JP4322983B2 - Control device for working machine with telescopic boom - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
[0002]
  The present invention relates to a control device for a working machine with a telescopic boom.
[Prior art]
[0003]
  In a working machine with a telescopic boom, for example, an aerial work vehicle, when not in operation or moving, the telescopic boom is fully collapsed and is placed on a boom support stand provided on the vehicle. Is done. Then, when changing the working posture of the aerial work vehicle with the telescopic boom extended, retracted or swung appropriately, to the retracted posture, interference between the telescopic boom or the bucket and the vehicle side member is caused. The telescopic boom is telescopically moved while being avoided, and this is placed on the boom support base. As an operation method at this time, a method in which the operator manually stores the telescopic boom while confirming the moving state, etc. An automatic storage method is known in which the telescopic boom is automatically expanded and contracted in response to an operator's operation of a storage switch and moved to the boom support base side.
[Problems to be solved by the invention]
[0004]
  By the way, the automatic storage device has been developed mainly for the purpose of ensuring an accurate and safe operation of the telescopic boom at the time of storage work and realizing the simple and easy storage operation. First, the telescopic boom is operated in the retracted state. First, the telescopic boom is fully contracted, and then the telescopic boom is pivoted to position it directly above the boom support base. Basically, the boom is laid down and placed on the boom support base from above. Therefore, the telescopic boom is controlled in the order of “reduction movement” → “turning movement” → “falling movement”. However, even when the telescopic boom is automatically stored by such operation control, it is necessary to consider such interference avoidance control so that the telescopic boom does not interfere with an obstacle on the vehicle due to, for example, reduction or turning of the telescopic boom. is there.
[0005]
  From such a point of view, in the conventional automatic storage device, the undulation angle of the telescopic boom that can turn the telescopic boom without causing interference between the telescopic boom and the obstacle on the vehicle during automatic storage is obtained. Set the undulation angle as the `` regular undulation angle '' so that the automatic retracting operation can be performed only when the actual undulating angle of the telescopic boom is equal to or greater than the specified undulating angle. To avoid interference. In this case, the “specified undulation angle” is usually set based on the highest obstacle among the obstacles on the vehicle.
[0006]
  However, in the case where such a “regular undulation angle” is provided and the automatic retracting operation is permitted only when the actual undulation angle of the telescopic boom is equal to or greater than the undulation angle corresponding to this “regular undulation angle”, For example, the telescopic boom is located at a swiveling position corresponding to an obstacle whose height is lower than that of the obstacle that has become the standard for setting the above-mentioned `` normal undulation angle '', or at a swiveling position where there is no obstacle, and its hoisting When the angle is smaller than the undulation angle corresponding to the “specified undulation angle”, the automatic storage operation may be restricted by the “specified undulation angle” and the telescopic boom cannot be automatically stored.
[0007]
  Further, in the automatic retracting operation of the telescopic boom, even if the telescopic boom is finally placed on the boom support base and set in the retracted position, the telescopic boom is moved to reach the boom support base. It is also necessary to make the path as short as possible to enable quick automatic storage. However, in the conventional automatic storage device, as described above, the “specified undulation angle” is set based on the highest height among obstacles on the vehicle. Although the undulation angle of the telescopic boom is smaller than the undulation angle corresponding to the “specified undulation angle”, there is no problem in turning it directly from the current turning position to the turning position corresponding to the retracted position. Even if there is no such case, the telescopic boom is raised up to the undulation angle corresponding to the “specified undulation angle” at the current turning position, and then the turning movement is started. As a result, the telescopic boom is stored and operated via a useless moving path, the storage work time is increased accordingly, and the storage cannot be speeded up.
[0008]
  Furthermore, as described above, in the automatic retracting of the telescopic boom, the retracting movement of the telescopic boom is usually performed first. In some cases, the bucket attached to the tip of the telescopic boom may interfere with an obstacle on the vehicle. In such a case, the actual automatic retracting operation, that is, the “reducing motion” of the telescopic boom is performed. → Prior to the operation control in the order of “turning motion” → “falling motion”, it is also necessary to control to avoid the interference associated with the expansion and contraction movement of the telescopic boom. No useful proposal has yet been made for control.
[0009]
  In view of the above problems in the conventional automatic storage device as described above and the demands associated with the automatic storage operation, the present invention provides a work with a telescopic boom that can perform automatic storage of the telescopic boom more quickly, safely and accurately. It was made as a proposal for a machine control device.
[Means for Solving the Problems]
[0010]
  In the present invention, the following configuration is adopted as a specific means for solving such a problem.
[0011]
  1st invention of this applicationThe telescopic boom, which is telescopically mounted on a swivel mounted on the vehicle, is configured to be telescopically mounted so that it can be driven up and down. In the retracted position, the retractable boom is fully retracted and controls the retracting operation from the working position to the retracted position of the working machine with the retractable boom mounted and fixed on the boom support provided on the vehicle side. A boom length detecting means for detecting the length of the telescopic boom, a turning angle detecting means for detecting a current turning angle of the telescopic boom, and a hoisting for detecting the current hoisting angle of the telescopic boom. When the angle detecting means and the telescopic boom are swung to the revolving position corresponding to the retracted posture, the undulation angle that allows the telescopic boom to be swung is set to a single or the A plurality of swivel allowable undulation angle holding means for setting a plurality of swivel angles corresponding to the swivel angle of the contracted boom and holding the swivel allowable undulation angles, and the boom length detecting means during the storing operation of the telescopic boom to the storage position In response to information from the turning angle detection means and the undulation angle detection means, it is determined whether or not the movement of the telescopic boom from the current boom length to the total contraction direction is restricted, or the current boom length A comparison between the reduction determination means for sequentially determining whether or not there is a reduction margin length from the current and the current undulation angle detected by the undulation angle detection means and the allowable turning angle obtained from the allowable turning angle holding means. And when the contraction movement of the telescopic boom is restricted by receiving information from the means and the contraction determination means, the telescopic boom is lifted to avoid the regulation and the telescopic boom is contracted, or Above telescopic boom When the reduction allowance length is reduced and the reduction allowance length disappears, the telescopic boom is lifted to reduce the telescopic boom again, and then the information from the comparison means is received, When it is determined that the undulation angle is greater than the allowable turning angle, the telescopic boom is turned from the current turning position to the turning position when stored, and the current undulation angle is determined to be smaller than the allowable turning angle. In this case, the telescopic boom is provided with an operation control means for controlling the operation of the telescopic boom so that the telescopic boom is swung after being raised to the swing allowable undulation angle.
[0012]
  Of this applicationSecond inventionThen, above1st inventionIn the control device for a working machine with a telescopic boom according to the present invention, a bucket is provided at the tip of the telescopic boom, and the reduction determining means is used when the telescopic boom is contracted from the current boom length. When there is a possibility of interference between the bucket and the vehicle-side member, the restriction determination of the contraction movement of the telescopic boom is performed, or the current boom length of the telescopic boom and the time when the bucket interferes with the vehicle-side member. The difference from the boom length is determined as the reduction allowance length, and the operation control means determines the reduction movement restriction determination or the reduction allowance disappearance determination by the reduction determination means. In the case where the control is performed, prior to the control of the turning operation of the telescopic boom or the turning operation after the lifting operation based on the information from the comparison means, the regulation or the reduction is performed. To avoid extinction of Hiroshicho of is characterized by being configured to perform Okoshiossha operation of the telescopic boom.
[0013]
  Of this applicationThird inventionThen, above1st inventionIn the control device for a working machine with a telescopic boom according to the present invention, a bucket is provided at the tip of the telescopic boom so as to be swingable, and includes a swing angle detecting means for detecting a swing angle of the bucket, and the reduction determining means is When the information about the swing angle of the bucket is received from the swing angle detection means, and there is a possibility of interference between the bucket and the vehicle side member when the telescopic boom is contracted from the current boom length.OnThe difference between the current boom length of the telescopic boom and the boom length at the time when the bucket interferes with the vehicle-side member is determined as the reduction allowance length, while the reduction determination meansShrinkageWhen it is determined that the small margin length has disappeared, ShrinkThere is provided avoidance determination means for determining the possibility of elimination of the small margin length, and the operation control means is connected to the telescopic boom by the reduction determination means.ReductionIf it is determined that the small margin length has disappeared, prior to controlling the turning operation of the telescopic boom or the raising operation based on the information from the comparison means,, ShrinkTo avoid disappearance of small margin length,UpIt is characterized in that it is configured to execute the raising and lowering operation of the telescopic boom.
[0014]
  In the fourth invention of the present application, a telescopic boom is mounted on a swivel mounted on a vehicle so as to be swingable so that the telescopic boom can be driven up and down, and the telescopic boom is appropriately expanded and contracted in a working posture. Alternatively, while being driven to turn, in the retracted position, the retractable position is from the working position of the working machine with the extendable boom mounted and fixed on the boom support provided on the vehicle side in the fully contracted and lying down state. In the control device for controlling the storing operation to the bucket, a bucket is provided at the tip of the telescopic boom so as to be swingable. The swing angle detecting means for detecting the swing angle of the bucket, and the length of the telescopic boom Boom length detecting means for detecting, turning angle detecting means for detecting the current turning angle of the telescopic boom, and undulation angle detecting means for detecting the current undulating angle of the telescopic boom And a plurality of undulation angles that allow the telescopic boom to pivot when the telescopic boom is swung to the revolving position corresponding to the retracted position, corresponding to the swivel angle of the telescopic boom. A swing allowable undulation angle holding means for holding this as a swing allowable undulation angle, and the boom length detection means, the swing angle detection means, the undulation angle detection means, and the swing during the storage operation of the telescopic boom to the storage posture. In response to the information from the angle detection means, the reduction determination means for determining whether or not the expansion movement of the telescopic boom from the current boom length to the full contraction direction is restricted and the undulation angle detection means are detected. The comparison means for comparing the current undulation angle with the allowable turning angle obtained from the turning allowable undulation angle holding means, and the information from the comparing means, the current undulation angle is larger than the turning allowable undulation angle. If it is determined that the telescopic boom is swung from the current swivel position to the swivel position when stored, and if it is determined that the current undulation angle is smaller than the allowable undulation angle, the telescopic boom is swung. An operation control means for controlling the operation of the telescopic boom so as to turn after raising up to an allowable undulation angle, and the operation control means performs this when the reduction determination is restricted by the reduction determination means; Prior to controlling the turning operation of the telescopic boom or the turning operation after the raising operation based on the information from the comparison means, the raising and lowering operation of the telescopic boom is executed to avoid the reduction restriction. It is characterized by that.
