JP4117061B2 - Control device for working machine with boom - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control device for a work machine with a boom such as a crane or an aerial work vehicle.
[0002]
[Prior art]
In a conventional working machine equipped with a boom such as an aerial work vehicle, the boom is usually composed of a telescopic boom that expands and contracts in its axial direction. As shown by the above, it is easy to automate the combined operation of the driving means for moving the work table provided at the tip of the boom to an arbitrary position, and this is realized.
[0003]
[Problems to be solved by the invention]
However, in the case where the boom provided in the work machine is a boom having a structure in which expansion / contraction / folding is driven not only in the axial direction but also in the bending direction, for example, the tip of the boom The boom can take various postures with respect to the position of the work table provided on the work table, and the operation of the work machine becomes a redundant operation. It is difficult to automate the operation in the entire operation region, and a technology capable of realizing such automation has not been proposed yet.
[0004]
Therefore, the present invention provides a control device for a working machine with a boom that realizes automation of the combined operation of the plurality of drive means in a working machine that performs a redundant operation, thereby improving operability. It was made for the purpose of providing.
[0005]
[Means for Solving the Problems]
The present invention employs the following configuration as a specific means for solving such a problem.
[0006]
In the first invention of the present application, it is attached to the base 1 side so as to be turnable and undulating, is driven to turn by the turning drive means 11, and is driven to rise and fall by the raising and lowering drive means 12, and its boom length is constant. A first boom member 41 that is fixed or driven to extend and contract by the first telescopic drive means 14, and a bending drive means that is attached to the distal end portion of the first boom member 41 so as to be foldable with respect to the first boom member 41. 13 and a boom 4 comprising a second boom member 42, the boom length of which is fixed at a fixed value or driven to extend and contract by the second telescopic drive means 15, and the tip of the second boom member 42 is provided. The driving means 11 to 15 are appropriately operated to move the control point P set on the side to the target position indicated by the target position signal V from the target position input means 17. The control device of the boom with the working machine to which the current operating state signal by detecting the operating state of the boom 4 phi, theta₁, Θ₂, L₁, L₂Operating state detecting means 20 for outputting the operating state signals φ, θ from the operating state detecting means 20₁, Θ₂, L₁, L₂The position calculation means 31 for calculating the current position of the control point P and outputting it as a position signal A, the position signal A of the control point P from the position calculation means 31, and the target position input means In response to the target position signal V from 17, a plurality of drive means groups G configured by combining the drive means 11 to 15 described above.₁~ G₆When the drive means 11 to 15 belonging to each of the control means P are operated to move the control point P to the target position, the operation amounts of the drive means 11 to 15 are calculated, and this is calculated as the operation amount signal B.₁~ B_FiveThe operation amount calculation means 32 that outputs as the operation state signals φ and θ from the operation state detection means 20.₁, Θ₂, L₁, L₂In response to this, an operation limit for restricting the operation of each of the drive means 11 to 15 is calculated, and this is calculated as an operation limit signal M.₁~ M_FiveOperating limit calculation means 33 that outputs the operation amount, and the operation amount signal B from the operation amount calculation means 32.₁~ B_FiveAnd the operation limit signal M from the operation limit calculation means 33.₁~ M_FiveIn response to the above, each driving means group G₁~ G₆Drive means group G that does not include drive means 11-15 that have reached the operating limit as its constituent elements₁~ G₆The driving means group G to select and operate₁~ G₆Control value E of each driving means 11-15 belonging to₁~ E_FiveThe operating amount signal B₁~ B_FiveAnd a control value output means 34 for calculating based on the control values and outputting the calculated values to the driving means 11 to 15.
[0007]
According to a second invention of the present application, in the control device for a working machine with a boom according to the first invention, each of the drive means groups G described above.₁~ G₆The operation mode setting means 18 for setting the operation mode is provided, and the control value output means 34 is controlled based on the operation mode signal C from the operation mode setting means 18.₁~ G₆It is characterized by selecting and operating this.
[0008]
In a third invention of the present application, in the control device for a work implement with a boom according to the first invention, the operation amount signal B of each of the drive units 11 to 15 output from the operation amount calculation unit 32.₁~ B_FiveThe weight setting means 19 for setting the weight for each of the control signals to be changeable and outputting the weight signal D as the weight signal D is provided, and the control value output means 34 controls the control values E of the drive means 11 to 15.₁~ E_FiveIs calculated by taking the weight signal D into consideration.
[0009]
【The invention's effect】
In the present invention, the following effects can be obtained by adopting such a configuration.
