JP4643981B2 - Non-stop operation control device for boom work vehicle - Google Patents

Description

  In the present invention, the boom contraction operation is performed in the middle of the boom overturning operation so that the tip of the boom does not exceed the limit of the allowable work range or the load factor of the overturning moment acting on the traveling body is limited. The present invention relates to a non-stop operation control device for a boom working vehicle that allows the boom overturning operation to be continued without exceeding the value.

  A boom work vehicle is a vehicle equipped with a work machine at the end of a boom that is provided on a traveling body so that it can be raised, retracted, and swiveled, and the work machine is a work platform for boarding workers. A vehicle and a work machine that is a lifting device are known as crane vehicles. In such a boom work vehicle, the boom can be lifted, retracted, and swiveled by operating the boom operation lever operated by the operator, and the working machine provided at the tip of the boom is moved to a desired position and required. Can be done.

  Such a boom working vehicle is provided with an overturn prevention device that prevents the traveling body from overturning due to the overturning moment generated by the weight of the boom and the load of the work implement. Various types of fall prevention devices are known. For example, in a type in which the movement of the tip of the boom is limited to a predetermined allowable work range (work range regulation type), The operation of the boom in which the tip part exceeds the limit line of the allowable work range is prohibited. Also, in the type (moment regulation type) that detects the overturning moment acting on the traveling body and prevents it from becoming excessive, the calculated load factor calculated as the ratio of the detected overturning moment to the predetermined allowable overturning moment is Boom operation that exceeds the set limit load factor is prohibited.

In addition to such a fall prevention device, a non-stop operation control device is known as a device for improving workability during boom collapse operation (see, for example, the following patent document). For this type of work range regulation type, the trace line is set so as to extend along the regulation line on the regulation line or in the area inside the regulation line, and the tip of the boom during the fall operation After reaching the trace line, by performing not only the boom overturning operation but also the boom contraction operation, the tip of the boom is moved downward along the trace line. In the case of the moment regulation type, after the calculated load factor reaches a predetermined load factor smaller than the limit load factor during the boom overturning operation, not only the boom overturning operation but also the boom contraction operation is performed. The boom tip is moved downward while the calculated load factor maintains the predetermined load factor. According to such a non-stop operation control device, even if the tip of the boom reaches the regulation line due to the tilting operation of the boom, or the calculated load factor reaches the limit load factor due to the tilting operation of the boom. Even in such a case, the tripping operation can be continuously performed without stopping the operation of the boom, so that the workability can be improved.
JP-A-4-19159 JP 2002-265199 A

  However, in the conventional non-stop operation control described above, when the tip of the boom shifts from the arc motion so far to a linear motion (non-stop operation), the traveling direction of the tip of the boom is suddenly changed. There is a problem that a large inertial force acts on the part. When the work machine is a work board for worker boarding, the inertial force acting on the work machine gives a great shock to the worker boarded on the work board. Also, when the boom overturning speed is high, the tip of the boom may exceed the regulation line, or the calculated load factor may exceed the limit load factor, and the boom tip may exceed the regulation line more than expected, or If the calculated load factor exceeds the limit load factor more than expected, the stability of the traveling body may be reduced.

  The present invention has been made in view of such a problem, and can prevent a large force from acting on the tip of the boom when the tip of the boom shifts from a circular motion to a straight motion. Non-stop operation control device for boom work vehicles configured to prevent the tip of the boom from greatly exceeding the regulation line or the calculated load factor from exceeding the limit load factor even when the lodging operation speed is high The purpose is to provide.

  A non-stop operation control device for a boom working vehicle according to a first aspect of the present invention is provided with a traveling body, and a traveling body that can be raised and lowered and telescopically movable, and a work machine (for example, the work table 40 in the embodiment) at the tip. Storage means (for example, storing trace line data provided on a regulation line that is a boundary line between the boom that has the boom and a region where movement of the tip of the boom is prohibited or in an area inside the regulation line (for example, In the embodiment, when it is determined that the tip of the boom is about to reach the trace line during the boom overturning operation of the controller 60 and the boom overturning operation, the boom contraction operation is performed together with the boom overturning operation. Accordingly, the non-stop operation control means (for example, the non-stop operation control unit 65 of the controller 60 in the embodiment) moves the boom tip downward along the trace line. The non-stop operation control means includes a guide line that extends from a track drawn by the tip of the boom and passes through a lower region of the track before the tip of the boom that is in a tilting operation reaches the trace line. The boom is operated so that the tip end portion of the boom reaches the trace line through the guide wire. The tip part of the boom is a concept including a work machine. Further, the trace line may be a set of points related to the restriction line by a specific expression, or may be a region having a certain width (horizontal distance).

  Here, the starting point of the guide wire is at a position corresponding to the boom length (at a position where the distance away from the trace line increases as the boom length increases), and according to the boom operation speed. It is preferable that the position is set (at a position where the distance away from the trace line increases as the boom overturning speed increases).

  A non-stop operation control device for a boom working vehicle according to a second aspect of the present invention is provided with a traveling body and a traveling body that can be raised and lowered and telescopically movable, and a work machine (for example, the work table 40 in the embodiment in the embodiment). ), A tipping moment detecting means for detecting a tipping moment acting on the traveling body, and a storing means (for example, an embodiment) storing the allowable tipping moment set as a limit value of the tipping moment acting on the traveling body. The calculated load factor, which is the ratio of the detected overturning moment to the allowable overturning moment, is calculated from the detected overturning moment detected by the storage unit 164) of the controller 60 and the overturning moment detecting means and the allowable overturning moment stored in the storage means. Load factor calculation means (for example, the load factor calculation unit 167 of the controller 60 in the embodiment); When it is determined that the calculated load factor calculated by the load factor calculation means is about to reach a predetermined limit load factor during the collapse operation of the boom, the boom contraction operation is performed in conjunction with the boom collapse operation. Thus, the non-stop operation control means (for example, the non-stop operation control unit 165 of the controller 60 in the embodiment) moves the tip of the boom downward so that the calculated load factor calculated by the load factor calculation unit does not exceed the limit load factor. And the non-stop operation control means before the calculated load factor calculated by the load factor calculating means reaches the first predetermined load factor determined as the same value as the limit load factor or a value smaller than the limit load factor. In addition, a guide line extending from the track drawn by the tip of the boom and passing through the lower region of the track is set, and the calculated negative value calculated by the load factor calculating means is set. The rate is the tip of the boom to a first predetermined load ratio is adapted to actuate the boom to move through the guide wire.

  Here, the non-stop operation control means is the tip of the boom when the calculated load factor calculated by the load factor calculating means reaches a second predetermined load factor determined as a value smaller than the first predetermined load factor. It is preferable to set the position of the part as the starting point of the guide line.

  The second predetermined load factor is preferably set to a value corresponding to the boom length (a smaller value as the boom length is larger). The second predetermined load factor is preferably set to a value corresponding to the boom operation speed of the boom (a value that decreases as the boom operation speed increases).

  In the non-stop operation control system for a boom working vehicle according to the first and second aspects of the present invention, the inclination angle formed by the guide line and the horizontal line is set to a value corresponding to the boom length (the boom length is It is preferable that the smaller value is set to a larger value) and the value is set to a value corresponding to the boom lowering operation speed (the higher the boom lowering operation speed, the larger the value).

  In the non-stop operation control device for a boom working vehicle according to the first aspect of the present invention, before the tip portion of the boom that is in a sloping operation reaches the trace line, the boom work vehicle extends from the track drawn by the tip of the boom. A guide line passing through the lower region is set, and the tip of the boom reaches the trace line through the guide line. For this reason, the tip of the boom that has been arcing up to now can smoothly move straight through the guide line (straight along the trace line), and the force acting on the tip of the boom (inertia) Power) can be reduced. In addition, even if the work machine is a work board for worker boarding, the worker on the work table does not need to receive a big shock. In addition, since the rapid change in direction of the tip of the boom can be suppressed even when the boom operation speed is high, the boom tip does not greatly deviate (overshoot) from the trace line, and the boom It can be prevented that the front end portion greatly deviates outside the regulation line and the vehicle posture becomes unstable.

  Here, if the starting point of the guide wire is set to a position corresponding to the boom length (a position where the distance away from the trace line increases as the boom length increases), the boom length As the height increases, the tip of the boom can be put on the guide wire earlier, and the tip of the boom can be moved with a small turning (falling) radius. The force acting on the part (inertial force) can be reduced, and the tip of the boom that has been performing the arc motion can be smoothly shifted to the rectilinear motion.