[0015]
  In the fifth invention of the present application, a telescopic boom is mounted on a swivel mounted on a vehicle so as to be capable of swinging and is mounted so that it can be driven up and down. Alternatively, while being driven to turn, in the retracted position, the retractable position is from the working position of the working machine with the extendable boom mounted and fixed on the boom support provided on the vehicle side in the fully contracted and lying down state. And a boom length detecting means for detecting a length of the telescopic boom, and a current turning of the telescopic boom. Turning angle detecting means for detecting an angle; undulation angle detecting means for detecting a current undulation angle of the telescopic boom; and swing angle detection for detecting a swing angle of the bucket. In the case where the telescopic boom is swung to the retracted swivel position corresponding to the retracted posture, the undulation angle that allows the telescopic boom to pivot is single or plural according to the swivel angle of the telescopic boom. A swing allowable undulation angle holding means that sets and holds this as a swing allowable undulation angle, and receives detection information from the swing angle detection means and the undulation angle detection means during the storage operation of the telescopic boom to the storage posture. The turning allowable undulation angle corresponding to the current turning angle is obtained from the turning allowable undulation angle holding means, and the comparison means for comparing the turning allowable undulation angle and the current undulation angle is received, and the information from the comparison means is received. When it is determined that the current undulation angle is larger than the allowable turning angle, the telescopic boom is turned from the current turning position to the turning position when retracted, and the current undulation angle is equal to the allowable turning angle. And operation control means for controlling operation of the telescopic boom as to pivot after being Okoshiossha the telescopic boom to the said turning permission hoisting angle if it is determined to be smaller,When the information about the swing angle of the bucket is received from the swing angle detecting means, and the telescopic boom is contracted from the current boom length, the telescopic boom is expanded when there is a possibility of interference between the bucket and the vehicle side member. Performs regulation judgment of boom reduction movementReduction determination means;The above-mentioned reduction judgment means regulates the reduction movement.DefiniteIf this is the case, the regulation can be avoided by swinging the bucket.SexAn avoidance determining means for determining, and the operation control means determines this by means of the reduction determining means.DefiniteIn the case where it is determined, prior to the control of the turning operation of the telescopic boom or the turning operation after the raising operation based on the information from the comparison means, the reduction rule is set.SystemIn order to avoid this, when the avoidance determining means determines that the restriction avoidance by the swing movement of the bucket is possible, the swing movement of the bucket is executed, and when the restriction avoidance by the swing movement of the bucket is not possible, The present invention is characterized in that the hoisting operation of the telescopic boom is executed.
【The invention's effect】
[0016]
  In the present invention, the following effects can be obtained by adopting such a configuration.
[0017]
  (I)  Of this applicationFirstAccording to the control device for a working machine with a telescopic boom according to the invention, during the retracting operation from the position of the telescopic boom in the working position to the position in the retracted position, first, the telescopic boom is moved from the current boom length to the fully contracted direction. It is determined whether or not the reduction movement is restricted. If it is determined that the reduction movement is restricted, the telescopic boom is raised to avoid the restriction and the telescopic boom is contracted. Alternatively, the presence or absence of a reduction margin length from the current boom length is determined, and if there is a reduction margin length, the telescopic boom is reduced within the range of the reduction margin length and the reduction margin length is set. When is extinguished, the telescopic boom is raised and the telescopic boom is contracted again.
[0018]
  Next, it is determined whether or not the current undulation angle of the telescopic boom is larger than the turning allowable undulation angle. If the current undulation angle is larger than the allowable turning undulation angle, Since turning is permitted, the telescopic boom is swung to the swivel position when retracted. On the other hand, if the current undulation angle of the telescopic boom is smaller than the allowable turning undulation angle, the telescopic boom is temporarily set to the turning allowable undulation angle. Is raised to a state where the turning is allowed, and then the telescopic boom is turned to the turning position when retracted.
[0019]
  Therefore, according to the control device for a working machine with a telescopic boom of the present invention, even when the telescopic boom is at a undulation angle smaller than the turning allowable undulation angle, the storage control from this position is possible. Compared to the configuration in which the retractable boom can not be automatically retracted from the undulation angle position below the swing allowable undulation angle as described above, the area in which the retractable boom can be automatically retracted is expanded, and the storing operation is simplified. And facilitation is further promoted.
[0020]
  Further, when retracting the telescopic boom from the working position to the retracted position, prior to the pivoting operation of the telescopic boom, the telescopic boom is contracted while avoiding the restriction of the contraction movement, or the telescopic boom is Since the retractable boom is secured within the range of the reduction allowance length, the retractable boom is secured in a safe manner.For example, prior to the swiveling motion of the telescopic boom, the state of the contracted motion is not considered. Compared to the case, the safety and certainty during the retracting operation of the telescopic boom are improved.
[0021]
  Further, in the case where a plurality of the swing allowable undulation angles are held corresponding to the swing angles of the telescopic booms, the swing allowable undulation angles corresponding to the current swing angles are selected when the telescopic booms are automatically stored. By determining whether or not the telescopic boom is to be turned from the current hoisting angle position based on the swivel allowable hoisting angle, for example, a single unit that has been set in advance can be used regardless of the current turning position of the telescopic boom as in the prior art. It is avoided that the telescopic boom moves through a useless movement path as in the case of determining whether or not the telescopic boom is permitted to turn based on the one swing allowable undulation angle. The moving path can be shortened, and thus the speed of the retracting operation of the telescopic boom can be realized.
[0022]
  (B)  Of this applicationSecondAccording to the control device for a working machine with a telescopic boom according to the invention,(I)In addition to the effects described in the above, the following specific effects can be obtained. That is, in the control device for a working machine with a telescopic boom according to the present invention, particularly in a working machine provided with a bucket at the tip of the telescopic boom, the shrinkage determining means is used to reduce the telescopic boom from the current boom length. In the case where there is a possibility of interference between the bucket and the vehicle side member, the restriction determination of the contraction movement of the telescopic boom is performed, or the boom length of the telescopic boom of the telescopic boom and the bucket are the vehicle side member. And the difference between the boom length at the time of interference with the reduction margin length is determined, and when the operation control means is determined to restrict the reduction movement of the telescopic boom by the reduction determination means, Alternatively, if it is determined that the reduction margin length has disappeared, control of the turning operation after the telescopic boom turning operation or the raising operation based on the information from the comparison means is performed. As a first stage of the automatic retracting operation of the telescopic boom, the hoisting operation of the telescopic boom is performed to avoid the restriction or avoid the disappearance of the reduction margin length. The telescopic boom can be contracted in a state in which interference between the bucket and the vehicle-side member is reliably avoided. Especially in a working machine having a telescopic boom with a bucket, Safety and certainty will be further improved.
[0023]
  (C)  Of this applicationThird inventionAccording to the control device for the working machine with the telescopic boom according to the above,(I)In addition to the effects described in the above, the following specific effects can be obtained. That is, in the control device for a working machine with a telescopic boom according to the present invention, in particular, in a working machine in which the bucket is swingably provided at the tip of the telescopic boom, the swing angle detecting means for detecting the swing angle of the bucket is provided. The reduction determination means receives information on the swing angle of the bucket from the swing angle detection means, and when the telescopic boom is reduced from the current boom length, interference between the bucket and the vehicle-side member occurs. If possibleOnThe difference between the current boom length of the telescopic boom and the boom length at the time when the bucket interferes with the vehicle-side member is determined as the reduction allowance length, while the reduction determination meansShrinkageWhen it is judged that the small margin length has disappeared, the reduction margin length is erased.DestructionDetermine the possibility of avoidanceTimesAn avoidance determining means, and the operation control means is configured to cause the expansion boom to be retracted by the reduction determining means.ReductionWhen it is determined that the small margin length has disappeared, prior to controlling the turning operation of the telescopic boom or the raising operation based on the information from the comparison means., ShrinkAvoid extinction of small margin lengthUpSince the telescopic boom is raised and lowered, the telescopic boom is retracted as the first stage of the automatic retracting operation of the telescopic boom, and the interference between the bucket and the vehicle side member is ensured. In particular, in a working machine having a telescopic boom with a bucket, the safety and reliability in the retracting operation of the telescopic boom are further improved.
[0024]
  (D) According to the control device for a working machine with a telescopic boom according to the fourth invention of the present application, the following specific effects can be obtained. That is, in the control device for a working machine with a telescopic boom according to the present invention, a bucket is provided at the tip of the telescopic boom so as to be able to swing. The swing angle detecting means for detecting the swing angle of the bucket, and the telescopic boom Boom length detecting means for detecting the length of the telescopic boom, turning angle detecting means for detecting the current turning angle of the telescopic boom, hoisting angle detecting means for detecting the current hoisting angle of the telescopic boom, and the telescopic boom When turning to the retracted turning position corresponding to the retracted posture, the undulation angle allowing the turning of the telescopic boom is set to one or a plurality corresponding to the turning angle of the telescopic boom. A turning allowable undulation angle holding means for holding as an allowable undulation angle, and the boom length detection means, the turning angle detection means, and the undulation angle detection hand during the storage operation of the telescopic boom to the storage posture. Detected by the reduction determination means and the undulation angle detection means for determining whether or not the reduction movement of the telescopic boom from the current boom length to the full contraction direction is restricted in response to the information from the swing angle detection means. The comparison means for comparing the present undulation angle with the allowable turning angle obtained from the turning allowable undulation angle holding means, and the information from the comparison means, the current undulation angle is larger than the turning allowable undulation angle. If it is determined that the telescopic boom is turned from the current turning position to the turning position when stored, and if it is determined that the current undulation angle is smaller than the allowable turning angle, the telescopic boom is turned. Operation control means for controlling the operation of the telescopic boom so as to turn after raising up to an allowable undulation angle is provided, and the operation control means performs the restriction determination of the reduction movement by the reduction determination means. In such a case, prior to controlling the turning operation of the telescopic boom or the turning operation after the raising operation based on the information from the comparison means, the lifting operation of the telescopic boom is performed in order to avoid the reduction restriction. Since it is configured to execute, the swing angle of the bucket is also considered in the interference determination for determining whether or not there is a possibility that the bucket may interfere when the telescopic boom is reduced and moved at the current turning angle position. Therefore, the safety and reliability of the work at the time of automatic storage control are further enhanced.
[0025]
  (E)  Of this application5thAccording to the control device for a working machine with a telescopic boom according to the invention, the following specific effects can be obtained. That is, the control device for a working machine with a telescopic boom according to the present invention includes a swing angle detecting means for detecting the swing angle of the bucket, particularly in a working machine having a bucket that is swingable at the tip of the telescopic boom. The reduction determination means receives information on the swing angle of the bucket from the swing angle detection means, and the bucket and the vehicle side member can interfere when the telescopic boom is reduced from the current boom length. If there is anyUyoOn the other hand, the reduction judgment means determines the reduction motion restriction.DefiniteWhen it is done, the possibility of avoiding the restriction by swinging the bucket is judged.TimesAnd an evacuation determination means, wherein the operation control means is provided when the reduction determination of the expansion boom is restricted by the reduction determination means.TogetherBefore the control of the turning operation of the telescopic boom or the turning operation after the raising operation based on the information from the comparison means,AvoidanceWhen it is possible, the bucket is swung, and the regulation of the bucket is swung.AvoidanceWhen the telescopic boom is not possible, the telescopic boom is raised and lowered, so that the telescopic boom is retracted as a first stage of the automatic retracting operation of the telescopic boom. This can be performed in a state where interference is reliably avoided, and particularly in a working machine having a telescopic boom with a bucket, the safety and certainty in the retracting operation of the telescopic boom are further improved.
