JP5591459B2 - Non-stop operation control device for boom work vehicle - Google Patents

Description

  The present invention provides a boom working vehicle in which the boom pivoting operation can be continued without exceeding the limit of the allowable work range by performing the boom contraction operation in the middle of the boom pivoting operation. The present invention relates to a non-stop operation control device.

  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 working vehicle, the boom can be lifted, retracted, and swung by operating the boom operating lever operated by the operator, and the work implement provided at the tip of the boom is moved to a desired position. Necessary work can be performed.

  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. Specifically, in an aerial work platform equipped with such a fall-prevention device, when the boom is unfolded and deployed upward, and the boom up-and-down angle falls below a certain angle, the tip of the boom Since the part tends to exceed the regulation line of the allowable work range, the overturn prevention device works to prevent the traveling body from overturning, and the boom overturning operation is stopped.

  In addition to such a fall prevention device, in the device of the work range regulation type as a device for improving workability at the time of boom fall operation, the tip of the boom during the fall operation reaches the regulation line of the allowable work range. In such a case, the boom is automatically retracted in conjunction with the boom overturning operation, and control is performed in the boom overturning operation so that the tip of the boom does not exceed the regulation line of the allowable work range. A stop operation control device is known (see, for example, Patent Document 1).

In such work range regulations, the fall prevention device by the allowable work range works not only in the boom overturning operation but also in the boom turning operation. Since there is a stable range, the same non-stop operation control is applied to the turning operation to keep the boom tip within the allowable work range, and a continuous boom turning operation has been proposed. (For example, refer to Patent Document 2).
JP-A-62-211296 Japanese Utility Model Publication No. 3-28196

  By the way, in the non-stop operation control in the above-described boom turning operation, if the boom tip reaches the regulation line in the allowable work range due to the boom turning operation, the boom tip does not exceed the regulation line. The boom is automatically retracted, and the tip of the boom pivots when the boom is pivoted. It was supposed to move. However, if the tip of the boom during the turning operation suddenly moves downward, the operator will feel uncomfortable or uneasy because the tip of the boom will move in an unintended direction for the operator. In particular, in the case of an aerial work vehicle having a work table at the tip of the boom, the height at which the work table is suddenly lowered because the operator himself gets on this work table. If it becomes, the discomfort and anxiety will become very big. In addition, if the work platform is greatly reduced, it may be mistaken for the operator who intends to perform the turning operation to break down the work at a high place in order to avoid danger or perform a safety check. In addition, the work table may move in an unintended direction (downward), and the work table may interfere with surrounding obstacles.

  The present invention has been made in view of such a problem, and in non-stop operation control, the phenomenon that the tip of the boom moves in a direction not intended by the operator is prevented, and the operator feels uncomfortable or uneasy. It is an object of the present invention to provide a non-stop operation control device for a boom working vehicle that can perform a boom operation without remembering.

In order to solve the above problems, a non-stop operation control device for a boom working vehicle according to the present invention operates a traveling body, a boom provided on the traveling body so as to be able to turn, undulate and extend, and to operate the boom. An operation device that controls the operation of the boom based on an operation signal from the operation device (for example, the valve control unit 61 of the controller 60 in the embodiment), and a position detection that detects the position of the tip of the boom On the boundary line between the means and the region where the movement of the boom tip portion, which is determined for each height position of the boom tip portion, is prohibited, or in the region inside the boundary line. Based on the operation signal from the storage means (for example, the storage unit 63 of the controller 60 in the embodiment) storing the data on the control line and the operation device, the boom is turned. The boom tip detected by the position detection means reaches a regulation line determined for each height position of the boom tip within the boom turning operation surface read from the storage means data. And non-stop operation control means for performing non-stop operation control for turning the boom horizontally along the regulation line by combining and controlling the boom contraction operation and boom raising operation together with the boom turning operation. (For example, the non-stop operation control unit 65 and the horizontal operation control unit 66 in the embodiment), and the non-stop operation control means continuously increases the current position of the tip of the boom as the tip of the boom moves. When the turning non-stop operation control is started, the tip of the boom is There configured to perform operation control of the boom while maintaining the height position. The restriction line is a boundary line (for example, restriction lines K11 to K14 in the embodiment) with a region where movement of the tip of the boom is prohibited, or a predetermined line provided in a region inside the boundary line. (For example, trace lines TR11 to TR14 in the embodiment).

  Further, in the non-stop operation control device for a boom working vehicle having the above-described configuration, the non-stop operation control means executes a turning non-stop operation control to turn the boom from the operation device to turn the boom. When the operation signal for raising or lowering the boom from the operating device is obtained when the boom is moved horizontally along the regulation line, the working radius of the boom is changed while changing the height at which the tip of the boom is positioned. It is preferable to continuously rotate the boom so that the tip end of the boom is not reduced and does not exceed the regulation line.