  Also, if the starting point of the guide wire is set at a position corresponding to the boom operation speed of the boom (the position where the distance away from the trace line increases as the boom operation speed increases), Since the tip of the boom can be put on the guide wire earlier as the tripping speed increases, the tip of the boom can be moved with a small turning (falling) radius. The force (inertial force) acting on the tip of the boom can be reduced, and the tip of the boom that has been performing the arc motion can be smoothly transferred to the straight motion.

  In the non-stop operation control device for a boom working vehicle according to the second aspect of the present invention, when the boom is in a sloping operation, before the calculated load factor calculated by the load factor calculating means reaches the first predetermined load factor, A guide line extending from the track drawn by the tip of the boom and passing through the lower region of the track is set, and the tip of the boom passes through this guide line until the calculated load factor becomes the first predetermined load factor. It is supposed to move. For this reason, the tip of the boom that has been performing an arc motion until then can smoothly transition to a straight-ahead motion (a motion that moves downward while the calculated load factor maintains the first predetermined load factor) through the guide wire. Thus, the force (inertial force) acting on the tip of the boom can be reduced. Thereby, the same effect as in the case of the first aspect of the present invention can be obtained.

  Here, if the position of the tip of the boom when the calculated load factor reaches the second predetermined load factor determined as a value smaller than the first predetermined load factor is set as the starting point of the guide wire, Setting of the starting point of the guide line is easy. Here, if the second predetermined load factor is set to a value corresponding to the boom length (smaller as the boom length is larger), the earlier the faster the boom length is, the faster the second predetermined load factor is. The tip of the boom can be placed on the guide wire, and the tip of the boom can be moved with a small turning (falling) radius, so the force acting on the tip of the boom regardless of the length of the boom ( Inertia force) can be reduced, and the tip of the boom that has been performing the arc motion can be smoothly shifted to the straight motion.

  In addition, if the second predetermined load factor is set to a value corresponding to the boom operation speed of the boom (a value that decreases as the boom operation speed increases), the higher the boom operation speed, the greater the load factor. Since the tip of the boom can be put on the guide wire early and the tip of the boom can be moved with a small rotation (falling) radius, it acts on the tip of the boom regardless of the boom operating speed. The force (inertial force) can be reduced, and the tip of the boom that has been performing the arc motion can be smoothly shifted to the straight motion.

  In the non-stop operation control device for a boom working vehicle according to the first and second aspects of the present invention, the inclination angle formed by the guide wire and the horizontal line is set to a value corresponding to the boom length (the boom length is small). If it is set to a value that is as large as possible), the tip of the boom that has been moving in a circular arc can be smoothly shifted to a straight movement regardless of the length of the boom.

  In addition, if the inclination angle between the guide line and the horizontal line is set to a value corresponding to the boom operation speed of the boom (a larger value when the boom operation speed is larger), it depends on the boom operation speed of the boom. Therefore, it is possible to smoothly shift the tip portion of the boom that has been moving in a circular arc to a straight movement.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 2 shows a crawler type aerial work vehicle 1 to which the non-stop operation control device according to the first embodiment of the present invention is applied. The aerial work vehicle 1 has a revolving body 20 on an upper part of a traveling body (crawler traveling body) 10, and a boom (extensible boom) 30 is attached to the upper part of the revolving body 20 via a foot pin 23 so as to be raised and lowered. It has a configuration.

  The revolving unit 20 can be swung within a range of 360 degrees in a horizontal plane with respect to the traveling unit 10 by rotating a revolving motor (hydraulic motor) 21 provided inside the revolving unit 20, and the boom 30 can be revolved. The swinging body 20 can be raised and lowered by extending and contracting a lifting cylinder (hydraulic cylinder) 22 provided between the body 20 and the body 20. The boom 30 includes a proximal boom 30a, an intermediate boom 30b, and a distal boom 30c. The boom 30 is telescopically moved by extending and contracting a telescopic cylinder (hydraulic cylinder) 31 provided inside the boom 30. Can be made.

  A vertical post 32 is provided at the tip of the boom 30, and a work table 40 for boarding an operator is rotatably attached to the vertical post 32. The work table 40 can be swung in a horizontal plane with respect to the vertical post 32 by rotating a swing motor (hydraulic motor) 41 provided in the work table 40. Since the vertical post 32 is always held in a vertical posture by a balancing device (not shown), as a result, the floor surface of the work table 40 is always kept in a horizontal posture.

  The work table 40 is provided with an upper operation device 50, which includes a boom operation lever 51 that performs the raising / lowering, expansion / contraction, and turning operations of the boom 30, and a work table operation lever 52 that performs the swing operation of the work table 40. Is provided (see FIG. 1). For this reason, the operator (operator) OP who has boarded the work table 40 operates the boom operation lever 51 to raise, lower, expand, and rotate the boom 30, and operates the work table operation lever 52 to move the work table 40 to the vertical post. By swinging around 32, it is possible to freely move the work table 40 on which it is placed and perform work at a desired position at a desired position.

  The traveling body 10 includes one crawler traveling device 12 on each of the left and right sides of the frame 11. Each crawler traveling device 12 includes an activation wheel 12a attached to the rear part of the frame 11, an idler wheel 12b attached to the front part of the frame 11, and a crawler belt 12c wound around the activation wheel 12a and the idler wheel 12b. It is comprised. Each starter wheel 12a of the left and right crawler travel devices 12 is driven by rotating a sprocket (not shown) by travel motors (hydraulic motors) 13 and 14 (only the left travel motor 13 is shown in FIG. 2) attached to the frame 11. The left and right traveling motors 13 and 14 can be rotated and stopped as desired by operating the traveling operation levers 53 and 54 (see FIG. 1) provided in the upper operating device 50. it can.

  As shown in FIG. 1, the hydraulic pump P provided in the traveling body 10 is driven by a power source (not shown) such as an engine or an electric motor, and the hydraulic oil discharged from the hydraulic pump P controls the operation of the hoisting cylinder 22. Undulation cylinder control valve V1 to perform, telescopic cylinder control valve V2 to control the operation of the telescopic cylinder 31, swing motor control valve V3 to control the operation of the swing motor 21, swing motor control valve V4 to control the operation of the swing motor 41 And corresponding hydraulic actuators (the hoisting cylinder 22, the telescopic cylinder 31, the swing motor 21, the swinging motor 41, and the left and right traveling motors 13, via the traveling motor control valves V5, V6 for controlling the operation of the left and right traveling motors 13, 14. 14).

  When the boom operation lever 51 or the work table operation lever 52 is operated by the operator OP on the work table 40, voltage signals corresponding to the operation direction (tilt direction) and the operation amount (tilt amount) of the lever are output. This is input to the valve operation control unit 61 of the controller 60. The valve operation control unit 61 of the controller 60 then controls each spool (not shown) of the control valves V1, V2, V3, V4 corresponding to the direction and amount corresponding to the voltage signal output by operating the levers 51, 52. ) Is electromagnetically driven. Here, the drive direction of each spool of the control valves V1, V2, V3, V4 is related to the drive direction (extension or contraction or rotation direction) of the corresponding hydraulic actuator, and the drive amount of each spool is supplied to the corresponding hydraulic actuator. This is related to the flow rate of hydraulic oil (flow rate per unit time), that is, the operating speed of each hydraulic actuator. Therefore, when the drive direction of the spool of each control valve is reversed, the operation direction of the corresponding hydraulic actuator is reversed, and the operation speed of the corresponding hydraulic actuator increases as the drive amount of the spool of each control valve increases.

  Here, the voltage level of the voltage signal output by the operation of the boom operation lever 51 or the swing operation lever 52 is substantially proportional to the operation amount, and the operator OP operates the operation amounts of the operation levers 51 and 52. The operating speed of the corresponding hydraulic actuator can be freely adjusted by adjusting.