[0026]
  Also, ShinWhen the interference between the bucket and the vehicle-side member due to the contraction movement of the contracting boom is avoided by the swinging motion of the bucket, the swinging motion of the bucket is more effective than the lifting motion of the telescopic boom. Since it is simple and quick, the simple and quick automatic storage control is further promoted.
DETAILED DESCRIPTION OF THE INVENTION
[0027]
  Hereinafter, a control device for a working machine with a telescopic boom according to the present invention will be described in detail.
[0028]
  1 and 2 show an aerial work vehicle 1 as an example of a work machine to which the control device according to the present invention is applied. The aerial work vehicle 1 includes a base of a telescopic boom 4 that is telescopically driven by a telescopic hydraulic cylinder 42 that is disposed on the upper end of a swivel 3 that is pivotably mounted at a position near the front on the vehicle 2. An end portion is attached to be freely raised and lowered, and is driven to rise and fall by a raising and lowering hydraulic cylinder 41 disposed between the swivel 3 and a bucket 5 is attached to a distal end portion of the telescopic boom 4. The bucket 5 is always maintained in a constant posture by a leveling mechanism (not shown) regardless of the up-and-down movement of the telescopic boom 4 and is driven to swing by a bucket swing hydraulic motor 44.
[0029]
  The aerial work vehicle 1 is configured to perform a required aerial work by positioning the bucket 5 in a desired three-dimensional position by the swinging movement, the undulating movement, and the telescopic movement of the telescopic boom 4 and swinging the bucket 5 appropriately. The state shown in FIGS. 1 and 2 is a state in which the aerial work vehicle 1 is set in the retracted posture.
[0030]
  The telescopic boom 4 in the aerial work vehicle 1 is stored in the retracted posture shown in FIG. 1 and FIG. In the embodiment, a control device that automatically performs the storing operation from the working posture of the telescopic boom 4 to the retracted posture is provided. Hereinafter, the automatic storage control of the telescopic boom 4 by the control device will be specifically described.
[0031]
  First, control conditions that are preconditions for automatic storage control by the control device and the configuration of a specific control system therefor will be described, and then specific control examples will be described based on several embodiments.
[0032]
  (A) Control conditions, etc.
  The telescopic boom 4 of the aerial work vehicle 1 is automatically stored in a specific storage posture from various work postures. In this retracted position, as shown in FIGS. 1 and 2, the telescopic boom 4 is fully contracted, and is laid down in a tip-down state with its tip end directed toward the rear of the vehicle, and its length. The middle position of the direction is placed upright on the vehicle 2Boom support8 is placed on the upper end of 8 from above.
[0033]
  The state of the telescopic boom 4 in the retracted posture in a plan view and a side view is as follows.
[0034]
  First, in a plan view, as shown in FIG. 2, the telescopic boom 4 has its axis L0 in the vehicle width direction by a predetermined angle with respect to the vehicle length direction line La of the vehicle 2 passing through the center of the swivel 3. Is set to a position deviated to. Further, the bucket 5 provided at the distal end portion of the telescopic boom 4 is set in a specific swinging state in which the bucket 5 is swung sideways from the distal end portion of the telescopic boom 4.
[0035]
  On the other hand, in a side view, as shown in FIG. 1, the telescopic boom 4 is located between a control box 6 and a tool box 7 provided on both sides in the vehicle width direction with the swivel 3 interposed therebetween. . And the lower end position of the said bucket 5 attached to the front-end | tip part of the said telescopic boom 4 is higher than the upper end position of the said control box 6 and the tool box 7, and the upper end position of the cabin 2a located in the front part of the said vehicle 2. Located in a low position.
[0036]
  Therefore, from the state of the telescopic boom 4 in the plan view and the side view, the telescopic boom 4 is in its working posture (that is, the telescopic boom 4 is telescopically expanded, raised, or swung to position the bucket 5 in the retracted posture). When the posture is changed from the posture (positioned at a position other than) to the retracted posture, the telescopic boom 4 is prevented from interfering with the control box 6 and the tool box 7 as the telescopic boom 4 turns. It is necessary to.
[0037]
  Specifically, as shown in FIG. 2, the vehicle length direction line La and the vehicle width direction line Lb are used as a reference, and the vehicle front position on the vehicle length direction line La is set as a turning angle “0 °” in plan view. When the turning angle is set clockwise, the telescopic boom 4 and the tool box 7 are within the angular range between the turning angle “φ1” indicated by reference numeral 4A and the turning angle “φ2” indicated by reference numeral 4B. In addition, the telescopic boom 4 and the control box 6 are within an angular range between the turning angle “φ3” indicated by reference numeral 4C and the turning angle “φ4” indicated by reference numeral 4D. It is necessary to consider avoiding interference. Therefore, it is necessary to set the undulation angle to a large value when the telescopic boom 4 is swung in these swiveling ranges where there is a possibility of interference. On the other hand, in the turning range where there is no possibility of interference (that is, the range of the turning angle “φ2” and the turning angle “φ3” and the range of the turning angle “φ4” and the turning angle “φ1”), When the boom 4 is swung, the undulation angle can be set to a value smaller than that in the swivel range where there is a possibility of interference. Further, even in the turning range where there is no possibility of interference, the cabin 2a exists within the turning range of the turning angle “φ4” and the turning angle “φ1”, but the turning angle “φ2” and the turning angle Since there is no such obstacle in the turning range with the angle “φ3”, in the latter turning range, the telescopic boom 4 is allowed to fall more largely than in the former turning range (that is, set to a small undulation angle). Is possible).
[0038]
  On the other hand, when the telescopic boom 4 is placed on the receiving portion at the upper end of the boom support base 8, it is necessary to consider the form of the receiving portion and how the telescopic boom 4 is placed relative thereto. is there. That is, the receiving portion of the boom support base 8 is usually configured to have an inverted U-shaped cross-sectional shape that opens upward. Therefore, the telescopic boom 4 is provided on the receiving portion of the boom support base 8. In order to hold the telescopic boom 4 in the retracted position, the telescopic boom 4 is moved by a predetermined dimension from the receiving portion of the boom support base 8 during the retracting operation of the telescopic boom 4 to the boom support base 8. After turning to a turning position corresponding to a position directly above the boom support base 8 at a high position, the telescopic boom 4 needs to be laid down and placed on the receiving portion from above.
[0039]
  The above are the control conditions that are preconditions for the automatic storage of the telescopic boom 4. Therefore, in the automatic storage control, it is necessary to consider each of the above points, and the operating characteristics set from this viewpoint. Is shown in FIG.
[0040]
  That is, in this embodiment, with respect to the automatic storage of the telescopic boom 4, an overturn stop line, a turning stop line, and a specified undulation angle are provided.
[0041]
  The turning stop line serves as a reference for restricting further turning movement of the telescopic boom 4. In this embodiment, the telescopic boom 4 is connected to the control box 6 and the turning boom 4 in the turning direction of the telescopic boom 4. Corresponding to the limit position interfering with the tool box 7, the turning angle “φ1”, the turning angle “φ2”, the turning angle “φ3” and the turning angle “φ4” are respectively set to the turning angles “φ1”. The telescopic boom 4 is restricted from swinging in the direction of increasing the turning angle beyond the turning angle “φ1” at the position of “2”, and the expanding boom 4 exceeds the turning angle “φ2” at the position of the turning angle “φ2”. The turning of the boom 4 in the direction of decreasing the turning angle is restricted, and at the position of the turning angle “φ3”, the telescopic boom 4 is restricted from turning in the direction of increasing the turning angle beyond the turning angle “φ3”. At the position of “φ4” Controls the turning of the telescopic boom 4 in the direction of decreasing the turning angle beyond the turning angle “φ4”.
[0042]
  The overturn stop line is a reference for regulating further overturning movement of the telescopic boom 4. In this embodiment, the turn angle “φ1” to the turn angle “φ2” corresponding to the tool box 7 is used. And the turning stop line corresponding to the undulation angle “θ2” are set in both of the turning range of the vehicle and the turning range of the turning angle “φ3” to the turning angle “φ4” corresponding to the control box 6 to correspond to the front side of the vehicle. An overturn stop line corresponding to the undulation angle “θ3” is set in the turning range of the turning angle “φ4” to the turning angle “φ1”, and the turning angle “φ2” to the turning angle “φ3 including the storage position on the rear side of the vehicle. ”Is set in the turning stop range corresponding to the undulation angle“ θ5 ”. The undulation angles “θ2 to θ5” are “θ2> θ3> θ5”.
[0043]
  The specified undulation angle corresponds to a “turning allowable undulation angle” in the claims, and the turning movement of the telescopic boom 4 is allowed only at an undulation angle larger than the specified undulation angle (in other words, The turning movement of the telescopic boom 4 is restricted at an undulation angle smaller than this undulation angle). In this embodiment, the first specified undulation angle of the undulation angle “θ1” is set in the vicinity of the uppermost lodging stop line, and is larger than the lowermost lodging line by a predetermined angle beyond the storage position. The second specified undulation angle of the undulation angle “θ4” is set at the position. The first specified undulation angle (the undulation angle “θ1”) and the topmost stop line (the undulation angle “θ2”) are set to values that approach or match, but in FIG. For convenience of drawing, both are shown in a separated manner.
[0044]
  By setting the overturn stop line, the turning stop line, and the specified undulation angle in this way, the operation when the telescopic boom 4 is automatically retracted from the working posture is performed as shown by A to D in FIG. . This is briefly described as follows.
[0045]
  The working posture A is a posture in which the telescopic boom 4 is set to a hoisting angle equal to or larger than the first specified hoisting angle, and the telescopic boom 4 is stored in the storage position from here. In this case, since the turning motion from this posture is not restricted at all, first, the telescopic boom 4 is swung to the position immediately above the retracted position, and then the telescopic boom 4 exceeds the second specified undulation angle. And set the storage position.
[0046]
  The working posture B is a posture in which the telescopic boom 4 is at a hoisting position equal to or less than the first specified hoisting angle, and a turning stop line (turning angle “φ1”) exists in the turning direction forward to the retracted position side. Accordingly, when automatically retracting from this work posture B, first, the telescopic boom 4 is raised to a undulation angle position equal to or greater than the first specified undulation angle to avoid turning regulation due to the turning stop line, and then the turning boom 4 is turned. Then, the telescopic boom 4 is positioned at a position immediately above the retracted position, and the telescopic boom 4 is tilted over the second specified undulation angle and set at the retracted position.