  Furthermore, in the non-stop operation control device for a boom working vehicle having the above-described configuration, when the non-stop operation control means obtains an operation signal for inclining the boom from the operation device, the boom operation vehicle is controlled while regulating the boom operation. By controlling the boom to be retracted in conjunction with the turning operation, when the operation signal for continuously extending the boom and extending the boom from the operating device is obtained, the telescopic operation of the boom is restricted. It is preferable that the boom is continuously turned by performing control to raise and lower the boom in conjunction with the turning operation of the boom.

  Further, in the non-stop operation control device for a boom working vehicle having the above-described configuration, when the non-stop operation control means obtains an operation signal for contracting the boom from the operation device, the second operation for contracting the boom based on the operation signal is performed. 1 contraction operation command value (for example, operation command value Q1 in the embodiment) and turning non-stop operation control are executed, and the boom is contracted to move the tip of the boom in the horizontal direction along the regulation line. 2 contraction operation command value (for example, control command value Q2 in the embodiment), when the first contraction operation command value does not exceed the second contraction operation command value, based on the second contraction operation command value, When boom operation control for horizontally moving the tip of the boom along the regulation line is continuously performed and the first contraction operation command value exceeds the second contraction operation command value, the first convergence is achieved. While it deflated operate the boom on the basis of the operation command value to pivoting operation to continue boom is preferred.

  Furthermore, in the non-stop operation control device for a boom working vehicle having the above-described configuration, when the non-stop operation control means obtains an operation signal for raising and lowering the boom from the operation device, the boom is raised and activated based on the operation signal. The first raising operation command value (for example, the operation command value Q3 in the embodiment) and the swing non-stop operation control are executed, and the boom is raised in order to move the tip of the boom horizontally along the regulation line. When the first raising operation command value does not exceed the second raising operation command value by comparing with the second raising operation command value (for example, the control command value Q4 in the embodiment) to perform the raising operation, the second raising operation command value is determined. Based on the elevation operation command value, the boom operation control for horizontally moving the tip of the boom along the regulation line is continuously performed, and when the first elevation operation command value exceeds the second elevation operation command value, First That while Okoshiossha operating the boom to pivot operated continuously boom based on elevation operation command value is preferable.

  Further, in the non-stop operation control device for a boom working vehicle having the above-described configuration, the tip of the boom is regulated by the non-stop operation control means within the allowable work range that is inside the regulation line and can move the tip of the boom. It is preferable that a horizontal operation prohibition region is provided in which the operation of the boom that is horizontally moved along the line is restricted.

  Further, in the non-stop operation control device for a boom working vehicle having the above-described configuration, the non-stop operation control means performs the swinging non-stop operation control and the boom raising / lowering operation based on the operation signal from the operation device. When the tip of the boom reaches the regulation line provided in the undulating surface of the boom, the boom tip is moved along the regulation line by causing the boom to contract in conjunction with the boom raising / lowering operation. When the swing non-stop operation control and the undulation non-stop operation control are executed together, at least one of the boom swing operation and the undulation operation speed is controlled as a deceleration control. It is preferred that

  Further, in the non-stop operation control device for a boom working vehicle having the above-described configuration, an allowable operation speed setting in which an allowable contraction operation speed (for example, an allowable telescopic operation speed Vtmax in the embodiment) is preset as a limit speed at which the boom can be contracted. Means (for example, the allowable operating speed setting unit 93 of the controller 60 in the embodiment), and the operating speed and the turning that cause the boom to contract so that the tip of the boom does not exceed the regulation line in the undulating non-stop operation control In the non-stop operation control, the non-stop contraction operation speed obtained by adding up the operation speed for contracting the boom to move the tip of the boom so as not to exceed the regulation line (for example, the contraction operation speed in the embodiment) Vt) exceeds the allowable contraction operation speed set in the allowable operation speed setting means Comparison judgment means (for example, the comparison judgment unit 94 of the controller 60), and when the non-stop contraction operation speed exceeds the allowable contraction operation speed, at least one operation speed of the boom turning operation or the undulation operation is determined. It is preferable that the apparatus further includes an operation speed control means (for example, an operation speed control unit 95 of the controller 60 in the embodiment) that performs a deceleration control.

  Furthermore, in the non-stop operation control device for a boom working vehicle having the above-described configuration, at least one of the operation speeds related to the non-stop operation control to be executed later is controlled to be decelerated. It is preferable.