  Further, when the left and right traveling operation levers 53 and 54 are operated by the operator OP, voltage signals corresponding to the operation direction (tilting direction) and the operation amount (tilting amount) are output, respectively, and the valve operation control unit of the controller 60 is output. 61 is input. The valve operation control unit 61 then controls the spools (not shown) of the left and right traveling motor control valves V5 and V6 corresponding in the direction and amount according to the voltage signal output by the operation of the traveling operation levers 53 and 54. ) Is electromagnetically driven. Here, the drive directions of the spools of the control valves V5 and V6 are related to the rotation directions of the corresponding travel motors 13 and 14, and the drive amount of each spool is the flow rate of hydraulic oil supplied to the travel motors 13 and 14 ( (Flow rate per unit time), that is, the rotational speed (rotational speed) of the traveling motors 13 and 14. Therefore, when the drive direction of the spool of the control valve is reversed, the operation direction of the corresponding travel motors 13 and 14 is reversed, and the operation speed of the corresponding travel motors 13 and 14 increases as the drive amount of the spool of each control valve increases. growing.

  Here, the voltage level of the voltage signal output by the operation of the left and right traveling operation levers 53 and 54 is substantially proportional to the operation amount, and is output if the operation amounts of the left and right traveling operation levers 53 and 54 are the same. The voltage level is the same. For this reason, the operator OP can travel straight or turn by freely adjusting the rotational speeds of the left and right traveling motors 13 and 14 by adjusting the operation amount of the traveling operation levers 53 and 54. The turn travel includes a pivot turn (swivel turn with a small radius) and a spin turn (turn on the spot). One of the left and right crawler travel devices 12 is (almost) fixed and the other is forward or A pivot turn can be made by rotating in the opposite direction, and a spin turn can be made by rotating the left and right crawler travel devices 12 in different directions.

  Further, as shown in FIGS. 2 and 1, the working platform 1 includes a hoisting angle detector 81 for detecting the hoisting angle θ (see FIG. 4) of the boom 30, and a length L of the boom 30 (FIG. 4). A length detector 82 for detecting a reference) and a turning angle detector 83 for detecting a turning angle (of the turning body 20) of the boom 30 are provided, and the boom 30 detected by these detectors 81, 82, 83 is provided. Each information of the undulation angle θ, the length L, and the turning angle is input to the position calculation unit 62 of the controller 60 (see FIG. 1). Here, the position calculation unit 62 of the controller 60 is based on the information from the detectors 81, 82, and 83, and the tip of the boom 30 based on the traveling body 10 (the tip of the boom 30 is the work table 40. The position of the boom tip is calculated together with the information detected by the detectors 81, 82, 83 together with the information on the position of the boom tip obtained as a result. It outputs to the regulation control part 63 (refer FIG. 1).

  The undulation angle detector 81, the length detector 82, the turning angle detector 83, and the position calculation unit 62 of the controller 60 have a function of detecting the position (coordinates) of the boom tip portion. This is referred to as position detecting means 80. The position detection means 80 directly obtains the position of the boom tip at the turning angle of a certain boom 30 as coordinates (θ, L), but the working radius R of the boom 30 (as shown in FIG. 4). The horizontal distance from the vertical line PL including the foot pin 23 to the front end BP of the boom 30 and the height H of the front end of the boom 30 (the front end of the boom 30 from the horizontal line WL including the foot pin 23 as shown in FIG. 4). Since the height of the BP can be expressed using θ and L, respectively, it is possible to obtain the position of the boom tip as coordinates (R, H).

  The storage unit 64 of the controller 60 stores data on an allowable work range determined as an area where the work table 40 (the tip of the boom 30) can be moved without causing the traveling body 10 to fall. The outer edge of the allowable work range is an outer edge (referred to as an operation limit line) that is naturally defined based on the relationship between the range in which the length of the boom 30 can be taken and the range in which the boom 30 can take up and down. Although the tip can be moved, the outer edge set as a limit line in which the movement of the tip of the boom 30 has to be prohibited from the viewpoint of preventing the traveling body 10 from toppling over (preventing excessive tipping moment). (Referred to as a regulation line).

  The allowable work range set in the aerial work vehicle 1 is, for example, as shown in FIG. 3, and straight lines L1, L2, curves L3, L4, and straight lines (which may be curved lines, but here are assumed to be straight lines). It consists of a region surrounded by L5. The straight line L1, straight line L2, curved line L3, and curved line L4 shown in FIG. 3 are operation limit lines, and the straight line L5 is a regulation line. A curved line L4 ′ indicated by a dotted line is a virtual operation limit line that will be formed when the regulation line L5 is not set. In other words, the region between the restriction line L5 and the virtual operation limit line L4 ′ is a region where the movement of the tip of the boom 30 is prohibited (the tip of the boom 30 can be moved structurally, but the fall prevention is prevented). The restriction line L5 is a boundary line with the region where the movement of the tip of the boom 30 is prohibited. Since the restriction line L5 is a part of the outer edge of the allowable work range, the data of the restriction line L5 is stored in the storage unit 64 of the controller 60 as a part of the allowable work range data.

  As can be seen from the above description, the tip of the boom 30 cannot move outside the operation limit lines L1, L2, L3, and L4, but if there is no restriction on the operation of the boom 30, the restriction line L5 It is possible to move outward. The restriction control unit 63 of the controller 60 thus performs a control for prohibiting the operation of the boom 30 such that the tip of the boom 30 moves to the outside of the restriction line L5. Specifically, the position information of the boom tip detected by the position detector 80 and the data of the allowable work range stored in the storage unit 64 are captured and compared, and the tip of the boom 30 is connected to the restriction line L5. Is reached, the operation of the valve operation control unit 61 is restricted so as to ignore the operation signal of the boom operation lever 51 that moves the tip of the boom 30 to the outside of the restriction line L5. Therefore, the tip of the boom 30 does not move far beyond the regulation line L5, and the operator OP on the work table 40 can safely move the work table 40 without worrying about the vehicle falling over. it can. For example, when a simple extension operation of the boom 30 is performed, the operation of the boom 30 is stopped when the tip of the boom 30 reaches the restriction line L5.

  As shown in FIG. 1, the controller 60 has a non-stop operation control unit 65 in addition to the above-described valve operation control unit 61, position calculation unit 62, regulation control unit 63, and storage unit 64. In the storage unit 64 of the controller 60, the data of the trace line TR (see FIGS. 3 and 4) provided in the region inside the travel line 10 side (along the travel line 10) with respect to the travel line 10 (see FIG. 3 and FIG. 4). In addition, data of a reference line S (see FIGS. 3 and 4) provided to extend in the vertical direction in a region on the inner side (the traveling body 10 side) than the trace line TR is stored (these trace lines TR and Each data of the reference line S is stored as a mathematical formula or a set of points (coordinate values)), and the non-stop operation control unit 65 of the controller 60 uses the detection information from the position detection means 80 during the fall operation of the boom 30. When it is determined that the tip of the boom 30 is about to reach the trace line TR, the position detection means 80 detects the boom 30 by causing the boom 30 to contract in conjunction with the collapse operation of the boom 30. The tip of the boom 30 is moved downward along the trace line TR while comparing the position of the tip of the boom 30 and the data of the trace line TR stored in the storage unit 64 of the controller 60. (See FIG. 11. Hereinafter, such control is referred to as non-stop operation control in the first embodiment). Here, the trace line TR and the reference line S may be set on the basis of the regulation line L5 (for example, as a set of points having a predetermined horizontal distance from the regulation line L5). However, the foot pin 23 shown in FIG. You may make it set on the basis of things other than the regulation line L5, such as the vertical line PL containing.

  In a case where the non-stop operation control unit 65 of the controller 60 does not perform such non-stop operation control, in the above case, when the tip of the boom 30 reaches the regulation line L5 due to the collapse operation of the boom 30, the controller 60 Although the operation of the boom 30 is forcibly stopped by the restriction control unit 63, the non-stop operation control unit 65 of the controller 60 performs the non-stop operation control as described above, so that the outer side of the tip of the boom 30 is moved outward. Although the movement to the side away from the traveling body 10 is limited, the operation of inclining the boom 30 intended by the operator OP can be continued, so that workability is improved.

  The non-stop operation control unit 65 of the controller 60 detects that the boom 30 is in the inclining operation, which is a condition for starting the non-stop operation control, detected by the position detection means 80 (monitored). ) Based on the movement trajectory of the tip of the boom 30, or by detecting the operation state of the boom operation lever 51. Further, whether or not the tip of the boom 30 is about to reach the trace line TR is determined based on whether or not the position of the tip of the boom 30 detected by the position detector 80 has reached the reference line S. Do.