[0047]
  The working posture C is a posture in which the telescopic boom 4 is in a hoisting position equal to or less than the first specified hoisting angle, and a turning stop line (turning angle “φ4”) exists in the turning direction forward to the storage position side. Accordingly, in the automatic storage from the work posture C, as in the case of the work posture B, first, the telescopic boom 4 is raised to a hoisting angle position equal to or higher than the first specified hoisting angle, and then this is turned. The telescopic boom 4 is positioned at a position immediately above the retracted position, and the telescopic boom 4 is tilted over the second specified undulation angle and set at the retracted position.
[0048]
  The working posture D is a posture in which the telescopic boom 4 is at a undulation angle position equal to or greater than the second specified undulation angle, and a storage position exists inside the turning stop line on both sides of the turning direction. Accordingly, in the automatic storage from the work posture D, the telescopic boom 4 is directly pivoted from this position to place the telescopic boom 4 at a position immediately above the storage position, and then the telescopic boom 4 is moved to the second specified position. Set the storage position to fall over the undulation angle.
[0049]
  The working posture E is a posture in which the telescopic boom 4 is at a undulation angle position equal to or less than the second specified undulation angle, and a storage position exists inside the turning stop line on both sides of the turning direction. Therefore, in the automatic storage from the work posture D, the telescopic boom 4 is first raised up to a hoisting angle position equal to or greater than the second specified hoisting angle, and then the telescopic boom 4 is turned to retract the telescopic boom 4. The telescopic boom 4 is further tilted over the second specified undulation angle and set to the retracted position.
[0050]
  FIG. 4 shows the operation sequence in the automatic storage of the telescopic boom 4 from each work posture as described above. Here, the description of the work posture A to the work posture E is based on the operation order of the portions shown in Steps “D” to “H” in FIG. 4. The actual automatic storage control will be described later. As described in each of the embodiments, when the telescopic boom 4 is contracted to the fully contracted position (step “C”) as the first stage operation of automatic storage, the bucket 5 is connected to the control box 6 and the tool box. 7 or whether or not it interferes with the cabin 2a or the like (step "I"), avoidance control in the case of interference (step "B"), and further swing control of the bucket 5 (step "RE") are also performed. Is.
[0051]
  Incidentally, the interference avoidance control of the bucket 5 accompanying the contraction movement of the telescopic boom 4 is performed when the telescopic boom 4 is contracted, depending on the turning angle, the undulation angle of the telescopic boom 4 or the swing angle of the bucket 5. May interfere with the control box 6 or the like. Therefore, when there is a possibility of such interference, the bucket 5 tries to avoid interference before the telescopic boom 4 is contracted. As a method of avoiding this interference, there are a method of avoiding by raising and lowering the telescopic boom 4 and a method of avoiding by swinging the bucket 5, as will be described later in the embodiments. In addition, for example, a method of avoiding by turning movement of the telescopic boom 4, a method of avoiding by a combination of the above methods, and the like are also conceivable.
[0052]
  (B) Configuration of control device in aerial work vehicle 1
  FIG. 5 is a block diagram showing the configuration of a control device for performing automatic storage as described above. The control device includes a controller 20 having various calculation functions, determination functions, and the like, and the controller 20 stores and holds various types of information (“turning allowable undulation angle holding means in claims”). ”).
[0053]
  The controller 20 corresponds to “operation control means” and “comparison means” in the claims, and the controller 20 includes a boom length detector provided on the swivel base 3 side. 11 (corresponding to “boom length detecting means” in the claims), a boom undulation angle detector 12 (corresponding to “undulation angle detecting means” in the claims) and a turning angle detector 13 ( (Corresponding to “turning angle detecting means” in the claims) and the automatic storage operation switch 15, detection information and the like are respectively input, the bucket swing angle detector 14 provided on the bucket 5 side and the automatic storage operation Detection information and the like are also input from the switch 16. In the controller 20, on the basis of the detection information from the detectors, the hoisting hydraulic cylinder 41, the telescopic hydraulic cylinder 42, the turning hydraulic motor 43, and the like are arranged so as to automatically store the telescopic boom 4 in the storage position. The operation amount and the operation direction of the bucket swing hydraulic motor 44 are obtained, and are output as control signals to the hydraulic control valves 31 to 34 corresponding to the hydraulic actuators 41 to 44, respectively. As a result, the telescopic boom 4 is automatically stored in the storage position by the operation of the hydraulic actuators 41 to 44.
[0054]
  Hereinafter, the automatic storage control of the telescopic boom 4 by the control device will be specifically described based on each embodiment.
[0055]
  c: Example of automatic storage control
  First embodiment (see FIGS. 6 to 8)
  The first embodiment is a basic form of automatic storage control, in which automatic storage is performed by sequentially executing three operations of the telescopic boom 4: “reduction motion” → “turning motion” → “undulation motion”. is there.
[0056]
  In the automatic storage of this embodiment, three flowcharts shown in FIGS. 6 to 8 are prepared. The flowchart in FIG. 6 is for controlling the start and end of automatic storage. When the automatic storage operation switches 15 and 16 are turned on (step S01), the main flowchart in FIG. The automatic storage control is started (step S02), and the automatic storage control is continued while the automatic storage operation switches 15 and 16 are ON (step S03). Then, when the automatic storage operation switches 15 and 16 are turned off, the automatic storage control is terminated at that time (that is, at any control stage) (step S03, step S04).
[0057]
  In this embodiment, the automatic storage operation switches 15 and 16 are constituted by push button switches, and the ON state is maintained while the automatic storage operation switches 15 and 16 are pressed by the operator. The automatic storage operation switches 15 and 16 are turned off by releasing their hands. By adopting such an operation mode, the operator's intention can be more accurately and quickly reflected in the automatic storage control, and operational safety or reliability is improved.
[0058]
  The flowchart shown in FIG. 8 relates to swing control (storage control) of the bucket 5 at the time of automatic storage control. First, whether the swing angle of the bucket 5 is within a specified range (that is, the bucket 5 is in FIG. 1). To determine whether or not the swing angle corresponds to the storage posture shown in FIG. 4 (step S31). If the swing angle is out of the specified range, the bucket is set to the specified range in the shortest time with the current position as a reference. 5 is to be swung in the left or right direction (step S33). Based on the determination, the bucket 5 is swung to the right or left (step S34), and the swing angle of the bucket 5 reaches the specified range. At that time, the swing movement of the bucket 5 is stopped (step S36), and the control is ended (step S32).
[0059]
  The swing control of the bucket 5 is basically started at the same time as the execution of the main flowchart of automatic storage shown in FIG. 7 described below, but is not limited to this. By setting a flag in this control stage, it is possible to start at an arbitrary stage during execution of the main flowchart. In addition to the swing control based on the flowchart shown in FIG. 8, the bucket 5 is connected to the control box 6 or the like as the telescopic boom 4 is contracted, as will be described in the embodiments described later. In the case where it is necessary to avoid this by swinging the bucket 5, the operation is controlled by the main flowchart.
[0060]
  Next, the automatic storage control will be specifically described according to the main flowchart of automatic storage shown in FIG. Note that the automatic storage control of this embodiment is the control from step “C” to step “H” in the operation sequence diagram of FIG. 4 (that is, the control not including the interference avoidance control of the bucket 5 accompanying the contraction movement of the telescopic boom 4). ).
[0061]
  The automatic storage control is started when the automatic storage operation switches 15 and 16 are turned on by the operator. When the control is started, first, in step S1, it is determined whether or not the telescopic boom 4 is currently in the fully contracted state (the state of the first stage of automatic storage). If it is in the fully contracted state, the process proceeds to step S5 as it is. If it is determined that it is not in the fully contracted state, the retracting movement of the telescopic boom 4 is executed in step S2, and the contraction is performed when the fully contracted state is reached. The movement is stopped (steps S3 and S4), and then the process proceeds to step S5.
[0062]
  In step S <b> 5, the specified undulation angle “θx” corresponding to the current turning angle (that is, the actual turning angle) of the telescopic boom 4 is read from the memory 21. The specified undulation angle “θx” is selected from the first specified undulation angle “θ1” and the second specified undulation angle “θ4” in FIG. 3 according to the actual turning angle. In this embodiment, the first specified undulation angle “θ1” and the second specified undulation angle “θ4” are provided. In other embodiments, for example, the first specified undulation angle “θ1” is provided. It is also possible to provide only.
[0063]
  Next, in step S6, it is determined whether or not the current undulation angle of the telescopic boom 4 is greater than or equal to the specified undulation angle “θx” selected in step S5. Here, when it is equal to or greater than the specified undulation angle “θx”, the process proceeds to the turning control of step S10 as it is, but when it is equal to or less than the specified undulation angle “θx”, the expansion and contraction when the telescopic boom 4 is rotated is performed. In order to avoid the interference between the boom 4 and the control box 6 and the like by raising and lowering the telescopic boom 4, the hoisting movement of the telescopic boom 4 is executed in step S 7, and the hoisting angle becomes equal to or greater than the specified hoisting angle “θx”. At this point, the raising and lowering of the telescopic boom 4 is stopped (steps S8 and S9), and then the process proceeds to step S10. Step S6 corresponds to “comparison means” in the claims.
[0064]
  Next, in order to position the telescopic boom 4 immediately above the storage position, in step S10, the current turning angle of the telescopic boom 4 is within a specified range (that is, a predetermined angle is set on both sides of the turning angle corresponding to the storage position. If the turning angle is within this range, the telescopic boom 4 can be laid down so that it can be securely placed on the receiving part of the boom support base 8). It is judged whether there is. Here, if the current turning angle is within the specified range, the process proceeds to the overturning motion (step S15) of the telescopic boom 4 as it is, but if it is out of the specified range, the turning motion of the telescopic boom 4 is executed. That is, first, in step S11, the turning direction of the telescopic boom 4 (that is, the turning direction that can be positioned within the specified range at the shortest distance) is determined, and based on this determination, the telescopic boom 4 is turned right or Turn left (step S12), stop turning when the turning angle reaches the specified range (step S13 and step S14), and then proceed to step S15.
[0065]
  In step S15, since the telescopic boom 4 is already positioned immediately above the boom support base 8 (that is, immediately above the storage position), the telescopic boom 4 is immediately moved down, and the telescopic boom 4 is removed. It is laid down and placed on the receiving part of the boom support base 8. Thus, automatic storage from the working posture of the telescopic boom 4 to the storage position is completed.
[0066]
  In this embodiment, only the fall movement of the telescopic boom 4 is executed in step S15, and the step of stopping the fall movement with the completion of the fall (that is, the completion of the storage to the storage position) is provided. Accordingly, the overturning is stopped when the operator releases the operation of the automatic storage operation switches 15 and 16 as described above. Therefore, even if the telescopic boom 4 is securely placed on the receiving part of the boom support base 8, as long as the operator does not release the operation of the automatic retracting operation switches 15 and 16, the telescopic boom 4 And the telescopic boom 4 remains pressed against the receiving portion. The reason for this configuration is as follows.