  According to the non-stop operation control device for a boom working vehicle according to the present invention, when the boom pivoting operation is performed and the tip of the boom reaches the regulation line, the boom contracting operation is performed together with the boom pivoting operation. And the lifting operation are performed in combination, so that the tip of the boom moves in the horizontal direction along the regulation line. For this reason, although the operator performs a boom operation for turning the boom as in the prior art, the turning non-stop operation control is not executed and the tip of the boom does not move downward. That is, the phenomenon that the tip of the boom moves in a direction not intended by the operator does not occur, and the operator can operate the boom without feeling uncomfortable or uneasy. Work efficiency can be improved.

  Also, as the tip of the boom moves, the height of the current position of the tip of the boom is continuously updated and stored, and the height at which the tip of the boom is located is maintained at the start of non-stop operation control. However, the operation control is performed so that the tip of the boom moves horizontally along the regulation line, so that the height at which the tip of the boom is positioned does not change extremely, and the boom is stably moved horizontally. be able to.

  Further, when an operation signal for raising or lowering the boom is obtained from the operation device when the swing non-stop operation control is executed to horizontally move the tip of the boom along the regulation line, the tip of the boom When the swing non-stop operation control is executed, the boom is continuously turned so that the tip of the boom does not exceed the regulation line while changing the height at which the part is positioned. Even when the boom operation is additionally performed, the turning non-stop operation control can be continuously executed. Further, for example, when the operation of lowering the boom is performed for the purpose of moving the boom tip downward while the swing non-stop operation control is being performed, the boom is contracted in conjunction with the swing operation of the boom. As a result, the boom can be moved in a direction (downward) that matches the operation intention. Further, during the turning non-stop operation control, when an operation for extending the boom for the purpose of moving the tip of the boom upward is performed, by raising the boom in conjunction with the turning operation of the boom, As a result, the boom can be moved in a direction (upward) that matches the operation intention. Therefore, it is possible to further improve the work efficiency in the turning non-stop operation control.

  Further, when the first contraction operation command value for contracting the boom based on the operation signal does not exceed the second contraction operation command value for contracting the boom by executing the swing non-stop operation control, the control of the tip of the boom is performed. As a result of continuing the horizontal movement along the line, the boom is contracted based on the output of the first contraction operation command value that does not exceed the second contraction operation command value, so that the working radius can be sufficiently reduced. Therefore, it is possible to prevent the boom tip from greatly exceeding the regulation line due to the turning operation of the boom. Further, when the first contraction operation command value exceeds the second contraction operation command value, the boom tip is contracted based on the output of the first contraction operation command value, so that the tip of the boom that matches the operator's intention Part movement (downward movement) can be realized.

  Further, when the first raising operation command value for raising and lowering the boom based on the operation signal does not exceed the second raising and lowering operation command value for raising and lowering the boom by executing the swing non-stop operation control, As a result of raising the boom based on the output of the first lifting operation command value that does not exceed the second lifting operation command value by continuing horizontal movement along the regulation line of the tip, It is possible to prevent the boom tip from greatly exceeding the regulation line due to the turning operation of the boom without the radius being sufficiently reduced. In addition, when the first lifting operation command value exceeds the second lifting operation command value, the boom is lifted based on the output of the first lifting operation command value to match the operator's intention. The movement (upward movement) of the tip of the boom to be performed can be realized.

  In addition, by providing a horizontal operation prohibited area in which the operation of the boom for horizontally moving the tip of the boom along the restriction line by the non-stop operation control means is provided within the allowable work range of the boom, the tip of the boom The horizontal movement of the boom can prevent the boom from interfering with the vehicle structure or the operation request to exceed the boom operation limit.

  Furthermore, when both the turning non-stop operation control and the undulation non-stop operation control are executed, at least one of the operation speeds of the boom turning operation and the hoisting operation is controlled to be decelerated, for example, Even when the tip moves in a section where the regulation line changes abruptly, the boom contraction operation speed determined in response to the boom turning operation or the like is decelerated and corrected to prevent a delay in the boom contraction operation. Thus, both the turning non-stop operation control and the undulating non-stop operation control can be reliably executed without stopping one of the turning operation and the up-and-down operation of the boom as in the prior art.

  Further, when the non-stop contraction operation speed exceeds the allowable contraction operation speed, the boom is configured to perform a control to decelerate at least one of the boom swing operation and the undulation operation. The non-stop retracting speed of the boom determined in response to the speed of the boom is decelerated and corrected within the range of the allowable retracting speed, so that the boom cannot be fully retracted and the end of the boom exceeds the regulation line. Can be prevented.