[0010]
(1) In the control device for a working machine with a boom according to the first invention of the present application, first, at the start of the operation of the working machine, the position calculation means 31 first operates the operation state signals φ, θ from the operation state detection means 20.₁, Θ₂, L₁, L₂In response, the current position of the control point P is calculated and output as a position signal A. Further, in the operation limit calculation means 33, the operation state signals φ, θ from the operation state detection means 20 are described.₁, Θ₂, L₁, L₂In response to this, an operating limit (for example, a stroke end position when the driving means is constituted by a hydraulic cylinder) for which the operation of each of the driving means 11 to 15 is regulated is calculated and this is calculated as an operating limit signal M.₁~ M_FiveOutput as.
[0011]
Here, when the target position input means 17 is operated and the target position signal V is output from the target position input means 17 as the target position to which the control point P should move, first, the operation amount calculation means 32 In response to the position signal A of the control point P output from the position calculation means 31 and the target position signal V output from the target position input means 17, the driving means 11 to 15 are combined. A plurality of driving means groups G₁~ G₆When the drive means 11 to 15 belonging to each of the control means P are operated to move the control point P to the target position, the operation amounts of the drive means 11 to 15 are calculated, and this is calculated as the operation amount signal B.₁~ B_FiveOutput as.
[0012]
Thereafter, the control value output means 34 operates the operation amount signal B output from the operation amount calculation means 32.₁~ B_FiveAnd the operation limit signal M output from the operation limit calculation means 33.₁~ M_FiveIn response to the above, each driving means group G₁~ G₆Drive means group G that does not include the drive means 11 to 15 that have reached the operating limit as its constituent elements.₁~ G₆The driving means group G to select and operate₁~ G₆Control value E of each driving means 11-15 belonging to₁~ E_FiveThe operating amount signal B₁~ B_FiveIs calculated on the basis of the above and is output to the driving means 11-15.
[0013]
When the control is executed, the control point P on the boom 4 is operated based on an instruction from the target position input means 17 even though the work implement performs a redundant operation. Drive means group G including only drive means 11 to 15 that have not reached the limit₁~ G₆By this operation, the current position is surely moved to the target position. That is, the movement of the control point P is automated by the combined operation of a plurality of driving means, and the operability of the working machine is improved accordingly.
[0014]
(2) According to the control device for a working machine with a boom according to the second invention of the present application, in addition to the effect described in the above item (1), the following specific effect can be obtained. That is, in the present invention, each of the driving means groups G₁~ G₆The operation mode setting means 18 for setting the operation mode is provided, and the control value output means 34 is controlled based on the operation mode signal C from the operation mode setting means 18.₁~ G₆Is selected and activated, for example, as the operation form in the operation form setting means 18, for example,
(A) Driving means group G that can be operated (that is, the driving means that has reached the operating limit is not included in its constituent elements)₁~ G₆When there are a plurality of drive means group G that can operate₁~ G₆Among them, the driving means group G particularly close to the operator₁~ G₆If the operation mode of driving in order is set, each driving means group G is set in this setting order.₁~ G₆Is operated,
(B) Operable driving means group G₁~ G₆When there are a plurality of drive means group G that can operate₁~ G₆Among these, in particular, when an operation mode is set in which driving is performed in order from the one with the smallest necessary flow rate associated with driving, each of the driving means group G described above is set in this setting order.₁~ G₆Is operated,
(C) Operable driving means group G₁~ G₆When there are a plurality of drive means group G that can operate₁~ G₆When the operation mode is set to operate all of the above simultaneously, these operable driving means group G₁~ G₆Are all operated simultaneously.
[0015]
As a result, the operator's operational preference is reflected in the operation mode of the combined operation of the driving means 11 to 15, the specification of the drive system of the work machine is reflected, or the speed of movement of the control point P is increased. It is possible to give the highest priority to the above, and the operability of the working machine is further improved accordingly.
[0016]
(3) According to the control device for a working machine with a boom according to the third invention of the present application, in addition to the effect described in the above (1), the following specific effect can be obtained. In other words, in the present invention, the operation amount signal B of each of the drive means 11 to 15 output from the operation amount calculation means 32.₁~ B_FiveThe weight setting means 19 for setting the weight for each of the control signals to be changeable and outputting the weight signal D as the weight signal D is provided, and the control value output means 34 controls the control values E of the drive means 11 to 15.₁~ E_FiveIs calculated in consideration of the weight signal D.
[0017]
Therefore, for example, the driving means group G₁~ G₆The preceding drive means group G that is operated in advance in the operation in the operation mode in which each of the above is sequentially operated with a required overlapping operation period.₁~ G₆For the operation amount signal B over the range from near the operation limit to the operation limit.₁~ B_FiveWhile the weight for is gradually reduced, the preceding drive means group G₁~ G₆The following drive means group G operated following the operation of₁~ G₆For the operation amount signal B from the start of operation to a predetermined operation period.₁~ B_FiveBy gradually increasing the weight for, the preceding drive means group G₁~ G₆From the drive of the work machine based on the operation of the following drive means group G₁~ G₆Switching of the drive means group to the drive of the work machine based on the above operation is performed smoothly without a large shock, and further improvement in the operability of the work machine can be expected.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be specifically described based on preferred embodiments.
