2, and the hydraulic unit 42 includes the controller 10 shown in FIG. Control valves 21 to 24 for the hydraulic actuators shown above are provided.
[0025]
The aerial work vehicle 30 configured as described above controls the turning, expansion and contraction, and driving of the telescopic boom 33 individually by operating the operation levers for individual operations, thereby bringing the deck 34 into a predetermined working position. Of course, the deck 34 can be moved vertically or horizontally by operating the vertical operating lever 1 or the horizontal operating lever 2 separately. Yes. Since the present invention is intended for horizontal linear movement control with a large number of hydraulic actuators related to linear movement control among these two types of linear movement, the following explanation will focus on this “horizontal linear movement control”. To do.
[0026]
For example, as shown in FIG. 1, the horizontal linear movement causes the deck 34 provided at the tip of the telescopic boom 33 to linearly move along a target movement straight line L that is parallel to the wall surface 40 of the building and extends in the horizontal direction. This is performed by operating the horizontal operation lever 2. That is, as shown in FIG. 2, the operation direction and operation amount of the horizontal operation lever 2 are input to the controller 10 as a movement direction and movement amount signal of the deck 34. In the controller 10, the boom length detector 3, the undulation angle detector 4, and the boom rotation are performed in order to move the deck 34 in a straight line based on the moving direction and moving amount designated by the horizontal operation lever 2. The operation amount and operation direction of the telescopic hydraulic cylinder 37, the hoisting hydraulic cylinder 36, and the swinging hydraulic motor 35 are calculated in accordance with the current boom length, the hoisting angle, and the turning angle respectively input from the angle detector 5. The calculated output values are output to the boom extension / contraction control valve 21, boom raising / lowering control valve 22, and boom turning control valve 23 through the actuators 11 to 13, respectively. A horizontal linear movement of the deck 34 based on the instruction is realized.
[0027]
As described above, the horizontal linear movement needs to be controlled in conjunction with all the operations related to the position of the deck 34, that is, the expansion / contraction operation, the undulation operation, and the turning operation of the expansion boom 33. Accordingly, in the middle of this horizontal linear movement, for example, when the expansion / contraction hydraulic cylinder 37 reaches the contraction stroke end and further contraction becomes impossible (that is, the telescopic boom 33 reaches the operation limit (extension / contraction limit) in the contraction direction). If this is the case, it is the conventional control method that the horizontal linear movement control is stopped at that time because it is impossible to continue the horizontal linear movement because the control element is missing in the horizontal linear movement control. This is as described above. Also, when the hoisting hydraulic cylinder 36 reaches the end of the hoisting stroke and no further hoisting occurs (that is, when the telescopic boom 33 reaches the operating limit in the hoisting direction (the hoisting limit)). It is the same.
[0028]
When the telescopic boom 33 reaches the telescopic limit or the undulation limit in this way, the horizontal linear movement cannot be continued as it is, so in the telescopic limit area or the undulation limit area, unintentionally from the target movement straight line L. As described above, it is necessary to temporarily move away from the detour.
[0029]
However, according to the conventional control method, the horizontal linear movement is based on the premise that the operation of the three control elements related thereto is permitted, and when the telescopic boom 33 reaches the telescopic limit or the undulation limit. Since the horizontal linear movement based on the instruction of the horizontal operation lever 2 at that time is stopped uniformly, if the operator tries to make a detour when the expansion limit or the undulation limit is reached, the operator It should be noted that the operation of the horizontal operation lever 2 must be performed again and again, and this has contributed to a decrease in operability due to a complicated horizontal linear movement operation or a decrease in workability. It is as follows.
[0030]
Therefore, in this embodiment, the detour movement when the operation of the telescopic boom 33 reaches the expansion / contraction limit or the undulation limit during the control of the horizontal linear movement is maintained while the operation state of the horizontal operation lever 2 is maintained as it is. By making it possible to do so, the above-mentioned conventional problems are solved.