  Furthermore, the vibration associated with the rapid change in the contraction operation speed is configured such that the operation speed of the operation related to the non-stop operation control to be executed at least later among the swing operation or the undulation operation of the boom is controlled. Can be prevented from occurring at the tip of the boom (e.g., a work platform for operator boarding) and reducing the safety of the work.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 2 shows an aerial work vehicle to which the non-stop operation control device according to the first embodiment of the present invention is applied.

  The aerial work vehicle 1 includes a truck-type traveling body 10 having tire wheels 11, 11... That can be traveled and operated from a driving cab 12, and a turntable 20 provided on the traveling body 10. A telescopic boom (hereinafter simply referred to as a boom) 30 pivoted through a foot pin 21 and attached so as to be swingable up and down, and a work board 40 for boarding an operator attached to the tip of the boom 30 It is comprised.

  The swivel base 20 is attached to the rear part of the traveling body 10 so as to be able to rotate 360 degrees around the vertical axis, and can be operated to turn horizontally by hydraulically driving a turning motor 23 built in the traveling body 10. The boom 30 includes a proximal boom 30a, an intermediate boom 30b, and a distal boom 30c. The boom 30 is telescopically operated by hydraulically driving a telescopic cylinder 31 provided therein. Can do. Further, the boom 30 can be raised and lowered within the upper and lower surfaces by hydraulically driving a raising and lowering cylinder 24 straddled between the base end boom 30 a and the swivel base 20.

  A boom head 32 is attached to the distal end portion of the distal end boom 30c, and a vertical post 33 is pivotally attached to the boom head 32 so as to swing up and down. The vertical post 33 is controlled by swinging of the vertical post 33 by a leveling device (not shown) disposed between the tip of the tip boom 30c or between the boom head 32 and the vertical post 33. Regardless of this, the vertical post 33 is controlled to swing so that the vertical post 33 always extends vertically. The work table 40 is attached to the vertical post 33 that is always held vertically in this manner so that it can be swiveled horizontally (swinged freely) by the swing motor 43, regardless of whether the boom 30 is raised or lowered. Holds horizontally.

  Outrigger jacks 13, 13,... Are provided at the front, rear, left, and right portions of the traveling body 10 to support the traveling body 10 in operation in a stable state. Each outrigger jack 13 includes an outer post 13a extending in the vertical direction, an inner post 13b inserted into the outer post 13a by a jack cylinder (not shown) so as to expand and contract downward, and a jack pad provided at the lower end of the inner post 13b. 13c, and by extending and retracting a jack cylinder (not shown) (until the jack pad 13c comes into contact with the ground), the inner post 13b projects downward from the outer post 13a to support the traveling body 10 in a lifted state. Can be made. In addition, each outrigger jack 13 can be extended to the side of the traveling body 10 so that higher stability of the traveling body 10 can be obtained. The operation of the outrigger jacks 13, 13,... Is performed by operating a jack operation lever 14 provided at the rear portion of the traveling body 10.

  Further, the outrigger jack 13 is provided with an overhang amount detector 74 (see FIG. 1) for detecting the overhang amount of the jack in the vehicle body width direction, and this detection information is mounted on the traveling body 10. It outputs to the controller 60 (refer FIG. 1).

  In the upper operation device 50 provided on the work table 40, a boom operation lever 51 for performing the raising, lowering, extending, and turning operations of the boom 30 and a work table operation lever for performing the swing operation of the work table 40. 52 (see FIG. 1). For this reason, the operator who has boarded the work table 40 operates the boom operation lever 51 to move the boom 30 up and down, expands and contracts, and turns, and operates the work table operation lever 52 to move the work table 40 around the vertical post 33. By swinging the head, the work table 40 on which the user rides can be freely moved to perform work at a desired position at a desired position.

  Here, FIG. 1 is a block diagram showing an operating system of the boom 30 and the work table 40 in the aerial work platform 1. The controller 60 includes a valve control unit 61, a position calculation unit 62, a storage unit 63, a restriction control unit 64, a non-stop operation control unit 65, and a horizontal operation control unit 66.

  When the boom operation lever 51 or the work table operation lever 52 in the above-described upper operation device 50 is operated by an operator on the work table 40, it corresponds to the operation direction (tilt direction) and the operation amount (tilt amount) of the operation lever. The voltage signal is output and input to the valve control unit 61 of the controller 60.