FIG. 1 shows an aerial work vehicle Z including a control device according to an embodiment of the present invention. This aerial work platform Z is mounted on a crawler base 1 with a boom 4 on a swivel 2 that is swiveled on a crawler base 1 via a swivel seat 3 and is swiveled by a swivel drive means 11 composed of a hydraulic motor. It is configured to be undulating.
[0019]
The boom 4 is extended and retracted by a first telescopic drive means 14 that is located on the base end side thereof and is constituted by a hydraulic cylinder, and a hoisting drive means that is constituted by a hydraulic cylinder disposed between the swivel base 2. The first telescopic boom 41 is driven by up and down movement 12 and the first telescopic boom 41 is connected to the front end of the first telescopic boom 41 so that it can be bent on the back side of the first telescopic boom 41. A second telescopic boom 42 that is bent and driven by a bending driving means 13 composed of an installed hydraulic cylinder and is telescopically driven by a second telescopic driving means 15 composed of a hydraulic cylinder built in the interior thereof; It consists of Further, a work table 5 is attached to the tip of the second telescopic boom 42, that is, the tip of the boom 4 via a leveling mechanism 8 and a swing mechanism 9.
[0020]
On the work table 5, target position input means 17, operation mode setting means 18, weight setting means 19 and operation limit setting means 26 described below are arranged.
The target position input means 17 is a joystick type operation member, and the target position of movement of the work table 5 is output as a target position signal V when the operator operates it. The target position input means 17 is composed of, for example, a horizontal operation lever that performs horizontal linear movement, a vertical operation lever that performs vertical linear movement, and the like, and performs target position signal V or vertical linear movement based on horizontal linear movement. It is possible to output a target position signal V based on the basic tone, or a target position signal V based on an oblique linear movement performed by simultaneously operating the horizontal operation lever and the vertical operation lever.
[0021]
In this embodiment, the operation mode setting means 18 is composed of a switch operated by an operator, and the operation mode of the aerial work platform Z desired by the operator by the switch selection operation (that is, the operation of the boom 4). Mode) can be selected, and the selected operation mode is output as an operation mode signal C (see FIG. 2). Further, as an operation mode instructed by the operation mode signal C, for example, a plurality of driving means groups G described later can be used.₁~ G₆Among them, an operation mode in which the driving unit group including the driving unit located far from the driving unit group including the driving unit located near the operator on the work table 5 is operated sequentially, or a plurality of driving units. When the driving means belonging to each of the driving means groups are operated, the driving means group is operated in order from the driving means group having a small amount of required oil as a whole, or a plurality of driving means groups are simultaneously operated. It may be an operation mode to be operated.
[0022]
In this embodiment, as will be described later, an example in which each drive means group is operated sequentially is given as an example, and in this case, the operation end period of the drive means group that operates earlier, The operation initial stage of the drive means group that operates in a row is polymerized for an appropriate period of time (that is, a predetermined operation polymerization period is set (see FIGS. 4 to 6)). It is of course possible to adopt a configuration in which such an operation polymerization period is not provided, and it is also possible to employ a configuration in which each of the drive means groups is operated simultaneously, unlike this embodiment. Further, the operation mode setting unit 18 is not limited to being configured by a switch operated by an operator as in this embodiment. In other embodiments, for example, the target position input unit 17 is operated by the operation mode setting unit 18. It is also possible to automatically output an operation form signal C corresponding to an operation form arbitrarily set in advance, regardless of the operation of the operator.
[0023]
In this embodiment, the weight setting means 19 is constituted by a switch operated by an operator, and the operator can set the weight characteristic (weight coefficient setting characteristic) for the control value of each driving means by the switch operation. The weight characteristic set here is output as a weight signal D (see FIG. 2). A method for setting weight characteristics in the weight setting means 19 will be described later.
[0024]
The operation limit setting means 26 is for setting the operation limit form of each of the drive means 11 to 15. In this embodiment, the operation limit setting means 26 is set by an input operation by an operator, and the operation corresponding to the setting form is performed. A limit setting signal N is output. As an operation limit mode set by the operation limit setting unit 26, for example, a mode in which the stroke end of each driving unit 11-15 is set as the operation limit, and a mode in which the allowable maximum height of the control point P is set as the operation limit ( For example, various forms may be set as necessary, such as a form including horizontal linear movement), a form in which the allowable maximum radius position of the control point P is an operation limit (for example, a form including vertical linear movement), and the like. it can. In this embodiment, as will be described later, an example in which the stroke end of the driving means is used as the operating limit will be described as an example. Further, the operation limit setting means 26 does not need to be separately installed when, for example, a configuration in which a specific operation limit form is stored and held in a control unit 30 described later in advance is employed.