  Here, the fact that the tip of the boom 30 has reached the reference line S means that the work radius R of the boom 30 calculated from the position (coordinates) of the boom tip BP detected by the position detector 80 (see FIG. 4). Is the allowable working radius Rc (the horizontal distance between the vertical line PL including the foot pin 23 and the trace line TR, see FIG. 4) corresponding to the position of the boom tip BP at that time, and the boom tip BP at that time The reference line S, which is obtained corresponding to the position of, is larger than the difference from the distance ΔR (see FIG. 4) away from the trace line TR inward (the traveling body 10 side) (Rc−ΔR ≦ R. ) Can be detected. The distance ΔR is set so as to increase as the height direction distance increases.

  By the way, the points on the reference line S set as described above are the time variation of the hoisting angle θ of the boom 30, the length L of the boom 30, the working radius R, the tip height H of the boom 30, and the working radius R. It can be expressed as a relationship between the rate dR / dt or ΔR with respect to the time change rate dH / dt of the tip end height H of the boom 30. FIG. 5 is a graph when ΔR is expressed in relation to θ, and shows that ΔR increases as θ increases. FIG. 6 is a graph when ΔR is expressed in relation to L, and shows that ΔR increases as L increases. FIG. 7 is a graph when ΔR is expressed in relation to R, and shows that ΔR increases as R decreases. FIG. 8 is a graph when ΔR is expressed in relation to H, and shows that ΔR increases as H increases.

  FIG. 9A is a graph showing ΔR in relation to dR / dt, and shows that ΔR increases as dR / dt increases. As shown in FIG. 9B, since dR1> dR2 and ΔR1> ΔR2 when Δθ1 = Δθ2, if both Δθ1 and Δθ2 are the amount of change in θ per unit time, dR It can be seen that ΔR increases as / dt increases. FIG. 10A is a graph showing ΔR in relation to dH / dt, and shows that ΔR increases as dH / dt decreases. As shown in FIG. 10B, since dH1 <dH2 and ΔR1> ΔR2 when Δθ1 = Δθ2, if both Δθ1 and Δθ2 are changes in θ per unit time, dH1 <dH2 It can be seen that ΔR increases as / Ht decreases.

That is, ΔR that is performed in the determination of whether or not the tip of the boom 30 that is in the overturning operation is about to reach the trace line TR (as will be described later, the position of the starting point P ₁ of the guide line n is also determined simultaneously). Can be called by designating any one of θ, L, R, H, dR / dt, and dH / dt. In other words, the data of the reference line S can be defined only by the relationship between ΔR and any one of θ, L, R, H, dR / dt, and dH / dt. Note that the data of the reference line S, that is, the value of ΔR for any of θ, L, R, H, dR / dt, and dH / dt is stored in advance in the storage unit 64 of the controller 60. Further, as the position of the starting point P ₁ of the guide line n, it is possible to adopt the position of the tip of the boom 30 after the tip of the boom 30 reaches the reference line S. In this way, the reference line If the position of the boom tip when it reaches S is the starting point P ₁ of the guiding line n, the setting of the starting point P ₁ of the guiding line n becomes very easy.

  As described above, the non-stop operation control unit 65 of the controller 60 determines that the tip of the boom 30 is about to reach the trace line TR based on the detection information of the position detection means 80 during the collapse operation of the boom 30. Then, as shown in FIG. 11, a guide line n extending from the track m drawn by the tip of the boom 30 and passing through the lower region of the track m is set, and the boom 30 detected by the position detection means 80 is set. The boom 30 is operated so that the tip of the boom 30 reaches the trace line TR through the guide wire n while comparing the position of the tip with the data of the set guide wire n. As a result, the tip of the boom 30 moves along the trace line TR while drawing a smooth trajectory passing through the guide line n, and thereafter moves downward along the trace line TR. The guide line n may be a straight line or a curved line, but in the following description, it is assumed that the guide line n is a straight line for simplicity.

Specifically, the setting procedure of the guide wire n will be described. First, the non-stop operation control unit 65 of the controller 60, when the tip of the boom 30 that has been in the inclining operation reaches the reference line S, the tip of the boom at that time The position of the part is set as the starting point P ₁ of the guide line n. Then, draw a straight line passing through the lower region of the track m from the start point P ₁ at φ inclination angle corresponding to the position of the start point P ₁ (tilt angle. Figure 11 reference guide wire n makes with the horizontal line WL). This straight line is the guide line n. Note that a point P ₀ shown in FIG. 11 is a virtual trajectory m that the tip of the boom 30 will draw when it is assumed that the tip of the boom 30 that has been in the lying down state is not moved along the guide line n. ′ And the trace line TR, and the point P ₂ is a point when the guide line n and the trace line TR intersect, that is, the end point of the guide line n.

During the tip of the boom 30 in the lodging operation is up to the start point P ₁ of the guiding line n is the boom 30 is laid down operation only takes place, leading tip of the boom 30 is the starting point P ₁ of the guiding line n After that, while moving along the guide line n, the boom 30 is contracted in addition to the collapse operation (the collapse operation and the contraction operation are performed in conjunction with each other). Even after the tip of the boom 30 is transferred to the trace line TR, the boom 30 is contracted in addition to the overturning operation. However, while the tip of the boom 30 is moving downward along the trace line TR. The contraction operation speed of the boom 30 is larger than the contraction operation speed of the boom 30 while the tip of the boom 30 is moving along the guide line n. This is because, in FIG. 11, the distance at which the tip of the boom 30 moving on the guide line n moves away from the virtual track m ′ and the tip of the boom 30 moving on the trace line TR are the virtual track. When comparing the distance away from m ′, it can be easily inferred that the latter is larger than the former. While the tip of the boom 30 passes through the guide wire n and moves downward along the trace line TR, the boom 30 is lowered as necessary (according to the contraction operation speed of the boom 30). Control is performed to reduce the operating speed.

  FIG. 12 shows changes in the contraction speed of the boom 30 when non-stop operation control is performed, and the solid line is a graph when the tip of the boom 30 is transferred to the trace line TR via the guide line n. The alternate long and short dash line is a graph when the tip of the boom 30 is transferred directly to the trace line TR without passing through the guide line n. From the comparison of these two graphs, when the tip of the boom 30 passes through the guide line n, the contraction speed of the boom 30 is increased more slowly than when the tip of the boom 30 is directly transferred to the trace line TR. Therefore, it can be seen that the temporal change rate of the contraction speed of the boom 30 can be kept small. As a result, the tip of the boom 30 during the overturning operation can be smoothly transferred onto the trace line TR, so that the tip of the boom 30 does not greatly deviate (overshoot) from the trace line TR. . In addition, since a sudden change in the direction of the tip of the boom 30 that occurs when changing from the track m to the trace line TR can be suppressed, the force (inertial force) acting on the tip of the boom 30 can be reduced. Thus, it is possible to prevent the worker on the work table 40 from receiving a large shock.

  As described above, in the non-stop operation control device according to the first embodiment, before the tip portion of the boom 30 that is in a sloping operation reaches the trace line TR, the boom 30 extends from the track m drawn by the tip portion of the boom 30. A guide line n passing through the lower region of the track m is set, and the tip of the boom 30 passes through the guide line n and reaches the trace line TR. For this reason, the tip of the boom 30 that has been performing an arc motion until then can smoothly transition to the straight movement (movement along the trace line TR) through the guide wire m, and acts on the tip of the boom 30. Force (inertia force) to be reduced. Further, this prevents the worker on the work table 40 from receiving a great shock. In addition, since the rapid change in direction of the tip of the boom 30 can be suppressed even when the boom 30 is operating at a high speed, the tip of the boom 30 may greatly deviate (overshoot) from the trace line TR. In addition, it is possible to prevent the front end portion of the boom 30 from greatly deviating to the outside of the regulation line L5 and the vehicle posture from becoming unstable.