[0031]
Specifically, it is as the flowchart shown in FIG. That is, in the horizontal linear movement control, after the control is started, first, in step S1, it is determined whether or not the horizontal operation lever 2 is operated. Here, if the horizontal operation lever 2 is not operated, no control is performed. However, when the horizontal operation lever 2 is operated, whether or not the expansion / contraction limit has been reached in step S2 (that is, the above-described operation). It is determined whether or not the telescopic hydraulic cylinder 37 has reached the reduction stroke end.
[0032]
If it is determined that the expansion / contraction limit has been reached, it is determined in step S3 whether the undulation limit has been reached (that is, whether the undulation hydraulic cylinder 36 has reached the lift stroke end). judge. When it is determined that the undulation limit has been reached (ie, when the expansion / contraction limit and the undulation limit occur simultaneously), only the turning hydraulic motor 35 is driven and controlled to move the deck 34. Continue (step S5, hereinafter referred to as “first drive control”).
[0033]
On the other hand, when it is determined that the undulation limit has not been reached (that is, only the expansion / contraction limit), only two of the swing hydraulic motor 35 and the undulation hydraulic cylinder 36 are driven and controlled. The moving operation of the deck 34 is continued (step S4, hereinafter referred to as “second drive control”).
[0034]
On the other hand, if it is determined in step S2 that the expansion / contraction limit has not been reached, it is further determined in step S6 whether the undulation limit has been reached. If it is determined that the undulation limit has been reached, only the two of the turning hydraulic motor 35 and the expansion / contraction hydraulic cylinder 37 are driven and controlled to continue the movement of the deck 34 (step S7, hereinafter). , Referred to as “third drive control”). On the other hand, when it is determined that the undulation limit is not reached (when neither the expansion limit nor the undulation limit is reached), the turning hydraulic motor 35, the undulation hydraulic cylinder 36, and the expansion / contraction hydraulic pressure. The three members of the cylinder 37 are driven and controlled together to execute the original horizontal linear movement (step S8).
[0035]
By performing the above control, the detour movement necessary when the reduction operation or the raising operation of the telescopic boom 33 reaches the operation limit during the control of the horizontal linear movement, the operation of the horizontal operation lever 2 is performed. It is performed automatically while maintaining the state.
[0036]
Here, actual movement states in the “first drive control” to “third drive control” will be described with reference to FIGS. 4 and 8 show a plan view from the arrow Y direction in FIG. 1, and FIGS. 5, 6 and 9 show a side view from the arrow X direction in FIG.
[0037]
Movement in case of “first drive control” (see FIG. 8 and FIG. 9)
In this case, based on the instruction of the horizontal operation lever 2, only the turning operation not related to the height change of the deck 34 is performed, and the reduction and the raising operation related to the height change are cancelled. Accordingly, as shown in FIG. 9, a constant height movement is realized in the side view, but in the plan view as shown in FIG. 8, the hoisting hydraulic cylinder 36 and the telescopic hydraulic cylinder 37 are reduced. In the range at the stroke end and the lift stroke end, that is, the range from “position b to position d”, a movement locus L4 is drawn so as to leave the original target movement straight line L and swell outward in the turning radius. Moving.
[0038]
Movement in the case of “second drive control” (see FIGS. 4 and 5)
In this case, based on the instruction of the horizontal operation lever 2, only the turning operation and the raising / lowering operation are performed, and the expansion / contraction operation is cancelled. Therefore, as shown in FIG. 4, linear movement along the target movement straight line L is realized in plan view. However, as shown in FIG. 5, in the side view, in the range where the expansion / contraction hydraulic cylinder 37 is at the reduction stroke end, that is, in the range from “position b to position d”, the original target movement straight line L It moves by drawing a movement locus L2 that detaches and swells upward.