[0025]
On the other hand, the aerial work vehicle Z detects the turning angle “φ” of the swivel base 2 (that is, the boom 4) as the operating state detecting means 20 for detecting the current operating state of the boom 4. The turning angle detecting means 21 and the undulation angle “θ” of the first telescopic boom 41.₁And a bending angle “θ of the second telescopic boom 42 with respect to the first telescopic boom 41”.₂”And a length“ L ”of the first telescopic boom 41.₁The first boom length detecting means 24 for detecting "and the length" L "of the second telescopic boom 42₂And second boom length detection means 25 for detecting "."
[0026]
Further, in this aerial work platform Z, the control point “P” to be subject to movement control is set at an appropriate position on the tip side of the second telescopic boom 42 (this control point “P”). Indicates the position of the work table 5 indirectly. Therefore, in another embodiment, the control point “P” can be set at an arbitrary position on the work table 5).
[0027]
By the way, the purpose of control in the control device for the aerial work vehicle Z according to this embodiment is that the target point input means 17 indicates the control point “P” by the combined operation of the drive means 11 to 15. When moving to the position, the operability of the aerial work vehicle Z is improved by automating the combined operation of the driving means 11 to 15. Such operation control is performed by the control unit 30 described below. Therefore, as shown in FIG. 2, the control unit 30 outputs the target position signal V from the target position input means 17 to the outside. In addition, each of the detection means 21 to 25 has an operation state signal (φ, θ) related to the operation state of the boom 4.₁, Θ₂, L₁, L₂), The operation mode signal C from the operation mode setting means 18, the weight signal D from the weight setting means 19, and the operation limit setting signal N from the operation limit setting means 26 are input.
[0028]
In the control unit 30, the control value E for each of the driving means 11 to 15 is based on these input signals.₁~ E_FiveAnd is output to each of the driving means 11-15.
[0029]
Further, in the operation control by the control unit 30, as described below, each of the driving means 11 to 15 is set for each combination in which the operation amount can be determined positionally from the current position of the control point “P”. Divided into a plurality of driving means groups G₁~ G₆And the driving means 11 to 15 are connected to the driving means group G.₁~ G₆It is made to operate every time.
[0030]
Hereinafter, the specific configuration and the like of the control unit 30 will be described. For convenience of description, first, the basic concept of control in the control unit 30 will be described, and then the specific configuration will be described. .
[0031]
In the vehicle equipped with five drive means 11 to 15 like the aerial work vehicle Z of this embodiment, three specific operation amounts are determined among these five drive means 11 to 15. And the position of the control point “P” is uniquely determined. And as a combination of the drive means which can determine such a unique position, the following six cases, that is, six drive means groups can be considered. Therefore, each of these driving means groups G₁~ G₆Each driving means group G₁~ G₆When the driving means 11 to 15 belonging to each of these are operated, the movement control with the redundancy of the control point P suppressed is possible.
[0032]
The drive means group is as follows.
First driving means group G₁: Consists of the first telescopic drive means 14, the undulation drive means 12, and the turning drive means 11.
[0033]
Second driving means group G₂: Consisting of the second expansion / contraction driving means 15, the bending driving means 13 and the turning driving means 11.
[0034]
Third driving means group G_Three: Comprising the first extension / contraction drive means 14, the bending drive means 13 and the turning drive means 11.
[0035]
Fourth driving means group G_Four: Consists of the second expansion / contraction drive means 15, the undulation drive means 12, and the turning drive means 11.
[0036]
Fifth driving means group G_Five: Consisting of the first extension / contraction drive means 14, the second extension / contraction drive means 15, and the turning drive means 11.
[0037]
Sixth driving means group G₆: Consists of undulation drive means 12, bending drive means 13 and turning drive means 11.
[0038]
In this embodiment, since the five driving means are provided as described above, the above six combinations can be considered as the driving means group constituted by these, and the number of the driving means provided. Therefore, the number of driving means groups is different. For example, when the second telescopic boom 42 is of a fixed length type, the second telescopic drive means 15 does not exist. Therefore, as the drive means group, the first telescopic drive means 14, the undulating drive means 12, and the turning Three of the driving means 11, the first extending / contracting driving means 14, the bending driving means 13 and the turning driving means 11, and the rising / lowering driving means 12, the bending driving means 13 and the turning driving means 11. It is. When the first telescopic boom 41 is fixed, the first telescopic drive means 14 does not exist. Therefore, the drive means group includes the second telescopic drive means 15, the bending drive means 13, and the turning drive. There are three types: one comprising the means 11, one comprising the second telescopic drive means 15, the undulating drive means 12 and the turning drive means 11, and one comprising the undulating drive means 12, the folding drive means 13 and the turning drive means 11. .