By the way, the inertial force acting on the tip of the boom 30 becomes larger as the length of the boom 30 becomes larger (if the boom 30 has the same lowering operation speed). Here, in the non-stop operation control apparatus according to the first embodiment, as described above, the reference line S serving as a reference when setting the position of the starting point P ₁ of the guide line n is separated from the trace line TR inward. The distance ΔR increases as the height direction distance increases (dH / dt increases as θ increases, L increases, R decreases, H increases, dR / dt increases, and so on. The starting point P ₁ of the guide line n is set at a position corresponding to the length of the boom 30 (the longer the length of the boom 30 is, the more inward the trace line TR is). It is set at a position where the distance to be separated becomes large. Therefore, the tip of the boom 30 can be put on the guide wire n earlier as the length of the boom 30 is larger, and the tip of the boom 30 can be moved with a smaller rotation (falling) radius. Therefore, the force (inertial force) acting on the distal end portion of the boom 30 can be reduced regardless of the length of the boom 30, and the distal end portion of the boom 30 that has been performing the arc motion can be smoothly shifted to the linear motion. Can do. This is because, as shown in FIG. 13, the crossing angle α when the trajectory m drawn by the tip of the boom 30 that is in the crossing operation intersects with the trace line TR is the length of the boom 30 when it intersects with the trace line TR. Since the trajectory m and the trace line TR do not smoothly intersect with each other, the trajectory m and the trace line TR do not cross smoothly. Therefore, the start point P ₁ of the guide line n must be kept away from the trace line TR (the start point P ₁ of the guide line n must be set earlier). It can also be seen from the fact that the tip of the boom 30 can easily overshoot the trace line TR.

In addition, since the inertial force acting on the tip of the boom 30 is larger when the boom 30 is operated at a higher speed (if the length of the boom 30 is the same), the non-stop operation according to the first embodiment is performed. In the control device, the reference line S is set to a position where the distance away from the trace line TR becomes larger as the lowering operation speed of the boom 30 is larger, and the starting point P _{1 of the} guide line corresponds to the lowering operation speed of the boom 30. (The position at which the distance away from the trace line TR increases as the lowering operation speed of the boom 30 increases) (see FIG. 14). For this reason, the tip part of the boom 30 can be put on the guide wire n earlier as the lowering operation speed of the boom 30 is higher, and the tip part of the boom 30 can be moved with a smaller rotation (falling) radius. Accordingly, the force (inertial force) acting on the tip of the boom 30 can be reduced regardless of the inclining operation speed of the boom 30, and the tip of the boom 30 that has been moving in a circular arc can be smoothly shifted to the straight movement. Can do.

  FIG. 15 is a graph showing the relationship between the lowering operation speed of the boom 30 and the relative position of the reference line S with respect to the trace line TR, and ΔF shown in the graph is an arbitrary position on the reference line S from the trace line TR. It is the distance away inside. The reference line S is not set so that the distance away from the trace line TR increases as the height direction distance increases as described above. Instead, the trace line is simply increased as the lowering operation speed of the boom 30 increases. It is also possible to set the distance away from TR inward so that the reference line S can be set parallel to the trace line TR.

  The drive signals (voltage signals) of the control valves V1, V2, and V3 output from the valve operation control unit 61 of the controller 60 are also input to the non-stop operation control unit 65 of the controller 60. 65 detects the lowering operation speed of the boom 30 based on the drive signal of the hoisting cylinder control valve V1 among these drive signals. This is because as the drive signal (voltage level) of the undulation cylinder control valve V1 is larger, the drive amount of the spool of the undulation cylinder control valve V1 is larger, and the flow rate of hydraulic oil supplied to the undulation cylinder 22 (flow rate per unit time) ) Increases and the operating speed of the undulating cylinder 22 increases. Therefore, ΔF in FIG. 15 can also be defined by the relationship with the drive signal of the hoisting cylinder control valve or the operation control signal of the hoisting cylinder, and the horizontal axis of FIG. The shape of the graph of the “cylinder operation control signal” has the same tendency as in FIG. Then, the non-stop operation control unit 65 of the controller 60 calls the data of the reference line S corresponding to the detected boom operation speed of the boom 30 from the storage unit 64 and uses it for non-stop operation control. In this case, the valve operation control unit 61 of the controller 60 functions as a boom overturning operation speed detecting means for detecting the overturning operation speed of the boom 30.

  In addition, the tilting operation speed of the boom 30 is determined by the time change rate (dθ / dt) of the boom 30 tilt angle detected by the hoisting angle detector 81 and the time change rate (dR / dt) of the working radius R of the boom 30 or In addition to the time change rate (dH / dt) of the tip height H of the boom 30, the boom operation for giving an output and operating speed of the hoisting cylinder 22 for hoisting the boom 30 or an hoisting operation command for the boom 30. Since it can also be determined by the amount of operation of the lever 51, ΔF can also be defined in relation to any of these. At this time, the horizontal axis of FIG. 15 represents “time change rate of boom hoisting angle”, “time change rate of boom working radius”, “time change rate of boom tip height”, “output of hoisting cylinder”, “ If the “operating speed of the hoisting cylinder” or “the amount of operation of the boom operation lever” is used, the shape of the graph has the same tendency as in FIG.

Further, the inclination angle φ (see FIG. 11) formed by the guide line n and the horizontal line WL is set as a value corresponding to the position of the starting point P ₁ of the guide line n (the value is stored in the storage unit 64 of the controller 60). ) Specifically, the inclination angle φ formed by the guide line n and the horizontal line WL is set to a value corresponding to the length of the boom 30 detected by the length detector 82 (a larger value as the boom 30 is shorter). ) Is set (see FIG. 16). For this reason, the front-end | tip part of the boom 30 which was carrying out circular arc movement can be smoothly changed to linear movement irrespective of the length of the boom 30. FIG. As shown in FIG. 13, when the length of the boom 30 is small, the tip 30 of the boom 30 reaches the reference line S at a low position, but the height when the tip of the boom 30 reaches the reference line S is high. Since the crossing angle α between the trajectory m and the trace line TR becomes smaller as the height of the trace line TR becomes smaller, if the inclination angle φ between the guide line n and the horizontal line WL is brought closer to the slope of the trace line TR, the guide line n becomes the trace line. Interacts with TR smoothly.

  Further, the inclination angle φ (see FIG. 11) formed by the guide line n and the horizontal line WL is set to a value corresponding to the lowering operation speed of the boom 30 detected as described above (as the lowering operation speed of the boom 30 increases). It is set to a large value (see FIGS. 17 and 18). For this reason, the front-end | tip part of the boom 30 which was carrying out circular arc motion can be smoothly changed to linear motion irrespective of the fall operating speed of the boom 30. FIG. As described above, the inertial force acting on the tip of the boom 30 is larger as the lowering speed of the boom 30 is increased (if the boom 30 is the same length), and the tip of the boom 30 is outward ( As shown in FIG. 17, if the guide line n is set so as to extend along the direction in which the trace line TR extends as shown in FIG. 17, the guide line n intersects the trace line TR smoothly. Thus, it is possible to effectively prevent a situation in which the tip of the boom 30 overshoots the trace line TR.

  In this case as well, the boom 30's tilting operation speed depends on the driving signal of the hoisting cylinder control valve V1, the rate of change of the hoisting angle of the boom 30 detected by the hoisting angle detector 81 (dθ / dt), and the work of the boom 30. In addition to the time change rate (dR / dt) of the radius R or the time change rate (dH / dt) of the tip height H of the boom 30, the output change and operating speed of the hoisting cylinder 22, or the boom operating lever Since it can be obtained from the operation amount of 51 or the like, φ can be defined in relation to any of these. At this time, the horizontal axis of FIG. 18 indicates “time change rate of boom hoisting angle”, “time change rate of boom working radius”, “time change rate of boom tip height”, “output of hoisting cylinder”, “ Assuming that “the operating speed of the hoisting cylinder” or “the operation amount of the boom operation lever”, the shape of the graph has the same tendency as in FIG.

  Next, a non-stop operation control apparatus according to the second embodiment of the present invention will be described. Since the boom work vehicle to which the non-stop operation control device according to the second embodiment is applied is the same as the above-described aerial work vehicle 1 except for the configuration related to the operation control of the boom 30, it is common to the first embodiment. The components are omitted with the same reference numerals, and only the parts different from the first embodiment will be described here.

In the non-stop operation control apparatus according to the second embodiment, as shown in FIG. 19, the controller 60 includes the same valve operation control unit 61 and position calculation unit 62 (position detection means 80) as in the first embodiment. , A regulation control unit 163, a storage unit 164, a non-stop operation control unit 165, a tipping moment calculation unit 166, and a load factor calculation unit 167. The storage unit 164 of the controller 60 stores an allowable falling moment M ₀ set as a limit value of the falling moment acting on the traveling body 10 as a value corresponding to the undulation angle θ and the length L of the boom 30. Further, the overturning moment calculator 166 of the controller 60 travels based on the detection information from the axial force detector 184 (see FIG. 19) that detects the axial force of the undulation cylinder 22 and the detection information from the undulation angle detector 81. A falling moment M acting on the body 10 is calculated. The axial force detector 184, the undulation angle detector 81, and the overturning moment calculator 166 of the controller 60 have a function of detecting the overturning moment acting on the traveling body 10 (the detected overturning moment is set as the detected overturning moment M). Hereinafter, these are referred to as a fall moment detecting means 180 as a set.