[0039]
Movement in case of “third drive control” (see FIGS. 4 and 6)
In this case, based on the instruction of the horizontal operation lever 2, only the turning operation and the expansion / contraction operation are performed, and the undulation operation is cancelled. Therefore, as shown in FIG. 4, linear movement along the target movement straight line L is realized in plan view. However, as shown in FIG. 6, in a side view, in the range where the hoisting hydraulic cylinder 36 is at the lifting stroke end, that is, in the range from “position b to position d”, the original target movement straight line L It moves by drawing a movement locus L3 that detaches from and swells downward.
[0040]
It should be noted that the range from the position b to the position a and the range from the position d to the position e in the “first drive control” to “third drive control” are regions that do not reach the expansion limit and the undulation limit. Therefore, the original horizontal linear movement (the target moving straight line is performed by controlling the turning hydraulic motor 35, the undulating hydraulic cylinder 36, and the telescopic hydraulic cylinder 37 together based on an instruction from the horizontal operation lever 2. Horizontal linear movement along L).
[0041]
Second embodiment
FIG. 7 shows a control flowchart of the control device according to the second embodiment of the present invention. This embodiment is similar to the “first drive control” in the first embodiment. That is, in the first embodiment, when the telescopic hydraulic cylinder 37 reaches the reduction stroke end, the swing hydraulic motor 35 and the hydraulic cylinder 36 are driven and controlled. While the above-described turning hydraulic motor 35 and expansion / contraction hydraulic cylinder 37 are driven and controlled when 36 reaches the lifting stroke end, this embodiment has a horizontal linear movement control (steps). S1) When one of the hoisting hydraulic cylinder 36 and the telescopic hydraulic cylinder 37 or both of them reach the raising stroke end or the reducing stroke end (step S2), only the turning hydraulic motor 35 is always used. Is driven to continue the movement (step S3).
[0042]
When neither the hoisting hydraulic cylinder 36 nor the telescopic hydraulic cylinder 37 has reached the raising stroke end or the reducing stroke end, the original horizontal linear movement is realized by the normal control (step S4). The Further, the movement state of the deck 34 in the second embodiment is as shown in FIGS.
[0043]
Third embodiment
FIG. 10 shows a control flowchart of the control device according to the third embodiment of the present invention. In this embodiment, when starting an aerial work by horizontal linear movement using the aerial work vehicle 30, for example, the telescopic boom 33 is predicted to reach the telescopic limit or the undulation limit during the work. In such a case, the movement form of the detour movement performed when the expansion limit or the undulation limit is reached is determined in consideration of the surrounding conditions of the work site.
[0044]
That is, as a form of detour movement due to expansion / contraction limit or undulation limit during horizontal linear movement, as shown in FIG. 4, the deck 34 is moved along the target movement straight line L in plan view (ie, 9 is a movement form with a constant horizontal distance from the target movement straight line L (abbreviated as “R constant” in the flowchart), and as shown in FIG. 9, the deck 34 is changed to the target movement straight line L in a side view. There is a form of movement along the line (that is, a movement form with a constant height, which is abbreviated as “constant H” in the flowchart). Therefore, prior to the work, either a “horizontal distance constant” movement mode or a “height constant” movement mode is selected as a detour movement when the expansion limit or undulation limit is reached. is there.
[0045]
The horizontal linear movement that enables the prior selection of the movement form will be described based on the flowchart of FIG.
In the horizontal linear movement control, after the control is started, first, in step S1, either a movement form of “constant horizontal distance” or a movement form of “constant height” is selected in consideration of work conditions and the like. This selection is performed by a switch operated by an operator.
[0046]
Next, in step S2, whether or not the horizontal operation lever 2 is operated is determined. Here, no control is performed unless the horizontal operation lever 2 is operated. However, when the horizontal operation lever 2 is operated, the expansion / contraction hydraulic cylinder 37 is set to the reduction stroke end in step S3. It is determined whether or not it is reached (that is, whether or not it is an expansion / contraction limit).