[0039]
On the other hand, in this embodiment, as an example of the operation mode set by the operation mode setting unit 18, the plurality of driving unit groups G are used.₁~ G₆The operation mode is adopted in which the motor is sequentially operated over the drive means group including the drive means located far from the drive means group including the drive means located near the operator on the work table 5. And this drive means group G₁~ G₆As shown in FIG. 4, the switching (that is, the switching of the operation from the drive unit group that operates in advance to the drive unit group that operates in the following manner) is one of a plurality of drive units belonging to the drive unit group that operates in advance. When one operation is limited by the stroke end, the operation of the drive means group that operates in the following manner is started, and in this case, each drive means group G₁~ G₆From the viewpoint of mitigating shock at the time of switching, the operation end of the drive means group that operates in advance and the initial operation of the drive means group that operates in succession are polymerized for an appropriate period, and each drive means in this operation polymerization period Control value E from 11 to 15₁~ E_FiveThe operation amount signal B₁~ B_FiveThe required weighting is obtained.
[0040]
A specific method of weighting is as follows.
[0041]
Here, as shown in FIG. 4, the first driving means group G₁(That is, the turning drive means 11 and the boom length signal L related to the turning position signal φ)₁The first telescopic drive means 14 and the undulation angle signal θ related to₁The driving means group comprised of the undulating drive means 12 related to the above-mentioned operation is operated in advance, followed by the second driving means group G.₂(That is, the turning drive means 11 and the boom length signal L related to the turning position signal φ)₂The second telescopic drive means 15 and the bending angle signal θ related to₂A description will be given by taking as an example a case where an operation mode in which a driving means group including the bending driving means 13 related to (1) is activated is employed.
[0042]
First, the first drive means group G operating in advance₁Until the control point P reaches the operating position Mb (that is, the first driving means group G).₁Of the drive means 11, 12, and 14 belonging to the above-mentioned drive means (until any one of the undulating drive means 12 and the first telescopic drive means 14 having the stroke end reaches the stroke end). The weighting coefficient between the operating position Ma corresponding to the end and the operating position Ma having a predetermined margin is set to “1”, and this weighting coefficient is set to “1” in the range from the operating position Ma to the operating position Mb. Is linearly decreased from 0 to “0”.
[0043]
On the other hand, the second driving means group G that operates in the following manner₂The operation starts when the control point P reaches the operation position Ma. In this case, the first drive means is operated between the operation position Ma and the operation position Mb as the drive start position. Group G₁Corresponding to the change of the weighting factor on the side, the weighting factor increases linearly from “0” to “1”, and after reaching this operating position Mb, this weighting factor “1” is maintained as it is. .
[0044]
Here, the first driving means group G operating in advance₁And a second drive means group G that operates in a subsequent manner₂For example, the following two methods can be considered.
[0045]
One of them is the first driving means group G that operates in advance.₁This is a method (first switching method) in which it is possible to determine which of the undulation driving means 12 and the first expansion / contraction driving means 14 first reaches the stroke end, and the other one cannot make such a determination. In other words, the first driving means group G operating in advance₁This is a method (second switching method) in which it is impossible to determine which of the undulation driving means 12 and the first expansion / contraction driving means 14 belonging to the above reaches the stroke end first.
[0046]
The first switching method is as follows.
[0047]
In the first switching method, the weight characteristic indicated by the solid line in FIG.₁4 is a weighting characteristic set individually for each of the undulation driving means 12 or the first expansion / contraction driving means 14 belonging to the first driving means group G.₁The second driving means group G corresponding to the weight characteristic of₂Is the weighting characteristic.
[0048]
And the first drive means group G₁In the above, the weight characteristic is preferentially applied to the undulation driving means 12 and the first expansion / contraction driving means 14 belonging to the above, to those that reach the stroke end first. For example, the first driving means group G that operates in advance₁In the first driving means group G₁When the undulation driving means 12 of the undulation driving means 12 and the first expansion / contraction driving means 14 belonging to the above reaches the stroke end earlier than the first expansion / contraction driving means 14, the undulation driving means 12 depends on the state of the undulation driving means 12. 1 driving means group G₁When the first expansion / contraction drive means 14 reaches the operation limit before the undulation drive means 12, the first drive means group depends on the state of the first expansion / contraction drive means 14. G₁Operating limits are defined. Therefore, for example, in the former case, the undulation driving means 12 has its actuation amount signal B until it reaches the actuation position Ma.₂Control value E calculated based on itself₂In the range from the operation position Ma to the operation position Mb which is the operation stop position, the operation amount signal B₂And a control value E calculated by adding a weighting factor that changes according to the operating position.₂The operating speed of the undulating drive means 12 is gradually reduced.