[0067]
  The first reason is to ensure that the storage location is stored and that the storage is incomplete and complete storage can be performed by re-operation. That is, for example, when boom detecting means such as a limit switch is provided at the receiving portion of the boom support base 8 and the boom detecting means detects the telescopic boom 4, the automatic storage operation switches 15 and 16 are turned on by the operator. Even if the limit switch is configured to stop the falling movement regardless of this, the limit switch is configured to emit a signal when the actuator is displaced by the telescopic boom 4, It is impossible to match the output time point with the time point when the telescopic boom 4 is placed on the receiving part, and the limit switch outputs a signal before the telescopic boom 4 is actually placed on the receiving part. Before the telescopic boom 4 is placed on the receiving part, the falling motion of the telescopic boom 4 is stopped by a signal from the limit switch, and the telescopic boom 4 is lifted from the receiving part. If there. Further, in such a state, even if the telescopic boom 4 is caused to fall over again, the above limit switch has already been operated, so that the overturning movement cannot be performed.
[0068]
  However, as in this embodiment, as long as the automatic retracting operation switches 15 and 16 are turned ON, the telescopic boom 4 is mounted on the receiving portion when the telescopic boom 4 continues to fall. As long as the automatic retracting operation switches 15 and 16 are not turned off before being placed, the telescopic boom 4 can be reliably placed on the receiving portion. Moreover, even if the automatic retracting operation switches 15 and 16 are turned off before the telescopic boom 4 is placed on the receiving part, and the telescopic boom 4 is stopped in a state where it floats from the receiving part. This is because, when the automatic retracting operation switches 15 and 16 are turned on again, the overturning motion is executed again, and the telescopic boom 4 can be reliably placed on the receiving portion, causing no inconvenience. .
[0069]
  The second reason is that even if the telescopic boom 4 is completely placed on the receiving part of the boom support base 8, it will fall down unless the operator releases the ON operation of the automatic retracting operation switches 15 and 16. When the automatic retracting operation switches 15 and 16 are turned on, the operation of pressing the telescopic boom 4 against the receiving portion of the boom support base 8 is maintained. This is because the swing of the telescopic boom 4 can be suppressed.
[0070]
  As described above, according to the automatic storage control of the first embodiment, when the telescopic boom 4 is automatically stored from an arbitrary working posture to the storage position, the current hoisting angle of the telescopic boom 4 is the specified hoisting angle. If it is smaller than “θx”, the telescopic boom 4 is once raised above the specified undulation angle “θx” to allow the telescopic boom 4 to turn, and then the telescopic boom 4 is swung to a position immediately above the retracted position. For example, even if the telescopic boom 4 is at an undulation angle smaller than the specified undulation angle “θx”, Automatic storage control is possible. As a result, for example, the retractable boom 4 can be automatically retracted as compared with the conventional structure in which the retractable boom 4 cannot be automatically retracted from the position of the angle below the specified angle of undulation “θx”. As a result, the simple and easy storage operation is further promoted.
[0071]
  Further, in this case, a plurality of the specified undulation angles “θx” are set corresponding to the turning angle of the telescopic boom 4 (in this embodiment, two of the first specified undulation angle “θ1” and the second specified undulation angle “θ4”). And a normal undulation angle “θx” corresponding to the current turning angle is selected during the automatic retracting control of the telescopic boom 4, and the current undulation of the telescopic boom 4 is selected based on the selected specified undulation angle “θx”. Since it is determined whether or not the turning movement is permitted from the angular position, for example, the expansion and contraction is performed based on a single specified undulation angle “θx” set in advance regardless of the current turning position of the telescopic boom 4 as in the prior art. It can be avoided that the telescopic boom moves through a useless movement path as in the case of determining whether the boom 4 is allowed to turn, and the movement path when the telescopic boom 4 is stored can be shortened accordingly. And then, the case of the telescopic boom 4 In which acceleration of the works is achieved.
[0072]
  Second embodiment
  FIG. 9 shows a main flowchart in the second embodiment of the automatic storage control of the telescopic boom 4. Here, only the main flowchart will be described, and the corresponding description in the first embodiment is used for the automatic storage start / end control and the bucket 5 swing control (the same applies to the following embodiments). To do).
[0073]
  The automatic storage control in the second embodiment is based on the automatic storage control in the first embodiment. In addition, the interference determination between the bucket 5 and the control box 6 and the like accompanying the contraction movement of the telescopic boom 4 is performed. This is one that incorporates interference avoidance (that is, one that executes all the steps of the operation sequence diagram of FIG. 4), and thereby, safety and reliability of work during automatic storage control than in the case of the first embodiment. Is a further enhancement. The contents of this automatic storage control will be described below based on the flowchart.
[0074]
  The automatic storage control is started when the automatic storage operation switches 15 and 16 are turned on by the operator. When the control is started, first, in step S1, it is determined whether or not the telescopic boom 4 is currently fully retracted. If it is in the fully contracted state, the process proceeds to step S10 as it is, but if it is determined that it is not in the fully contracted state, the interference determination control, interference avoidance control, and reduction control in steps S2 to S9 are executed, and thereafter The process proceeds to step S10.
[0075]
  That is, if it is determined that the retracted state is not fully contracted, first, in step S2, when the telescopic boom 4 is moved in a contracted state at the current turning angle position, the bucket 5 is mounted on the vehicle 2 or the control box provided therein. It is determined whether or not there is a possibility of interference with 6 etc.
[0076]
  Here, if it is determined that there is no possibility of interference, the telescopic boom 4 is immediately contracted (steps S7 to S9), and the process proceeds to step S10. However, it is determined that there is a possibility of interference. If so, in step S 3, the current undulation angle of the telescopic boom 4 interferes with the bucket 5 on the vehicle 2 or the control box 6 provided in the bucket 5 due to the contraction movement of the telescopic boom 4. Determine if it is below the possible undulation angle. If it is determined that there is no possibility of interference, the telescopic boom 4 is immediately reduced (steps S7 to S9), and the process proceeds to step S10. However, there is a possibility of interference. If it is determined, the process proceeds to step S4 in order to avoid interference by raising and lowering the telescopic boom 4. In step S4, the hoisting movement of the telescopic boom 4 is executed, and the hoisting movement is stopped when the hoisting angle of the telescopic boom 4 becomes equal to or higher than the hoisting angle that may cause interference by the hoisting movement (step S4). S5 and step S6). Thus, even if the telescopic boom 4 is fully contracted, the bucket 5 does not interfere with the vehicle 2 or the like.
[0077]
  In this embodiment, steps S2 and S3 correspond to “reduction determination means” in the claims.
[0078]
  Next, in order to fully retract the telescopic boom 4, the retracting motion of the telescopic boom 4 is executed in step S7, and when it reaches the fully contracted state, the contracting motion is stopped (steps S8 and S9), and thereafter The process proceeds to step S10.
[0079]
  In step S <b> 10, the specified undulation angle “θx” corresponding to the current turning angle (that is, the actual turning angle) of the telescopic boom 4 is read from the memory 21. The specified undulation angle “θx” is selected from the first specified undulation angle “θ1” and the second specified undulation angle “θ4” in FIG. 3 according to the actual turning angle.
[0080]
  Next, in step S11, it is determined whether or not the current undulation angle of the telescopic boom 4 is equal to or greater than the specified undulation angle “θx” selected in step S10. Here, if it is equal to or greater than the specified undulation angle “θx”, the process proceeds to the turning control of step S15 as it is, but if it is equal to or less than the specified undulation angle “θx”, the expansion / contraction when the telescopic boom 4 is rotated is performed. In order to avoid interference between the boom 4 and the control box 6 and the like by raising and lowering the telescopic boom 4, the telescopic boom 4 is lifted in step S12, and the hoisting angle becomes equal to or greater than the specified hoisting angle “θx”. At this point, the raising and lowering of the telescopic boom 4 is stopped (step S13 and step S14), and then the process proceeds to step S15.
[0081]
  Next, in order to position the telescopic boom 4 immediately above the storage position, it is determined in step S15 whether or not the current turning angle of the telescopic boom 4 is within a specified range. Here, if the current turning angle is within the specified range, the process proceeds to the overturning motion of the telescopic boom 4 (step S20), but if it is outside the specified range, the swinging motion of the telescopic boom 4 is executed. That is, first, in step S16, the turning direction of the telescopic boom 4 (that is, the turning direction that can be positioned within the specified range at the shortest distance) is determined, and based on this determination, the telescopic boom 4 is turned right or Turn left (step S17) and stop turning when the turning angle reaches the specified range (step S18 and step S19), and then move to step S20.
[0082]
  In step S20, since the telescopic boom 4 is already positioned immediately above the boom support base 8 (that is, directly above the storage position), the telescopic boom 4 is immediately moved down, and the telescopic boom 4 is removed. It is laid down and placed on the receiving part of the boom support base 8. Thus, automatic storage from the working posture of the telescopic boom 4 to the storage position is completed.
[0083]
  In this embodiment, only the fall movement of the telescopic boom 4 is executed in step S20, and the step of stopping the fall movement upon completion of the fall (that is, the completion of storage to the storage position) is provided. The reason is the same as in the first embodiment (the same applies to the following embodiments).
[0084]
  As described above, according to the automatic storage control of the second embodiment, the same effects as those of the automatic storage control of the first embodiment can be obtained. A unique effect such as can be obtained. That is, in the second embodiment, when the telescopic boom 4 is automatically retracted from the working position to the retracted position, before the telescopic boom 4 is contracted, whether or not the contracting movement is permitted, that is, It is determined whether or not there is a possibility of interference of the bucket 5 due to the contraction movement, and when there is a possibility of interference, this is avoided by raising and lowering the telescopic boom 4, and then the pivoting movement of the telescopic boom 4 is performed. And the retractable boom 4 is moved to the retracted position. Therefore, for example, the telescopic boom 4 is compared with a case where it is not determined whether or not the bucket 5 may interfere with the contraction of the telescopic boom 4. Therefore, the safety and certainty in the automatic storage control are further improved.
[0085]
  Third embodiment
  FIG. 10 shows a main flowchart in the third embodiment of the automatic storage control of the telescopic boom 4.
[0086]
  The automatic storage control in the third embodiment is based on the automatic storage control in the second embodiment, and is used for determining the interference between the bucket 5 and the control box 6 and the like accompanying the reduction movement of the telescopic boom 4. Further, the swing angle of the bucket 5 is also taken into account, and with this configuration, the safety and reliability of the operation during the automatic storage control are further enhanced as compared with the case of the second embodiment. . The contents of this automatic storage control will be described below based on the flowchart.
[0087]
  The automatic storage control is started when the automatic storage operation switches 15 and 16 are turned on by the operator. When the control is started, first, in step S1, it is determined whether or not the telescopic boom 4 is currently fully retracted. Then, if it is in the fully contracted state, the process proceeds to step S11 as it is, but if it is determined that it is not in the fully contracted state, the interference determination control, interference avoidance control, and reduction control in steps S2 to S10 are executed, and thereafter The process proceeds to step S11.