[0047]
If it is determined that the expansion / contraction limit has been reached, it is next determined in step S4 whether the hoisting hydraulic cylinder 36 has reached the hoisting stroke end (that is, whether it is the hoisting limit). . When it is determined that the undulation limit has been reached (that is, when the expansion / contraction limit and the undulation limit occur at the same time), in step S7, the selected movement form is a "horizontal distance constant" movement form. (R constant) is determined, and when the movement type of “horizontal distance constant” is selected, it is a movement form that cannot be realized in a state where the expansion / contraction limit and the undulation limit occur simultaneously, At that time, the horizontal linear movement control is stopped (step S10). On the other hand, when the movement form of “constant horizontal distance” is not selected, it is further determined in step S8 whether the selected movement form is the movement form of “constant height” (constant H). When the “constant height” movement form is selected, only the turning hydraulic motor 35 is driven and controlled to realize the “constant height” movement form (step S9). On the other hand, if it is determined in step S8 that the selected movement form is not the "constant height" movement form (that is, if no movement form is selected), the horizontal straight line movement at that time is performed. The selection is stopped (step S10).
[0048]
On the other hand, if it is determined in step S4 that the undulation limit has not been reached (that is, only the expansion / contraction limit), in step S5, the selected movement form is a movement form (with a constant horizontal distance) ( R is constant), and when the movement mode of “horizontal distance constant” is selected, the two of the turning hydraulic motor 35 and the undulating hydraulic cylinder 36 are driven and controlled, and the “ The movement of “horizontal distance constant” is realized (step S6). On the other hand, if the selected moving form is not the moving form of “constant horizontal distance”, it is further determined in step S8 whether or not the selected moving form is the moving form of “constant height” (constant H). If it is determined and the movement form of “constant height” is selected, only the turning hydraulic motor 35 is driven and controlled to realize the movement form of “constant height” (step S9). On the other hand, if it is determined in step S8 that the selected movement form is not a "constant height" movement form, the horizontal linear movement selection is stopped at that time (step S10).
[0049]
If it is determined in step S3 that the expansion / contraction limit has not been reached, it is further determined in step S11 whether the undulation limit has been reached. Here, when the undulation limit has not been reached (that is, when neither the expansion / contraction limit nor the undulation limit has been reached), the turning hydraulic motor 35, the undulation hydraulic cylinder 36, and the expansion / contraction hydraulic cylinder 37 are three. Both are driven and controlled, and the original horizontal linear movement is executed (step S14).
[0050]
On the other hand, if it is determined that the undulation limit has been reached, it is further determined in step S12 whether or not the selected movement form is a "horizontal distance constant" movement form. When the movement mode is selected, the two of the turning hydraulic motor 35 and the expansion / contraction hydraulic cylinder 37 are driven and controlled to realize the movement of the deck 34 with “constant horizontal distance” (step S13). On the other hand, if the selected moving form is not the moving form of “constant horizontal distance”, it is further determined in step S8 whether or not the selected moving form is the moving form of “constant height”. ”Is selected to realize the above-mentioned“ constant height ”travel mode by driving and controlling only the turning hydraulic motor 35 (step S9), and the selected travel mode is“ constant height ”. If it is determined that the movement form is not “”, the horizontal linear movement selection is stopped at that time (step S10).
[0051]
By performing the above control, the detour movement required when the retracting operation or the raising operation of the telescopic boom 33 reaches the operation limit at the time of the horizontal linear movement control is performed in a predetermined movement form. Is done automatically.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a working state of an aerial work vehicle.
FIG. 2 is a control block diagram in the control device of the present invention.
FIG. 3 is a control flowchart according to the first embodiment of the present invention.
FIG. 4 is a plan view showing a moving state of the deck when horizontal linear movement control is executed in the first embodiment.
FIG. 5 is a side view showing the deck moving state when horizontal linear movement control is executed in the first embodiment.
FIG. 6 is a side view showing the deck moving state when horizontal linear movement control is executed in the first embodiment.
FIG. 7 is a control flowchart according to the second embodiment of the present invention.