[0049]
On the other hand, the second driving means group G₂In this case, either or both of the bending driving means 13 and the second extension / contraction driving means 15 belonging to the first driving means group G₁The operation speed is accelerated as soon as the operation starts with the weight characteristic (characteristic indicated by the broken line in FIG. 4) set corresponding to the weight characteristic. The second driving means group G₂After the operation of the second driving means group G, for example, within a period in which the weighting coefficient increases and changes,₂When one of the bending drive means 13 and the second expansion / contraction drive means 15 belonging to the above reaches the stroke end, the first drive means group G at that time₁Weight coefficient and second driving means group G₂The deceleration stop control of the driving means that reaches the stroke end is performed by the weighting factor considering both the weighting factors.
[0050]
The second switching method is as follows.
[0051]
In this second switching method, the weight characteristic indicated by the solid line in FIG.₁The undulation driving means 12 and the first expansion / contraction driving means 14 belonging to the above are considered as one driving means, and the weighting characteristic applied to this one driving means is shown, and the weighting characteristic indicated by the broken line in FIG. Second driving means group G operating in a row₂The bending drive means 13 and the second expansion / contraction drive means 15 belonging to the above are considered as one drive means, and the weight characteristic applied to this one drive means is the first drive means group G.₁This corresponds to the weight characteristic of.
[0052]
And the first drive means group G that operates in advance₁In the above, the entire combination of the undulation driving means 12 and the first expansion / contraction driving means 14 regardless of which one of the undulation driving means 12 and the first expansion / contraction driving means 14 reaches the stroke end first. A weight characteristic indicated by a solid line is applied. The second driving means group G₂In FIG. 5, the weighting characteristic indicated by the broken line is applied to the entire combination of the bending driving means 13 and the second extension / contraction driving means 15 belonging to this.
[0053]
Therefore, if this second switching method is adopted, the operation of the first extension / contraction drive means 14 from the state in which the weight characteristic is applied to the operation of the undulation drive means 12 within a period in which the weight characteristic changes, for example. Even when the above weight characteristic is applied, no trouble occurs.
[0054]
As described above, regardless of which of the first switching method and the second switching method is employed, the first driving means group G is used.₁And the second driving means group G₂The first driving means group G that performs the preceding operation is superposed with the weight in the operation superposition period.₁Then, the second drive means group G that gradually decreases and operates in a subsequent manner₂Then, due to the basic effect of the “weighting” control of setting to gradually increase, the first driving means group G₁The second drive means group G that operates following the operation of the aerial work platform Z based on the operation of₂The switching of the drive mode to the driving of the aerial work vehicle Z based on the operation of the aerial work vehicle is smoothly performed without a large shock, and as a result, the operability of the aerial work vehicle Z is further improved. Is.
[0055]
In addition to the weight characteristics shown in FIG. 4 described above, the following setting method can also be adopted as a method of setting the weight characteristics in another embodiment of the present invention.
[0056]
That is, as shown in FIG. 5, the first driving means group G that operates in advance is used.₁Operation signal B of each drive means 11-15 belonging to₁~ B_FiveThe maximum value of the weight with respect to the second drive means group G that operates in a subsequent manner₂Operation signal B of each drive means 11-15 belonging to₁~ B_FiveIt is also possible to set a larger value than the maximum value of the weight for the difference between them.
[0057]
When this weight characteristic is adopted, the first driving means group G that operates in advance is used.₁2nd drive means group G which carries out a back operation rather than the operating speed of each drive means 12 and 14 which belong to₂The operating speed of each of the driving means 13 and 15 belonging to can be set low. As a result, for example, the first driving means group G₁And the second driving means group G₂For example, when the boom 4 is long and the position of the control point P is far from the base end of the boom 4 in the plan view or the side view, the boom 4 is raised and lowered. When the operation is performed, the peripheral speed of the control point P accompanying the undulation operation becomes larger than that when the boom 4 is short, but as described above, the first driving means group G₁The second driving means group G than the weight related to (that is, the driving means group operating in a state where the boom length is short).₂By setting a small weight for the driving means group that operates in a state in which the boom length is large, the change in the peripheral speed of the control point P accompanying the boom length can be minimized. It will be possible.
[0058]
Also, as shown in FIG. 6, the variable characteristic of the weight can be arbitrarily set such as a characteristic that changes in a curved line based on the operator's operational preference or the like. For example, it is possible to change the weight change rate in the stop operation period between the initial stage and the end stage, increase the deceleration at the initial stage of the stop operation, and decrease the deceleration at the end stage.
[0059]
Next, the specific configuration of the control unit 30 will be described. The control unit 30 includes a position calculation means 31, an operation amount calculation means 32, an operation limit calculation means 33, and a control value output means 34 described below. Is done.