The load factor calculation unit 167 of the controller 60 includes an allowable overturning moment determined according to the detected overturning moment M detected by the overturning moment detecting means 180 and the undulation angle θ and the length L of the boom 30 detected at that time. From M ₀ , a calculated load factor γ (= M / M ₀ ), which is a ratio of the detected overturning moment M to the allowable overturning moment M ₀ , is calculated, and the result is sent to the restriction control unit 163 and the non-stop operation control unit 165. Output.

The calculated load factor γ calculated (monitored) by the load factor calculating unit 167 of the controller 60 varies depending on the posture of the boom 30 (the position of the tip of the boom) and the load on the work table 40, and the value is large. It shows that the degree of instability with respect to falls is increasing. However, since the boom 30 operation in which the calculated load factor γ exceeds a predetermined limit load factor γ ₀ (for example, 100%) is regulated by the regulation control unit 163 of the controller 60 as described later, the calculated load factor γ does not increase beyond the limit load factor γ ₀ .

FIG. 20 shows an outer edge of an area where the tip of the boom 30 can be moved when the load on the work table 40 takes a certain value. At this outer edge, the straight line L1, the straight line L2, the curve L3, and the curve L4 are outer edges (operation limit lines) that are naturally defined from the relationship between the range that the boom 30 can take and the range that the boom 30 can take up and down. The straight line Lγ ₀ is a line formed by plotting the position of the tip of the boom for each length of the boom 30 when the calculated load factor γ becomes the limit load factor γ ₀ (this line is the limit load factor γ _0). Called rate line). A curved line L4 ′ indicated by a dotted line indicates that the tip of the boom 30 assumes that the calculated load factor γ is allowed to exceed the limit load factor γ ₀ when the boom 30 in the maximum extension state is laid down. It is a virtual operating limit line that the part will draw. That is, the region between the limit load factor line Eruganma ₀ and the virtual operating limit line L4 'is the area (structural movement of the tip of the boom 30 is prohibited may move the tip of the boom 30, Since the restriction control unit 163 operates so that the calculated load factor γ does not exceed the limit load factor γ ₀ , the end of the boom 30 cannot move as a result), and the limit load factor line Lγ ₀ is the boom. It can also be referred to as a boundary line with the region where the movement of the tip portion of 30 is prohibited. Of course, even if the set value of the limit load factor γ ₀ is the same, the position of the limit load factor line Lγ ₀ changes according to the load on the work table 40, and the load on the work table 40 is large. Sometimes the limit load factor line Lγ ₀ moves to the side closer to the traveling body 10 (the right side of the figure in FIG. 20). Further, even when the work load of the work table 40 is the same, the limit load factor line Lγ ₀ moves to the side away from the traveling body 10 (the left side of the drawing in FIG. 20) when the set limit load factor γ ₀ is large. Will do.

When the loading load of the work table 40 takes a certain value, when the boom 30 is extended or laid down, the value of the calculated load factor γ calculated by the load factor calculating unit 167 gradually increases. To go. Here, when the operation of the boom 30 without the overturning operation (for example, the simple extension operation of the boom 30) is performed, and the value of the calculated load factor γ reaches the limit load factor γ ₀ (this is may be the tip of the boom 30 is seen to have reached the limit load factor line Lγ _0), the operation of the boom 30 is stopped. Such restriction of the boom 30 is performed by the restriction control unit 163 of the controller 60. That is, the restriction control unit 163 of the controller 60 functions to prohibit the operation of the boom 30 such that the calculated load factor γ calculated by the load factor calculating unit 167 exceeds the limit load factor γ ₀ .

The non-stop operation control unit 165 of the controller 60 is such that the calculated load factor γ calculated (monitored) by the load factor calculation unit 167 of the controller 60 reaches the limit load factor γ ₀ during the lying down operation of the boom 30. When it is determined that the boom 30 is tilted, the boom 30 is contracted and the boom 30 is contracted to move the tip of the boom 30 downward so that the calculated load factor γ does not exceed the limit load factor γ ₀ . . Specifically, the boom 30 in a state that the calculated load ratio gamma maintains the first predetermined load ratio gamma ₁ determined as a value smaller than the same or limit load factor gamma ₀ and the limit load factor gamma ₀ (e.g. 98%) (See FIG. 21. Such control is hereinafter referred to as non-stop operation control in the second embodiment). Note that the alternate long and short dash line in FIG. 21 indicates the locus (hereinafter referred to as the first line) drawn by the tip of the boom 30 when the boom 30 is operated with the calculated load factor γ maintaining the _first predetermined load factor γ 1. A predetermined load factor line Lγ ₁ ).

When the non-stop operation control unit 165 of the controller 60 does not perform such non-stop operation control, in the above-described case, when the calculated load factor γ reaches the limit load factor γ ₀ due to the collapse operation of the boom 30, the controller 60 Although the operation of the boom 30 is forcibly stopped by the regulation control unit 163, the non-stop operation control unit 165 of the controller 60 performs the non-stop operation control as described above, so that the outer end of the boom 30 is removed. Although the movement to the direction (the side away from the traveling body 10) is restricted, the operation of overturning the boom 30 intended by the operator OP can be continued, so that workability is improved.

The non-stop operation control unit 165 of the controller 60 detects the monitoring that the boom 30 is in the inclining operation, which is a condition for starting the non-stop operation control, being detected (monitored). ) Based on the movement trajectory of the tip of the boom 30, or by detecting the operation state of the boom operation lever 51. Further, whether or not the calculated load factor γ is about to reach the limit load factor γ ₀ is determined by the calculated load factor γ calculated (monitored) by the load factor calculating unit 167 of the controller 60 is the first. This is performed based on whether or not a _second predetermined load factor γ ₂ (for example, near 90%) predetermined as a value smaller than the predetermined load factor γ ₁ has been reached. Note that the data of the _first predetermined load factor γ _{1 and} the data of the second predetermined load factor γ ₂ are stored in advance in the storage unit 64 of the controller 60.

When the non-stop operation control unit 165 of the controller 60 determines that the calculated load factor γ is about to reach the limit load factor γ ₀ during the fall operation of the boom 30 as described above, as shown in FIG. The guide line n extending from the track m drawn by the tip of the boom 30 and passing through the lower region of the track m is set, and is calculated (monitored) by the load factor calculation unit 167 of the controller 60. Until the load factor γ reaches the first predetermined load factor γ ₁ , the tip of the boom 30 is compared with the position of the tip of the boom 30 detected by the position detector 80 and the data of the set guide wire n. The boom 30 is operated so that the part moves through the guide wire n. The guide line n may be a straight line or a curved line, but in the following description, it is assumed that the guide line n is a straight line for simplicity.

Specifically, the setting procedure of the guide wire n will be described. First, the non-stop operation control unit 165 of the controller 60 determines the calculated load factor γ calculated by the load factor calculation unit 167 of the controller 60 during the fall operation of the boom 30. When the second predetermined load factor γ ₂ is reached, the position of the boom tip at that time is set as the starting point P ₁ of the guide wire n. Then, draw a straight line passing through the lower region of the track m from the start point P ₁ at φ inclination angle corresponding to the position of the start point P ₁ (tilt angle. Figure 21 reference guide wire n makes with the horizontal line WL). This straight line is the guide line n.

During the tip of the boom 30 in the lodging operation is up to the start point P ₁ of the guiding line n is the boom 30 is laid down operation only takes place, leading tip of the boom 30 is the starting point P ₁ of the guiding line n After that, while moving along the guide line n, the boom 30 is contracted in addition to the collapse operation (the collapse operation and the contraction operation are performed in conjunction with each other) as described above. This is the same as in the first embodiment. Even after the calculated load factor γ reaches the first predetermined load factor γ ₁ , the boom 30 is contracted in addition to the overturning operation, but the calculated load factor γ is equal to the first predetermined load factor γ ₁ . The contraction operation speed of the boom 30 during the downward movement in the maintained state is higher than the contraction operation speed of the boom 30 while the tip of the boom 30 is moving along the guide line n. The reason is the same as in the case of the first embodiment. Further, as long as the tip of the boom 30 passes through the guide wire n and while the calculated load factor γ is lowered while maintaining the _first predetermined load factor γ ₁ (the boom 30 It is the same as in the case of the first embodiment that the control for lowering the falling operation speed of the boom 30 is performed (in accordance with the contraction operation speed).