[0088]
  That is, if it is determined that the retracted state is not fully contracted, first, in step S2, when the telescopic boom 4 is moved in a contracted state at the current turning angle position, the bucket 5 is mounted on the vehicle 2 or the control box provided therein. It is determined whether or not there is a possibility of interference with 6 etc. Here, when it is determined that there is no possibility of interference, the telescopic boom 4 is immediately contracted (step S8), and the contracting motion is stopped when the fully contracted state is reached (steps S9 and S10). And the process proceeds to step S11.
[0089]
  On the other hand, if it is determined in step S2 that there is a possibility of interference, in step S3, the current undulation angle of the telescopic boom 4 is reduced by the contraction movement of the telescopic boom 4. Is less than the undulation angle that may interfere with the vehicle 2 or the control box 6 provided in the vehicle 2 or the like. If it is determined that there is no possibility of interference, the telescopic boom 4 is immediately contracted (step S8), and the contraction is stopped when the fully contracted state is reached (step S9). And step S10), and then the process proceeds to step S11. However, if it is determined that there is a possibility of interference, the process further proceeds to step S4, where the current swing angle of the bucket 5 is changed to the vehicle 2 or the like when the telescopic boom 4 is contracted. It is determined whether or not it is in a range where there is a possibility of interference. And when it is judged that there is no possibility of interference, it shifts to execution of the reduction movement of the telescopic boom 4 (step S8 to step S10), but when it is judged that there is a possibility of interference, In order to avoid interference by raising and lowering the telescopic boom 4, the process proceeds to step S5.
[0090]
  In step S5, the raising and lowering movement of the telescopic boom 4 is executed. Then, when the undulation angle of the telescopic boom 4 becomes equal to or greater than the undulation angle that may cause interference, the raising / lowering motion is stopped (steps S5 to S7). Thus, even if the telescopic boom 4 is fully contracted, the bucket 5 does not interfere with the vehicle 2 or the like.
[0091]
  In this embodiment, steps S2 to S4 correspond to “reduction determination means” in the claims.
[0092]
  Next, in order to fully retract the telescopic boom 4, the contraction movement of the telescopic boom 4 is executed in step S8, and when the telescopic boom 4 reaches the fully contracted state, the contraction motion is stopped (step S9 and step S10). The process proceeds to step S11.
[0093]
  In step S <b> 11, the specified undulation angle “θx” corresponding to the current turning angle of the telescopic boom 4 (that is, the actual turning angle) is read from the memory 21. In step S12, it is determined whether or not the current undulation angle of the telescopic boom 4 is equal to or larger than the specified undulation angle “θx” selected in step S11. Here, when it is equal to or greater than the specified undulation angle “θx”, the process proceeds to the turning control of step S16 as it is, but when it is equal to or less than the specified undulation angle “θx”, the expansion / contraction when the telescopic boom 4 is rotated is performed. In order to avoid interference between the boom 4 and the control box 6 and the like by raising and lowering the telescopic boom 4, the telescopic boom 4 is lifted in step S13, and the hoisting angle becomes equal to or greater than the specified hoisting angle “θx”. At that time, the lifting and lowering of the telescopic boom 4 is stopped (step S14 and step S15), and then the process proceeds to step S16.
[0094]
  Next, in order to position the telescopic boom 4 immediately above the storage position, it is determined in step S16 whether or not the current turning angle of the telescopic boom 4 is within a specified range. Here, if the current turning angle is within the specified range, the process proceeds to the overturning motion (step S21) of the telescopic boom 4 as it is, but if it is out of the specified range, the turning motion of the telescopic boom 4 is executed. That is, first, in step S17, the turning direction of the telescopic boom 4 is determined, and based on this determination, the telescopic boom 4 is turned right or left (step S18), and when the turning angle reaches a specified range. The turning motion is stopped (step S19 and step S20), and thereafter, the process proceeds to step S21.
[0095]
  In step S21, since the telescopic boom 4 is already positioned immediately above the boom support base 8 (that is, directly above the storage position), the telescopic boom 4 is immediately moved down, and the telescopic boom 4 is removed. It is laid down and placed on the receiving part of the boom support base 8. Thus, automatic storage from the working posture of the telescopic boom 4 to the storage position is completed.
[0096]
  Fourth embodiment
  FIG. 11 shows a main flowchart in the fourth embodiment of the automatic storage control of the telescopic boom 4.
[0097]
  The automatic storage control in the fourth embodiment is similar to the second and third embodiments in that the bucket 5 is retracted by the contraction movement of the telescopic boom 4 prior to the contraction movement of the telescopic boom 4. It is determined whether or not there is a possibility of interference with the vehicle 2 or the like, and if there is a possibility of interference, control for avoiding this is performed, and then the telescopic boom 4 is contracted. However, in this embodiment, as described below, it is determined whether or not the avoidance of the interference can be avoided by the swing movement of the bucket 5. The interference avoidance is achieved by raising / lowering the telescopic boom 4 only when it is difficult to avoid interference by swinging movement. This is different from the second and third embodiments described above. The contents of this automatic storage control will be described below based on the flowchart.
[0098]
  The automatic storage control is started when the automatic storage operation switches 15 and 16 are turned on by the operator. When the control is started, first, in step S1, it is determined whether or not the telescopic boom 4 is currently fully retracted. Then, if it is in the fully contracted state, the process proceeds to step S13 as it is, but if it is determined that it is not in the fully contracted state, the interference determination control, interference avoidance control, and reduction control in steps S2 to S12 are executed, and thereafter The process proceeds to step S13.
[0099]
  That is, if it is determined in step S1 that it is “not fully retracted”, the bucket 5 is moved to the vehicle 2 when the telescopic boom 4 is reduced in the current turning angle, undulation angle, and bucket swing angle in step S2. Judge whether there is a possibility of interference with the above. If it is determined that there is no possibility of interference, the process proceeds to step S7 to reduce the telescopic boom 4. However, if it is determined that there is a possibility of interference, the process proceeds to step S3. Then, it is determined whether or not the interference can be avoided by correcting the swing angle of the bucket 5. In this embodiment, step S2 corresponds to “reduction determination means” in the claims.
[0100]
  If it is determined that the interference can be avoided by correcting the swing angle of the bucket 5, first, in step S4, the correction direction of the swing angle of the bucket 5 is determined, and the bucket 5 is swung in the correction direction. (Step S4), the swing movement of the bucket 5 is stopped (Step S5 and Step S6) when the swing angle is in a range where the interference does not occur, and the process proceeds to Step S7. In this embodiment, step S3 corresponds to “avoidance determining means” in the claims.
[0101]
  On the other hand, if it is determined in step S3 that the interference cannot be avoided by correcting the swing angle of the bucket 5, the telescopic boom is to be avoided in step S10 in order to avoid this by raising and lowering the telescopic boom 4. 4 is executed, and when the hoisting angle of the telescopic boom 4 becomes equal to or greater than the hoisting angle at which the interference does not occur, the hoisting motion is stopped (step S11 and step S12), and thereafter, the process proceeds to step S7. Transition.
[0102]
  In step S7, even if the telescopic boom 4 is already fully contracted by the execution of each control, there is no interference between the bucket 5 and the vehicle 2 or the like. Is executed and the reduction movement is stopped when the full reduction state is reached (steps S8 and S9), and then the process proceeds to step S13.
[0103]
  In step S <b> 13, the specified undulation angle “θx” corresponding to the current turning angle (that is, the actual turning angle) of the telescopic boom 4 is read from the memory 21. Next, in step S14, it is determined whether or not the current undulation angle of the telescopic boom 4 is equal to or larger than the specified undulation angle “θx” selected in step S13. Here, when it is equal to or greater than the specified undulation angle “θx”, the process proceeds to the turning control of step S18 as it is. In order to avoid interference between the boom 4 and the control box 6 and the like by raising and lowering the telescopic boom 4, the hoisting movement of the telescopic boom 4 is executed in step S15, and the hoisting angle becomes equal to or greater than the specified hoisting angle “θx”. At this point, the lifting and lowering of the telescopic boom 4 is stopped (step S16 and step S17), and then the process proceeds to step S18.
[0104]
  Next, in order to position the telescopic boom 4 immediately above the storage position, it is determined in step S18 whether or not the current turning angle of the telescopic boom 4 is within a specified range. Here, if the current turning angle is within the specified range, the process proceeds to the overturning motion (step S23) of the telescopic boom 4 as it is, but if it is out of the specified range, the turning motion of the telescopic boom 4 is executed. That is, first, in step S19, the turning direction of the telescopic boom 4 is determined, and based on this determination, the telescopic boom 4 is turned right or left (step S20), and when the turning angle reaches a specified range. The turning motion is stopped (step S21 and step S22), and thereafter, the process proceeds to step S23.
[0105]
  In step S23, since the telescopic boom 4 is already positioned immediately above the boom support base 8 (ie, directly above the storage position), the telescopic boom 4 is immediately moved down, and the telescopic boom 4 is removed. It is laid down and placed on the receiving part of the boom support base 8. Thus, automatic storage from the working posture of the telescopic boom 4 to the storage position is completed.
[0106]
  Fifth embodiment
  FIG. 12 shows a main flowchart in the fifth embodiment of the automatic storage control of the telescopic boom 4.
[0107]
  The automatic storage control in the fifth embodiment is based on the configuration of the third embodiment, and there is a possibility of interference between the bucket 5 and the vehicle 2 or the like accompanying the contraction movement of the telescopic boom 4 in this basic configuration. In addition, an element of the length of the telescopic boom 4 is added. That is, when the telescopic boom 4 is contracted from the current boom length, even if the bucket 5 may interfere with the vehicle 2 or the like, the boom at the time of actual interference with the current boom length. When there is an opening between the length, the movement is reduced to the boom length that actually causes interference, and then interference avoidance control is executed. The contents of this automatic storage control will be described below based on the flowchart.
[0108]
  The automatic storage control is started when the automatic storage operation switches 15 and 16 are turned on by the operator. When the control is started, first, in step S1, it is determined whether or not the telescopic boom 4 is currently fully retracted. Then, if it is in the fully contracted state, the process proceeds to step S15 as it is, but if it is determined that it is not in the fully contracted state, the interference determination control, the interference avoidance control, etc. in steps S2 to S14 are executed, and then step The process proceeds to S15.
[0109]
  That is, if it is determined that the retracted state is not fully contracted, first, in step S2, when the telescopic boom 4 is moved in a contracted state at the current turning angle position, the bucket 5 is mounted on the vehicle 2 or the control box provided therein. It is determined whether or not there is a possibility of interference with 6 etc. Here, if it is determined that there is no possibility of interference, the telescopic boom 4 is immediately contracted (step S12), and the contraction is stopped when the fully contracted state is reached (steps S13 and S13). S14), the process proceeds to step S15.