FIG. 8 is a plan view showing a moving state of a deck when horizontal linear movement control is executed in the second embodiment.
FIG. 9 is a side view showing a deck moving state when horizontal linear movement control is executed in the second embodiment.
FIG. 10 is a control flowchart according to a third embodiment of the present invention.
FIG. 11 is a plan view (plan view) showing a horizontal linear movement state in a conventional working machine.
[Explanation of symbols]
1 is a vertical operation lever, 2 is a horizontal operation lever, 3 is a boom length detector, 4 is a hoisting angle detector, 5 is a boom turning angle detector, 6 is a deck turning angle detector, 10 is a controller, 11 is Boom expansion / contraction amplifier, 12 is boom raising / lowering amplifier, 13 is boom turning amplifier, 14 is deck turning amplifier, 21 is boom expansion / contraction control valve, 22 is boom raising / lowering control valve, 23 is boom turning control valve, 24 is a control valve for turning the deck, 30 is an aerial work vehicle, 31 is a vehicle, 32 is a turntable, 33 is a telescopic boom, 34 is a deck, 35 is a hydraulic motor for turning, 36 is a hydraulic cylinder for hoisting, 37 is telescopic Hydraulic cylinder, 38 is a deck turning hydraulic motor, 40 is a wall surface, 41 is a control unit, 42 is a hydraulic unit, L is a target movement straight line, L1 to L4 are movement trajectories, P is a turning center, and Q is a Key is the center.

Claims (2)

A telescopic angle detecting means, an undulating angle detecting means, a length detecting means for detecting a turning angle, a hoisting angle, and an extension length of the telescopic boom, respectively, provided with an extendable boom that can turn and hoist on the vehicle, and the telescopic boom A turning drive means for turning the telescopic boom, a hoisting drive means for raising and lowering the telescopic boom, and an extendable driving means for driving the telescopic boom to extend and retract, and the tip of the telescopic boom is flat at a constant height. An operating lever for instructing a moving direction and a moving amount for moving in an arbitrary linear direction in vision is provided, and a tip of the telescopic boom is received in response to a detection signal from each detecting means and an operating signal from the operating lever. A control device for a telescopic boom type work machine comprising drive control means for driving and controlling each drive means so as to move a part based on an instruction of the operation lever,
With an extension limit detecting means for detecting the reach of the extension boom to the extension limit,
The drive control means, when the extension limit detection means detects that the extension boom reaches the extension limit, and when the drive control by the drive control means is disabled, the drive control means detects the extension boom based on the instruction of the operation lever. Control of a telescopic boom type working machine characterized in that the turning drive means and the undulation drive means are driven and controlled so that the tip part moves while maintaining the arbitrary linear direction in plan view apparatus. A telescopic angle detecting means, an undulating angle detecting means, a length detecting means for detecting a turning angle, a hoisting angle, and an extension length of the telescopic boom, respectively, provided with an extendable boom that can turn and hoist on the vehicle, and the telescopic boom A turning drive means for turning the telescopic boom, a hoisting drive means for raising and lowering the telescopic boom, and an extendable driving means for driving the telescopic boom to extend and retract, and the tip of the telescopic boom is flat at a constant height. An operating lever for instructing a moving direction and a moving amount for moving in an arbitrary linear direction in vision is provided, and a tip of the telescopic boom is received in response to a detection signal from each detecting means and an operating signal from the operating lever. A control device for a telescopic boom type work machine comprising drive control means for driving and controlling each drive means so as to move a part based on an instruction of the operation lever,
With undulation limit detection means for detecting the reaching of the undulation limit of the telescopic boom,
The drive control means detects when the telescopic boom has reached the hoisting limit by the hoisting limit detection means, and when the drive control by the drive control means is disabled, the drive control means Control of the telescopic boom type working machine characterized in that the turning drive means and the telescopic drive means are driven and controlled so that the distal end portion moves while maintaining the arbitrary linear direction in plan view. apparatus.

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