As described above, in the non-stop operation control device according to the second embodiment, when the boom 30 is in the overturning operation, the calculated load factor γ calculated by the load factor calculating unit 167 of the controller 60 is the first predetermined load factor. Before reaching γ ₁ , a guide line n extending from the track m drawn by the tip of the boom 30 and passing through the lower region of the track m is set, and the calculated load factor γ becomes the first predetermined load factor γ ₁ . Until that time, the tip of the boom 30 moves through the guide wire n. For this reason, the tip of the boom 30 that has been performing an arc motion until then can smoothly shift to a straight motion (a motion that moves downward while the calculated load factor γ maintains the _first predetermined load factor γ ₁ ). Thus, the force (inertial force) acting on the tip of the boom 30 can be reduced. Thereby, the same effect as in the first embodiment can be obtained.

Here, as described above, the inertial force acting on the tip of the boom 30 increases as the length of the boom 30 increases (if the boom 30 has the same overturning operation speed). In the non-stop operation control apparatus according to the second aspect, the second predetermined load factor γ ₂ is set to a value corresponding to the length of the boom 30 detected by the length detector 82 (a smaller value as the length of the boom 30 is larger). The starting point P ₁ of the guide line n is set to a position farther from the first predetermined load factor line Lγ ₁ as the length of the boom 30 is longer. Therefore, the tip of the boom 30 can be put on the guide wire n earlier as the length of the boom 30 is larger, and the tip of the boom 30 can be moved with a smaller rotation (falling) radius. Therefore, the force (inertial force) acting on the distal end portion of the boom 30 can be reduced regardless of the length of the boom 30, and the distal end portion of the boom 30 that has been performing the arc motion can be smoothly shifted to the linear motion. Can do. This is because, as shown in FIG. 22, track m the tip of the boom 30 has a lodging actuated drawn by the cross angle α when intersecting the first predetermined load ratio line Eruganma _1, the first predetermined load ratio line Eruganma _As the length of the boom 30 at the time of crossing ₁ increases, the track m and the first predetermined load factor line Lγ ₁ do not cross smoothly, so the starting point P ₁ of the guide wire n is defined as the first predetermined load factor line. It can also be seen from the fact that the calculated load factor γ tends to exceed the first predetermined load factor γ ₁ unless it is away from Lγ ₁ (unless the starting point P ₁ of the guide line n is set earlier).

Incidentally, when plotting the point where the second predetermined load ratio gamma ₂ per length of the boom 30, is as a broken line shown in FIG. 20 (this line is referred to as a second predetermined load ratio line Eruganma _2), It can be seen that the distance that the second predetermined load factor line Lγ ₂ moves away from the first predetermined load factor line Lγ ₁ to the inside (the traveling body 10 side) increases as the distance in the height direction increases (this is exactly the first implementation). This is the same as the positional relationship between the trace line TR and the reference line S in the embodiment).

Further, as described above, since the inertial force acting on the tip of the boom 30 becomes larger as the falling operation speed of the boom 30 increases (if the length of the boom 30 is the same), this second embodiment. In the non-stop operation control apparatus according to the second embodiment, the second predetermined load factor γ ₂ is set to a value corresponding to the lowering operation speed of the boom 30 (a smaller value as the lowering operation speed of the boom 30 is larger), and the guide wire The starting point P ₁ of n is set to a position farther from the first predetermined load factor line Lγ _{1 as the} lowering operation speed of the boom 30 is larger (see FIG. 23). For this reason, the tip part of the boom 30 can be put on the guide wire n earlier as the lowering operation speed of the boom 30 is higher, and the tip part of the boom 30 can be moved with a smaller rotation (falling) radius. Therefore, the force (inertial force) acting on the tip of the boom 30 can be reduced regardless of the inclining operation speed of the boom 30, and the tip of the boom 30 that has been performing the arc motion is smoothly shifted to the straight motion. be able to. FIG. 24 is a graph showing the relationship between the lowering operation speed of the boom 30 and the second predetermined load factor γ ₂ .

Note that, as in the case of the first embodiment, the tilting operation speed of the boom 30 is the drive signal of the hoisting cylinder control valve V1, and the time change rate (dθ / dt) of the hoisting angle of the boom 30 detected by the hoisting angle detector 81. ) And the time change rate (dR / dt) of the working radius R of the boom 30 or the time change rate (dH / dt) of the tip end height H of the boom 30, and the time change rate of the calculated load factor γ. (d [gamma] / dt), output and operating speed of the derricking cylinder 22 for relief operation of the boom 30, or performs relief operation command of the boom 30 because it can also be determined by the operation amount of the boom operation lever 51, gamma ₂ these It can also be defined in relation to any of the above. At this time, the horizontal axis in FIG. 24 indicates “time change rate of boom hoisting angle”, “time change rate of boom working radius”, “time change rate of boom tip height”, and “time change rate of calculated load factor”. ”,“ Output of the hoisting cylinder ”,“ operating speed of the hoisting cylinder ”or“ the amount of operation of the boom operation lever ”, the shape of the graph has the same tendency as FIG.

Further, the inclination angle φ (see FIG. 21) formed by the guide line n and the horizontal line WL is set as a value corresponding to the position of the starting point P ₁ of the guide line n (the value is stored in the storage unit 164 of the controller 60). ) Specifically, the inclination angle φ formed by the guide line n and the horizontal line WL is set to a value corresponding to the length of the boom 30 detected by the length detector 82 (a larger value as the boom 30 is shorter). (See FIG. 16 shown in the description of the first embodiment). For this reason, the front-end | tip part of the boom 30 which was carrying out circular arc movement can be smoothly changed to linear movement irrespective of the length of the boom 30. FIG. As shown in FIG. 22, when the length of the boom 30 is small, the calculated load factor γ reaches the first predetermined load factor γ ₁ at the position where the tip end height of the boom 30 is low (the tip end of the boom 30 is the first tip). The predetermined load factor line Lγ ₁ is reached). However, the lower the height at which the calculated load factor γ reaches the first predetermined load factor γ ₁ , the lower the relationship between the trajectory m and the first predetermined load factor line Lγ ₁ . Since the crossing angle α is small, if the inclination angle φ between the guide line n and the horizontal line WL is brought close to the inclination of the first predetermined load factor line Lγ ₁ , the guide line n becomes smooth with the first predetermined load factor line Lγ _1. To come to meet.

In addition, the inclination angle φ (see FIG. 21) formed by the guide line n and the horizontal line WL is set to a value corresponding to the lowering operation speed of the boom 30 detected as described above (when the lowering operation speed of the boom 30 is larger). (See FIG. 25 and FIG. 18 shown in the description of the first embodiment). For this reason, the front-end | tip part of the boom 30 which was carrying out circular arc motion can be smoothly changed to linear motion irrespective of the fall operating speed of the boom 30. FIG. As described above, the inertial force acting on the tip of the boom 30 is larger as the lowering speed of the boom 30 is increased (if the boom 30 is the same length), and the tip of the boom 30 is outward ( When you Susumo trace line TR side), but as shown in FIG. 25, do it may set the guiding line n as possible along the first direction of extension of the predetermined load ratio line Eruganma _1, guiding line n is first now intersect smoothly with a predetermined load factor line Eruganma _1, calculated load factor gamma tip portion of the first exceeds a predetermined load factor gamma ₁ (boom 30 is a first predetermined load ratio line Eruganma ₁ overshot The situation can be effectively prevented.