[0110]
  On the other hand, if it is determined in step S2 that there is a possibility of interference, in step S3, the current undulation angle of the telescopic boom 4 is reduced by the contraction movement of the telescopic boom 4. It is determined whether or not the angle is equal to or less than the undulation angle that may interfere with the vehicle 2 or the control box 6 provided therein. When it is determined that there is no possibility of interference, the telescopic boom 4 is immediately reduced (steps S12 to S14), but when it is determined that there is a possibility of interference. Further proceeds to step S4, where it is determined whether or not the current swing angle of the bucket 5 is within a range in which the bucket 5 may interfere with the vehicle 2 or the like as the telescopic boom 4 is retracted. To be judged. And when it is judged that there is no possibility of interference, it transfers to execution of the reduction movement of the telescopic boom 4 (step S12-step S14).
[0111]
  On the other hand, when it is determined that there is a possibility of interference, it is determined how much the telescopic boom 4 is actually interfered with when the telescopic boom 4 is reduced from the current boom length. That is, in step S5, it is determined whether or not the current boom length of the telescopic boom 4 is equal to or longer than the boom length “L1” when the actual interference occurs. The process proceeds to S9. If the boom length is “L1” or more, the telescopic boom 4 is contracted to the boom “L1” (step S6 to step S8), and then the process proceeds to step S9.
[0112]
  The boom length “L1” is set based on the current undulation angle and turning angle of the telescopic boom 4 and the swing angle of the bucket 5, and can be calculated by calculation or previously stored in the memory 21. Is stored as In this embodiment, steps S2 to S5 correspond to “reduction determination means” in the claims.
[0113]
  Next, in step S9, the up-and-down motion of the telescopic boom 4 is executed in order to avoid the interference, and the up-and-down angle of the telescopic boom 4 is greater than the up-and-down angle that may cause interference by this up-and-down motion. At this time, the raising / lowering motion is stopped (steps S9 to S11). Thus, even if the telescopic boom 4 is fully contracted, the bucket 5 does not interfere with the vehicle 2 or the like. Therefore, next, in order to fully retract the telescopic boom 4, the contraction movement of the telescopic boom 4 is executed in step S12, and the contraction motion is stopped when the fully contracted state is reached (step S13 and step S14). Thereafter, the process proceeds to step S15.
[0114]
  In step S <b> 15, the specified undulation angle “θx” corresponding to the current turning angle (that is, the actual turning angle) of the telescopic boom 4 is read from the memory 21. The specified undulation angle “θx” is selected from the first specified undulation angle “θ1” and the second specified undulation angle “θ4” in FIG. 3 according to the actual turning angle.
[0115]
  Next, in step S16, it is determined whether or not the current undulation angle of the telescopic boom 4 is greater than or equal to the specified undulation angle “θx” selected in step S15. Here, when it is equal to or greater than the specified undulation angle “θx”, the process proceeds to the turning control of step S20 as it is. In order to avoid the interference between the boom 4 and the control box 6 and the like by raising and lowering the telescopic boom 4, the telescopic boom 4 is lifted in step S 17, and the hoisting angle becomes equal to or greater than the specified hoisting angle “θx”. At this point, the raising / lowering movement of the telescopic boom 4 is stopped (step S18 and step S19), and the process proceeds to step S20.
[0116]
  Next, in order to position the telescopic boom 4 immediately above the storage position, it is determined in step S20 whether or not the current turning angle of the telescopic boom 4 is within a specified range. Here, if the current turning angle is within the specified range, the process proceeds to the overturning motion of the telescopic boom 4 (step S25), but if it is outside the specified range, the turning motion of the telescopic boom 4 is executed. That is, first, in step S21, the turning direction of the telescopic boom 4 is determined, and based on this determination, the telescopic boom 4 is turned right or left (step S22), and when the turning angle reaches within a specified range. The turning motion is stopped (step S23 and step S24), and then the process proceeds to step S25.
[0117]
  In step S25, since the telescopic boom 4 is already positioned immediately above the boom support base 8 (ie, directly above the storage position), the telescopic boom 4 is immediately moved down, and the telescopic boom 4 is removed. It is laid down and placed on the receiving part of the boom support base 8. Thus, automatic storage from the working posture of the telescopic boom 4 to the storage position is completed.
[0118]
  Thus, in this embodiment, when the telescopic boom 4 is automatically retracted from the working position to the retracted position, interference occurs between the bucket 5 and the vehicle 2 or the like due to the contraction movement of the telescopic boom 4. If it is determined that there is a possibility, whether there is a difference between the current boom length and the boom length at the time of actual interference (corresponding to “reduction margin length” in the claims) If it is determined and there is a margin between the two, prior to performing interference avoidance by raising and lowering the telescopic boom 4, it is reduced in advance to a boom length that may actually cause interference. Therefore, the bucket 5 and the swivel base 3 in the case where the telescopic boom 4 is lifted and raised for avoiding interference, for example, as compared with the case where such a prior reduction movement is not performed. The distance gets shorter, Operator according to an easy confirmation of the operation of the bucket 5 is much improved safety in the operation of storing the telescopic boom 3.
[0119]
  Sixth embodiment
  FIG. 13 shows a main flowchart in the sixth embodiment of the automatic storage control of the telescopic boom 4.
[0120]
  The automatic storage control in the sixth embodiment is positioned as a development example of the automatic storage control according to the fifth embodiment.
[0121]
  That is, in the automatic storage control according to the fifth embodiment, if it is determined that the retractable boom 4 is not fully retracted after the control is started, the current boom length is fully retracted. In such a case, it is determined whether or not interference occurs, and if it is determined that interference occurs, the telescopic boom 4 is contracted to the boom length at which the interference actually occurs, and then measures for avoiding interference are taken. It is a thing. On the other hand, in the automatic storage control in this embodiment, when it is determined that the telescopic boom 4 is not fully retracted, the reduction limit length corresponding to the actual undulation angle and turning angle of the telescopic boom 4 at that time. Is read out from the memory 21, and the retracting movement of the telescopic boom 4 is executed within the range of the contraction limit length.
[0122]
  The contents of the automatic storage control in this embodiment will be specifically described below based on the flowchart.
[0123]
  The automatic storage control is started when the automatic storage operation switches 15 and 16 are turned on by the operator. When the control is started, first, in step S1, it is determined whether or not the telescopic boom 4 is currently fully retracted. If it is determined that it is in the fully contracted state, the process proceeds to step S14 as it is, but if it is determined that it is not in the fully contracted state, the contracting motion within the range of the boom length in which the contracting motion is allowed is performed. In order to execute, the process proceeds to step S2.
[0124]
  In step S 2, the reduction limit length “Lx” for the current undulation angle and the turning angle and the specified undulation angle “θx” for the turning angle are read from the memory 21. In step S3, the boom length “L” of the current telescopic boom 4 is compared with the reduction limit length “Lx”, and if “L <Lx” (that is, the difference between the two is a patent). In this case, there is no room for reducing the telescopic boom 4 without causing interference between the bucket 5 and the control box 6 or the like. In order to avoid the interference, the process proceeds to the following step S8.
[0125]
  On the other hand, if it is determined that “L> Lx”, there is a margin for moving the telescopic boom 4 to contract without causing the interference. In this case, the contraction of the telescopic boom 4 is performed. A reduction motion within the range of the margin length is executed (steps S4 to S6), and then whether or not the telescopic boom 4 is fully contracted in step S7 (in other words, the margin for reduction is lost). Whether the state is because the telescopic boom 4 is fully contracted or because there is a possibility of causing interference).
[0126]
  Here, when it is determined that the telescopic boom 4 is already fully retracted, the process proceeds to step S14 to execute the raising / lowering control of the telescopic boom 4, but when it is determined that the telescopic boom 4 is not fully contracted. In order to enable the telescopic boom 4 to be contracted again, the telescopic boom 4 is raised and lowered (step S8), and when the hoisting angle becomes equal to or greater than the specified hoisting angle “θx” (ie, When the angle becomes equal to or greater than the undulation angle at which the interference can be avoided), the raising and lowering of the telescopic boom 4 is stopped (step S10). In this state, the retracting movement of the telescopic boom 4 is performed again, and when the telescopic boom 4 is fully contracted, the contracting motion is stopped (steps S11 to S13). The process proceeds to step S19 for execution.
[0127]
  On the other hand, if it is determined in step S7 that the telescopic boom 4 has already been fully retracted, the process proceeds to step S14. In step S14, the specified undulation angle “θx” corresponding to the current turning angle of the telescopic boom 4 is read from the memory 21. In step S15, the current undulation angle of the telescopic boom 4 is determined in step S14. It is determined whether or not the selected specified undulation angle “θx” or more.
[0128]
  Here, when it is determined that the angle is equal to or greater than the specified undulation angle “θx”, the process proceeds to the turning control of step S19 as it is. In order to avoid interference between the telescopic boom 4 and the control box 6 and the like in the case, the hoisting movement of the telescopic boom 4 is executed in step S16, and the hoisting angle is the specified hoisting angle “θx”. At the point of time, the elevating motion of the telescopic boom 4 is stopped (step S17 and step S18), and then the process proceeds to step S19.
[0129]
  In step S20, it is determined whether or not the current turning angle of the telescopic boom 4 is within a specified range in order to position the telescopic boom 4 immediately above the retracted position. Here, if the current turning angle is within the specified range, the process proceeds to the overturning motion (step S24) of the telescopic boom 4 as it is, but if it is outside the specified range, the turning motion of the telescopic boom 4 is executed. That is, first, in step S20, the turning direction of the telescopic boom 4 is determined, and based on this determination, the telescopic boom 4 is turned right or left (step S21), and when the turning angle reaches a specified range. The turning motion is stopped (step S22 and step S23), and thereafter, the process proceeds to step S24.
[0130]
  In step S24, since the telescopic boom 4 is already positioned immediately above the boom support base 8 (ie, directly above the storage position), the telescopic boom 4 is immediately moved down, and the telescopic boom 4 is removed. It is laid down and placed on the receiving part of the boom support base 8. Thus, automatic storage from the working posture of the telescopic boom 4 to the storage position is completed.
[0131]
  Thus, in this embodiment, interference with the control box 6 or the like is caused with respect to the reduction movement of the telescopic boom 4 as the first stage of the automatic retracting operation from the working posture of the telescopic boom 4 to the retracted position. The contraction movement of the telescopic boom 4 is executed within the range of the contraction margin length that does not occur. Therefore, for example, the telescopic boom 3 can be compared with a configuration that does not have the concept of executing the reduction motion within the range of such a reduction margin length and the reduction motion again after avoiding interference. Therefore, the safety in the storing operation is further improved.
[0132]
  Other
  (1) In the above embodiment, the aerial work vehicle 1 has been described as an example. However, the present invention is not limited to such an aerial work vehicle, but a working machine equipped with a telescopic boom, such as a crane vehicle with a telescopic boom. It can be widely applied to.