[0060]
The position calculating means 31 is provided with the operating state signals φ and θ output from the detecting means 21 to 25 belonging to the operating state detecting means 20.₁, Θ₂, L₁, L₂In response, the current position of the control point P on the orthogonal coordinates is calculated, and this is output as a position signal A.
[0061]
The operation amount calculation means 32 receives the position signal A output from the position calculation means 31 and the target position signal V output from the target position input means 17, and moves the control point P from the current position to the target. The amount of operation of each of the driving means 11 to 15 when moving to the position is set to each driving means group G.₁~ G₆Calculated for each operation amount signal B₁~ B_Five Is output as
[0062]
The operating limit calculation means 33 is provided with the operating state signals φ, θ output from the detecting means 21 to 25 belonging to the operating state detecting means 20.₁, Θ₂, L₁, L₂In response to the operation limit setting signal N from the operation limit setting means 26, each of the drive means 11 to 15 has its operation limit (that is, the operation margin until reaching the stroke end. Since the turning drive means 11 is composed of a hydraulic motor, the stroke end does not exist and is therefore excluded from the calculation here), and this is determined as the operation limit signal M.₁~ M_FiveIs output as
[0063]
The control value output means 34 is an operation amount signal B output from the operation amount calculation means 32.₁~ B_FiveAnd an operation limit signal M output from the operation limit calculation means 33.₁~ M_FiveAnd the weight signal D output from the weight setting means 19 and each of the driving means groups G₁~ G₆Only the drive means group that does not include the drive means that has reached the operating limit as its constituent elements is selected from the selected drive means group G.₁~ G₆The control value E of the driving means 11 to 15 belonging to each of₁~ E_Five, The operating amount signal B₁~ B_FiveAnd the calculated control value E of each of the driving means 11-15.₁~ E_FiveOn the basis of the operation mode signal C output from the operation mode setting means 18, the driving means 11 to 15 corresponding to the operation mode are sequentially output to operate them.
[0064]
Next, based on FIG. 3, the control in the control unit 30 will be specifically described.
[0065]
When power is supplied to the control system, first, in step S1, the operation state signals (φ, θ) from the detection units 21 to 25 of the operation state detection unit 20 are described.₁, Θ₂, L₁, L₂), The operation mode signal C from the operation mode setting means 18, the weight signal D from the weight setting means 19, and the operation limit setting signal N from the operation limit setting means 26 are read.
[0066]
Next, in step S2, the operating state signal (φ, θ₁, Θ₂, L₁, L₂) To calculate the current position of the control point P and output it as a position signal A (the process of step S2 corresponds to the process of the position calculating means 31). In step S3, the operation state signal (φ, θ₁, Θ₂, L₁, L₂), The operating limit is calculated for each driving means 11-15 based on the stroke end, and this is the operating limit signal M.₁~ M_Five(The processing in step S3 corresponds to the processing in the operation limit calculation means 33).
[0067]
Thereafter, in step S4, it is determined whether or not the target position has been input (that is, whether or not the target position input means 17 has been operated). If it is determined that the target position has been input, the operating state is determined in step S5. Signal (φ, θ₁, Θ₂, L₁, L₂) And the target position signal V, the operation amount is calculated for each of the driving means 11 to 15, and this is the operation amount signal B.₁~ B_Five(The processing in step S5 corresponds to the processing in the operation amount calculation means 32).
[0068]
Next, in step S6, each driving means group G₁~ G₆Among the drive means groups that are allowed to be driven, the operation limit signal M₁~ M_FiveBased on the selected driving means group G₁~ G₆Control value E of each driving means 11-15 belonging to₁~ E_Five, The operating amount signal B₁~ B_FiveAnd the above weighting factor. Furthermore, in step S7, the control value E calculated with the weighting factor taken into account.₁~ E_FiveAre output to the corresponding driving means 11 to 15 based on the operation mode signal C (the processing in steps S6 and S7 corresponds to the processing in the control value output means 34).
[0069]
The above-described control is repeatedly executed, so that the aerial work platform Z includes five driving units 11 to 15 and the movement of the control point P to the target position becomes a redundant motion. In spite of this, a quick and accurate movement with redundancy as much as possible is realized. That is, the movement of the control point P is automated by the combined operation of the plurality of driving means 11 to 15, and the operability of the aerial work vehicle Z is improved accordingly.
[0070]
Other
In each of the above embodiments, the boom 4 has a structure in which the second boom member 42 on the distal end side thereof can be bent so as to be folded back to the rear side with respect to the first boom member 41 on the proximal end side. However, the boom 4 in the present invention is not limited to such a structure. For example, the second boom member 42 is the first boom, contrary to the above-described embodiments. A structure that can be bent so as to be folded back to the abdominal surface side of the member 41 can also be applied.