  In this case as well, the boom 30's tilting operation speed depends on the driving signal of the hoisting cylinder control valve V1, the rate of change of the hoisting angle of the boom 30 detected by the hoisting angle detector 81 (dθ / dt), and the work of the boom 30 Besides the time change rate (dR / dt) of the radius R or the time change rate (dH / dt) of the tip height H of the boom 30, the time change rate (dγ / dt) of the calculated load factor γ, Since it can be obtained from the output change and operating speed of the hoisting cylinder 22 or the operation amount of the boom operation lever 51, φ can be defined in relation to any of these. At this time, the horizontal axis of FIG. 18 indicates “time change rate of boom hoisting angle”, “time change rate of boom working radius”, “time change rate of boom tip height”, and “time change rate of calculated load factor”. ”,“ Output of hoisting cylinder ”,“ Operating speed of hoisting cylinder ”or“ Operation amount of boom operation lever ”, the shape of the graph is the same as in FIG. 18 as in the first embodiment. It is.

  Although the preferred embodiments of the present invention have been described so far, the scope of the present invention is not limited to those shown in the above-described embodiments. For example, in the above-described embodiment, the trace line TR is a straight line, but the trace line TR is not necessarily a straight line. In FIG. 3, the trace line TR is set substantially parallel to the restriction line L5, but may be provided on the restriction line L5. Further, it does not necessarily have to be parallel to the regulation line L5, and may be a region having a certain width (in the horizontal direction).

  In the above-described embodiment, the object to which the present invention is applied is an aerial work vehicle whose traveling body is a crawler type, but the traveling body may not necessarily be a crawler type. In addition, the object to which the present invention is applied is not necessarily an aerial work vehicle, but a boom work vehicle configured to have a working machine at the tip of a boom provided on a traveling body so as to be able to undulate and expand and contract. Any other boom working vehicle (for example, a crane truck or a digging pillar car) may be used.

1 is a drive control system diagram of a hydraulic actuator in a crawler type aerial work vehicle to which a non-stop operation control device according to a first embodiment of the present invention is applied. It is a side view of the said crawler type aerial work vehicle. It is a figure which shows an example of the allowable work range set to the said crawler type aerial work vehicle. It is a figure for demonstrating the relationship of the distance (DELTA) R which leaves | separates from the trace line of the boom raising / lowering angle (theta), the boom length L, the boom working radius R, the boom tip part height H, and the boom tip part. It is the graph which represented (DELTA) R by the relationship with (theta). 6 is a graph showing ΔR in relation to L. 6 is a graph showing ΔR in relation to R. 6 is a graph showing ΔR in relation to H. (A) is a graph showing ΔR in relation to dR / dt, and (B) is a diagram for explaining the basis on which the relation in (A) is established. (A) is a graph showing ΔR in relation to dH / dt, and (B) is a diagram for explaining the basis on which the relation (A) is established. It is a figure for demonstrating the guide line n provided extending from the track | orbit m, and is an enlarged view of the area | region XI shown in FIG. It is a graph which shows the change of the contraction speed of a boom at the time of receiving nonstop operation control. It is a figure which shows a mode that the crossing angle (alpha) when the track | orbit m drawn by the front-end | tip part of the boom which is carrying out the fall operation | movement crosses the trace line TR becomes small, so that the length of a boom is small. It is a figure which shows a mode that the distance which leaves | separates from the trace line TR of the reference line S is set so large that the fall operation speed of a boom is large. It is a graph showing the relationship between the boom overturning speed and ΔF. It is a graph showing the relationship between the boom length and φ. It is a figure which shows a mode that the inclination | tilt angle (phi) which the guide line n makes with the horizontal line WL is set so large that the fall operating speed of a boom is large. It is a graph showing the relationship between the boom operating speed and φ when the boom length is the same. It is a drive control system diagram of a hydraulic actuator in a crawler type aerial work vehicle to which a non-stop operation control device according to a second embodiment of the present invention is applied. In 2nd Embodiment, it is a figure which shows the outer edge of the area | region which can move the front-end | tip part of a boom, when the loading load of a work bench has taken a certain value. In 2nd Embodiment, it is a figure for demonstrating the guide wire n provided extending from the track | orbit m. In the second embodiment, the state in which the crossing angle α when the trajectory m drawn by the tip of the boom that is in the crossing operation intersects the first predetermined load factor line Lγ ₁ becomes smaller as the boom length is smaller. FIG. When the boom length is the same, it is a figure which shows a mode that _2nd predetermined load factor (gamma) ₂ is set to a small value, so that the fall operation speed of a boom is large. It is a graph showing the relationship between the boom operating speed and γ ₂ when the boom length is the same. In 2nd Embodiment, it is a figure which shows a mode that the inclination | tilt angle (phi) which the guide line n makes with the horizontal line WL is set so large that the fall operating speed of a boom is large.

Explanation of symbols

1 High-altitude work vehicle (boom work vehicle)
10 traveling body 30 boom 40 work table (work machine)
51 Boom Operation Lever 60 Controller 61 Valve Operation Control Unit 62 Position Calculation Unit 63 Regulation Control Unit 64 Storage Unit (Storage Unit)
65 Non-stop operation control unit (non-stop operation control means)
80 Position detection means 164 Storage section (storage means)
165 Non-stop operation control unit (non-stop operation control means)
167 Load factor calculation unit (load factor calculation means)
L5 Regulated line TR Trace line n Guide line P ₁
Starting point of guide line

Claims (9)

A traveling body,
A boom that is provided on the traveling body so as to freely undulate and expand and contract, and has a working machine at a tip portion;
Storage means for storing trace line data provided on a regulation line that is a boundary line with a region where movement of the tip of the boom is prohibited or in a region inside the regulation line;
When it is determined that the tip of the boom is about to reach the trace line during the fall operation of the boom, the boom tip is contracted in conjunction with the boom fall operation, thereby causing the boom tip to move. Non-stop operation control means for moving down along the trace line,
The non-stop operation control means is configured to provide a guide line that extends from a track drawn by the tip of the boom and passes through a lower region of the track before the tip of the boom that is in a sloping operation reaches the trace line. A non-stop operation control device for a boom working vehicle, wherein the boom operation vehicle is operated so that the tip of the boom passes through the guide line and reaches the trace line. The non-stop operation control device for a boom working vehicle according to claim 1, wherein a starting point of the guide wire is set at a position corresponding to a length of the boom. 3. The non-stop operation control device for a boom working vehicle according to claim 1, wherein a starting point of the guide wire is set at a position corresponding to a lowering operation speed of the boom. 4. A traveling body,
A boom that is provided on the traveling body so as to freely undulate and expand and contract, and has a working machine at a tip portion;
A fall moment detecting means for detecting a fall moment acting on the traveling body;
Storage means for storing an allowable fall moment set as a limit value of the fall moment acting on the traveling body;
Load factor calculating means for calculating a calculated load factor that is a ratio of the detected overturning moment to the allowable overturning moment from the detected overturning moment detected in the overturning moment detecting means and the allowable overturning moment stored in the storage means;
When it is determined that the calculated load factor calculated by the load factor calculating unit is about to reach a predetermined limit load factor during the boom overturning operation, the boom contracting operation is performed together with the boom overturning operation. Non-stop operation control means for moving the tip of the boom downward so that the calculated load factor calculated by the load factor calculating means does not exceed the limit load factor.
The non-stop operation control means is configured so that the calculated load factor calculated by the load factor calculating means reaches a first predetermined load factor that is set as a value that is the same as or smaller than the limit load factor. The guide line extending from the track drawn by the tip of the boom and passing through the lower area of the track is set until the calculated load factor calculated by the load factor calculating means reaches the first predetermined load factor. A non-stop operation control device for a boom working vehicle, wherein the boom is operated so that a tip end portion of the boom moves through the guide wire. The non-stop operation control means is configured to detect the boom when the calculated load factor calculated by the load factor calculating means reaches a second predetermined load factor determined as a value smaller than the first predetermined load factor. 5. The non-stop operation control device for a boom working vehicle according to claim 4, wherein the position of the tip is set as a starting point of the guide wire. 6. The non-stop operation control device for a boom working vehicle according to claim 5, wherein the second predetermined load factor is set to a value corresponding to a length of the boom. The non-stop operation control device for a boom working vehicle according to claim 5 or 6, wherein the second predetermined load factor is set to a value corresponding to a lowering operation speed of the boom. The non-stop operation control device for a boom working vehicle according to any one of claims 1 to 7, wherein an inclination angle between the guide line and a horizontal line is set to a value corresponding to a length of the boom. The non-stop operation control device for a boom working vehicle according to any one of claims 1 to 8, wherein an inclination angle formed by the guide line and a horizontal line is set to a value corresponding to a lowering operation speed of the boom. .

Images