[0133]
  (2) In the above-described embodiment, the “retractable retractable type” in which the telescopic boom 4 is in a state in which the distal end portion thereof is directed toward the rear of the vehicle in the retracted posture of the aerial work vehicle 1 is described as an example. Of course, the present invention is not limited to this, and can be applied to, for example, a “front retractable type” in which the distal end portion of the telescopic boom 4 is stored in a state of facing the front of the vehicle.
[0134]
  (3) In the above embodiment, as shown in FIG. 3, an example having two specified undulation angles has been described as an example. However, the present invention is not limited to such a set number. It can be set arbitrarily according to the conditions of use of the machine.
[Brief description of the drawings]
FIG. 1 is a side view of an aerial work vehicle equipped with a control device according to the present invention.
FIG. 2 is a view taken in the direction of arrows II-II in FIG.
FIG. 3 is an operation explanatory diagram at the time of automatic storage operation in the aerial work vehicle shown in FIG. 1;
FIG. 4 is an explanatory diagram of an operation sequence at the time of automatic storage operation of the aerial work vehicle shown in FIG. 1;
FIG. 5 is a functional block diagram of a control device according to the present invention.
FIG. 6 is a flowchart of automatic storage monitoring control in the first embodiment of the control device according to the present invention;
FIG. 7 is a flowchart of automatic storage control in the first embodiment of the control device according to the present invention;
FIG. 8 is a flowchart of bucket control in the first embodiment of the control device according to the present invention;
FIG. 9 is a flowchart of automatic storage control in the second embodiment of the control device according to the present invention;
FIG. 10 is a flowchart of automatic storage control in a third embodiment of the control apparatus according to the present invention;
FIG. 11 is a flowchart of automatic storage control in a fourth embodiment of the control apparatus according to the present invention;
FIG. 12 is a flowchart of automatic storage control in a fifth embodiment of the control apparatus according to the present invention;
FIG. 13 is a flowchart of automatic storage control in a sixth embodiment of the control apparatus according to the present invention;
[Explanation of symbols]
  1 is an aerial work vehicle, 2 is a vehicle, 3 is a swivel base, 4 is a telescopic boom, 5 is a bucket, 6 is a control box, 7 is a tool box, 8 is a boom support base, 11 is a boom length detector, 12 Is a swing angle detector, 12 is a swing angle detector, 14 is a swing angle detector, 14 is a bucket swing angle detector, 15 and 16 are automatic storage operation switches, 20 is a controller, 21 is a memory, and 31 is a lift The reference numeral 32 is an expansion / contraction valve, the reference numeral 33 is a turning valve, the reference numeral 41 is a hoisting hydraulic cylinder, the reference numeral 42 is an expansion / contraction hydraulic cylinder, the reference numeral 43 is a turning hydraulic motor, and the reference numeral 44 is a bucket swing hydraulic motor.

Claims (5)

A telescopic boom is mounted on a swivel mounted on a vehicle so as to be extendable and retractable. The telescopic boom is telescopically driven, retracted or swung in a working position, and retracted. Control in which the retractable boom is retracted from the working posture to the retracted posture of the working machine with the telescopic boom mounted and fixed on the boom support provided on the vehicle side when the telescopic boom is fully contracted and lying down. A device,
Boom length detecting means for detecting the length of the telescopic boom;
Turning angle detection means for detecting the current turning angle of the telescopic boom;
Undulation angle detection means for detecting the current undulation angle of the telescopic boom;
In the case of turning the telescopic boom to the revolving position corresponding to the retracted posture, the undulation angle that allows the telescopic boom to be swung is set as a single or a plurality corresponding to the swivel angle of the telescopic boom. A turning allowable undulation angle holding means for holding this as a turning allowable undulation angle;
When the telescopic boom is retracted to the retracted position, information from the boom length detecting means, turning angle detecting means, and undulation angle detecting means is received, and the current boom length of the telescopic boom is changed from the current boom length to the fully retracted direction. A reduction determination means for sequentially determining whether or not there is a reduction margin length from the current boom length;
Comparing means for comparing the current undulation angle detected by the undulation angle detection means with the allowable turning angle obtained from the allowable turning angle holding means;
When the contraction movement of the telescopic boom is restricted by receiving information from the contraction determination means, the telescopic boom is lifted up to avoid the restriction and the telescopic boom is contracted, or the telescopic boom When the reduction allowance length is reduced and the reduction allowance length disappears, the telescopic boom is raised and the telescopic boom is contracted again. When it is determined that the undulation angle is larger than the allowable turning angle, the telescopic boom is turned from the current turning position to the turning position when retracted, and the current undulation angle is determined to be smaller than the allowable turning angle. And an operation control means for controlling the operation of the telescopic boom so that the telescopic boom is swung after the telescopic boom is raised up to the allowable swing angle. Machine of the control device. In claim 1 ,
A bucket is provided at the tip of the telescopic boom,
The reduction determination means performs the restriction determination on the reduction movement of the telescopic boom when there is a possibility of interference between the bucket and the vehicle side member when the telescopic boom is reduced from the current boom length. Or the difference between the current boom length of the telescopic boom and the boom length when the bucket interferes with the vehicle-side member is determined as the reduction margin length,
The operation control means is configured to turn the telescopic boom based on the information from the comparison means or to turn the telescopic boom based on the information from the comparison means when the reduction determination means determines whether the expansion boom is contracted or disappears. The telescopic boom is configured to execute the hoisting operation of the telescopic boom to avoid disappearance of the restriction or the reduction margin length prior to the control of the turning operation after the hoisting operation. A control device for a work machine. In claim 1,
A bucket is provided at the tip of the telescopic boom so that it can swing.
A swing angle detecting means for detecting the swing angle of the bucket;
The reduction determination means receives information on the swing angle of the bucket from the swing angle detection means, and the bucket and the vehicle side member may interfere with each other when the telescopic boom is reduced from the current boom length. while current boom length and the bucket of the upper SL telescopic boom is configured to determine the difference between the boom length of time interferes with the vehicle-side member as the reduced margin length if there is,
If the Richijimi the stop determining small margin length is by the said reduction judging means includes avoidance determination means for determining the likelihood of extinction avoid condensation small margin length,
Said operation control means, when the stop determining shrinkage small margin length of the telescopic boom is by the reduction determination unit, after turning operation or Okoshiossha operation of the telescopic boom based on the information from the comparing means prior to the control of the turning operation, in order to avoid disappearance of the reduced small margin length, the upper SL telescopic boom telescopic boom with the work machine control apparatus which is characterized by being configured to perform Okoshiossha operation of . A telescopic boom is mounted on a swivel mounted on a vehicle so that it can be swung freely. The telescopic boom is mounted so that it can be driven up and down. Control in which the retractable boom is retracted from the working posture to the retracted posture of the working machine with the telescopic boom mounted and fixed on the boom support provided on the vehicle side when the telescopic boom is fully contracted and lying down. A device,
A bucket is provided at the tip of the telescopic boom so that it can swing.
  Swing angle detecting means for detecting the swing angle of the bucket;
  Boom length detecting means for detecting the length of the telescopic boom;
  Turning angle detection means for detecting the current turning angle of the telescopic boom;
  Undulation angle detection means for detecting the current undulation angle of the telescopic boom;
  In the case of turning the telescopic boom to the revolving position corresponding to the retracted posture, the undulation angle that allows the telescopic boom to be swung is set as a single or a plurality corresponding to the swivel angle of the telescopic boom. A turning allowable undulation angle holding means for holding this as a turning allowable undulation angle;
  When the telescopic boom is retracted into the retracted position, information on the boom length detecting means, turning angle detecting means, undulation angle detecting means, and swing angle detecting means is received, and the current boom length of the telescopic boom is received. Reduction determination means for determining whether or not the reduction movement in the total reduction direction is restricted;
  Comparing means for comparing the current undulation angle detected by the undulation angle detection means with the allowable turning angle obtained from the allowable turning angle holding means;
When it is determined that the current undulation angle is larger than the allowable turning undulation angle based on the information from the comparison means, the telescopic boom is swung from the current turning position to the swiveling turning position as it is, An operation control means for controlling the operation of the telescopic boom so that the telescopic boom is swung after the telescopic boom is raised to the swivel allowable undulation angle when it is determined that the angle is smaller than the allowable swing undulation angle;
  The operation control means is configured to control the turning operation of the telescopic boom or the turning operation after the raising operation based on the information from the comparison means when the reduction determination is determined by the reduction determination means. A control device for a working machine with a telescopic boom, wherein the telescopic boom is lifted to avoid the reduction restriction. A telescopic boom is mounted on a swivel mounted on a vehicle so as to be extendable and retractable. The telescopic boom is telescopically driven, retracted or swung in a working position, and retracted. Control in which the retractable boom is retracted from the working posture to the retracted posture of the working machine with the telescopic boom mounted and fixed on the boom support provided on the vehicle side when the telescopic boom is fully contracted and lying down. A device,
A bucket is swingably provided at the tip of the telescopic boom,
Boom length detecting means for detecting the length of the telescopic boom, and turning angle detecting means for detecting the current turning angle of the telescopic boom;
Undulation angle detection means for detecting the current undulation angle of the telescopic boom;
Swing angle detecting means for detecting the swing angle of the bucket;
When the telescopic boom is swung to the retracted swivel position corresponding to the retracted posture, the undulation angle that allows the telescopic boom to be swung is set to be single or plural according to the swivel angle of the telescopic boom. A turning allowable undulation angle holding means for holding this as a turning allowable undulation angle;
When the telescopic boom is retracted to the retracted position, detection information from the turning angle detecting means and the undulation angle detecting means is received, and the turning allowable undulation angle corresponding to the current turning angle is set to the turning allowable undulation angle holding means. And a comparison means for comparing the swivel allowable undulation angle with the current undulation angle,
When it is determined that the current undulation angle is larger than the allowable turning undulation angle based on the information from the comparison means, the telescopic boom is swung from the current turning position to the swiveling turning position as it is, An operation control means for controlling the operation of the telescopic boom so that the telescopic boom is swung after the telescopic boom is raised to the swivel allowable undulation angle when it is determined that the angle is smaller than the allowable swing undulation angle;
When the information about the swing angle of the bucket is received from the swing angle detecting means, and the telescopic boom is contracted from the current boom length, the telescopic boom is expanded when there is a possibility of interference between the bucket and the vehicle side member. Reduction determination means for performing restriction determination of boom reduction movement ;
When the regulation-size constant reduced dynamic is by the reduction determination means includes avoidance determination means for determining the possibility of the regulatory avoidance by swinging movement of the bucket,
It said operation control means, when the regulation-size constant reduction movement of the telescopic boom is by the reduction determination means turning operation after turning operation or Okoshiossha operation of the telescopic boom based on the information from the comparing means of prior to the control, in order to avoid the reduction regulations, when it is determined by the avoidance judging means that it is possible to the restriction avoidance by swinging movement of the bucket performs a swing movement of the bucket, of the bucket A control device for a working machine with a telescopic boom, wherein the control device is configured to execute an elevating operation of the telescopic boom when the restriction avoidance by swing motion is not possible.

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