[Brief description of the drawings]
FIG. 1 is an overall view of an aerial work vehicle including a control device according to an embodiment of the present invention.
FIG. 2 is a control block diagram of the control device according to the embodiment of the present invention.
FIG. 3 is a control flowchart in the control device according to the embodiment of the present invention;
FIG. 4 is an explanatory diagram of a weight setting method in the control device.
FIG. 5 is an explanatory diagram of a weight setting method in the control device.
FIG. 6 is an explanatory diagram of a weight setting method in the control device.
[Explanation of symbols]
1 is a base, 2 is a swivel, 3 is a swivel seat, 4 is a boom, 5 is a workbench, 6 is a hoisting shaft, 7 is a folding shaft, 11 is a swiveling driving means, 12 is a hoisting driving means, and 13 is a bending. Drive means, 14 is a first telescopic drive means, 15 is a second telescopic drive means, 17 is a target position input means, 18 is an operation mode setting means, 19 is a weight setting means, 20 is a boom state detection means, and 21 is a turning angle Detection means, 22 is an undulation angle detection means, 23 is a bending angle detection means, 24 is a first boom length detection means, 25 is a second boom length detection means, 30 is a control unit, 31 is a position calculation means, 32 Is an operation amount calculation means, 33 is an operation limit calculation means, 34 is a control value output means, 41 is a first telescopic boom, 42 is a second telescopic boom, and Z is an aerial work vehicle.

Claims (3)

It is attached to the base (1) side so as to be turnable and undulating, and is driven to slew by the slewing drive means (11) and driven to undulate by the undulation drive means (12), and its boom length is fixed to a constant value or A first boom member (41) that is driven to extend and contract by the first telescopic drive means (14), and is attached to the tip of the first boom member (41) so as to be foldable with respect to the first boom member (41). And a second boom member (42) which is bent and driven by the bending drive means (13) and whose boom length is fixed at a fixed value or is extended and retracted by the second extension / contraction drive means (15). (4)
Each of the driving means (P) set on the tip side of the second boom member (42) is moved to the target position indicated by the target position signal (V) from the target position input means (17). A control device for a working machine with a boom adapted to appropriately operate 11 to 15),
An operating state detecting means (20) for detecting a current operating state of the boom (4) and outputting an operating state signal (φ, θ ₁ , θ ₂ , L ₁ , L ₂ );
In response to the operation state signals (φ, θ ₁ , θ ₂ , L ₁ , L ₂ ) from the operation state detection means (20), the current position of the control point (P) is calculated and is used as a position signal (A ) Position calculation means (31) for outputting as
In response to the position signal (A) of the control point (P) from the position calculation means (31) and the target position signal (V) from the target position input means (17), the driving means (11) ˜15) are operated to drive each of the drive means (11-15) belonging to each of the plurality of drive means groups (G _{1 to} G ₆ ) to move the control point (P) to the target position. An operation amount calculation means (32) for calculating an operation amount of each of the drive means (11 to 15) in a case and outputting this as an operation amount signal (B _{1 to} B ₅ );
An operation in which the operation of each of the drive means (11 to 15) is regulated in response to an operation state signal (φ, θ ₁ , θ ₂ , L ₁ , L ₂ ) from the operation state detection means (20). An operation limit calculation means (33) for calculating a limit and outputting the limit as an operation limit signal (M _{1 to} M ₅ );
In response to the operation amount signals (B _{1 to} B ₅ ) from the operation amount calculation means (32) and the operation limit signals (M _{1 to} M ₅ ) from the operation limit calculation means (33), the respective drive means. Among the groups (G _{1 to} G ₆ ), the driving means (G _{1 to} G ₆ ) that does not include the driving means (11 to 15) that have reached the operating limit as its constituent elements is selected and operated. The control values (E _{1 to} E ₅ ) of the drive means (11 to 15) belonging to the group (G _{1 to} G ₆ ) are calculated based on the operation amount signals (B _{1 to} B ₅ ) and are calculated for the respective drives. A control device for a working machine with a boom, comprising control value output means (34) for outputting to means (11-15). In claim 1,
An operation mode setting unit (18) for setting the operation mode of each of the drive unit groups (G _{1 to} G ₆ );
The control value output means (34) is configured to select and operate the driving means group (G _{1 to} G ₆ ) based on the operation form signal (C) from the operation form setting means (18). A control device for a working machine with a boom, characterized in that In claim 1,
The weight for each of the operation amount signals (B _{1 to} B ₅ ) of the drive means (11 to 15) output from the operation amount calculation means (32) is set to be changeable, and this is set as the weight signal (D). A weight setting means (19) for outputting,
The control value output means (34) is a boom with working machine, and calculates the control value for each drive means (11-15) to (E ₁ to E ₅₎ in consideration of the weight signal (D) Control device.

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