  The valve control unit 61 of the controller 60 corresponds to the first control valve 81, the second control valve 82, and the third control corresponding to the operation direction and the operation amount corresponding to the voltage signal output by the operation of the boom operation lever 51. Each spool (not shown) of the valve 83 is electromagnetically driven. Similarly, the valve control unit 61 electromagnetically drives each spool (not shown) of the fourth control valve 84 based on the operation direction and the operation amount corresponding to the voltage signal output by the operation of the work table operation lever 52. . Here, the drive directions of the spools of the control valves 81, 82, 83, 84 are the corresponding hydraulic actuators (the undulation cylinder 24, the telescopic cylinder 31, the swing motor 23, and the swing motor 43 are collectively referred to as “hydraulic actuator”. The driving amount of each spool is related to the flow rate of hydraulic oil (flow rate per unit time) supplied to the corresponding hydraulic actuator, that is, the operating speed of each hydraulic actuator. To do. Therefore, when the spool driving direction in each control valve 81, 82, 83, 84 is reversed, the corresponding hydraulic actuator operating direction is reversed, and the spool driving amount in each control valve 81, 82, 83, 84 is large. The operating speed of the corresponding hydraulic actuator increases.

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

  The hydraulic oil (pressure oil) discharged from the hydraulic pump P (see FIG. 1) provided in the traveling body 10 passes through the control valves 81, 82, 83, 84, the undulation cylinder 24, the telescopic cylinder 31, and the swing motor. 23 and a swing motor 43 and the like.

  Then, an operator who has boarded the work table 40 can operate the operation levers 51 and 52 in the upper operation device 50 to move the boom 30 as desired to perform work at an arbitrary position.

  The position calculation unit 62 of the controller 60 is provided in the proximal boom 30a, and is provided at the distal end portion of the proximal boom 30a, a undulation angle detector 71 that detects the undulation angle φ of the boom 30 (see FIG. 3). A length detector 72 that detects the length L of the boom 30 (see FIG. 3), and a turning angle detector 73 that is provided in the traveling body 10 and detects the turning angle θ of the boom 30 (see FIG. 4). Based on the detection information from the front end of the boom 30 with respect to a predetermined reference position of the traveling body 10 (the front end of the boom 30 is a concept including the work table 40, and in the following description, The information on the position of the tip of the boom obtained as a result is output to the storage unit 63 of the controller 60 together with the information detected by the detectors 71, 72, 73.

  The undulation angle detector 71, the length detector 72, the turning angle detector 73, and the position calculation unit 62 of the controller 60 have a function of detecting the position (coordinates) of the boom tip portion. The set is referred to as position detecting means 70. This position detection means 70 directly determines the position of the tip of the boom 30 as coordinates (φ, L, θ), but the working radius R of the boom 30 (a vertical including the foot pin 21 as shown in FIG. 3). The horizontal distance between the line PL and the tip part P of the boom 30 and the height H of the tip part of the boom 30 (the height of the tip part P of the boom 30 from the horizontal line WL including the foot pin 21 as shown in FIG. 3). ) Can be expressed using φ and L, respectively, so that the position of the tip of the boom 30 can be obtained as coordinates (R, H, θ).

  The storage unit 63 of the controller 60 has an allowable work range S (see FIGS. 3 and 4) defined 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. ) Data is stored. In addition, the overturning moment generated with respect to the traveling body 10 by the aerial work device including the boom 30 and the work table 40 is determined by the undulation angle φ and the length (extension amount) L of the boom 30, and this overturning. The force that supports the moment is determined by the extension amount of the outrigger jack 13, the turning angle θ of the boom 30, and the like. Therefore, the work can be performed within the range in which the falling moment can be supported, that is, within the allowable work range S.

  The outer edge of the allowable work range S is an outer edge (referred to as an operation limit line) that is naturally defined from the relationship between the range that the length L of the boom 30 can take and the range that the hoisting angle φ of the boom 30 can take. Although the tip of the boom 30 can be moved, the traveling body 10 is prevented from falling (set as a limit line that must be prohibited from moving the tip of the boom 30 from the viewpoint of preventing the overturning moment from being excessive). It is comprised from an outer edge (it calls a regulation line).

  First, the allowable work range S in the hoisting operation plane (in the vertical plane) of the boom 30 will be described with reference to FIG. FIG. 3 shows an example of the allowable work range S set on the side of the traveling body 10 corresponding to the turning posture of a certain boom 30 (and the protruding amount of the outrigger jack 13). Then, the area surrounded by the lines K1, K2, K3, K4, K5, and K6 shown in the figure corresponds to the allowable work range S. Lines K1 to K5 shown in FIG. 3 are operation restriction lines, and line K6 is a restriction line. A line K5 ′ indicated by a dotted line is a virtual operation limit line that will be formed if the restriction line is not set temporarily. That is, the region between the restriction line K6 and the virtual operation limit line K5 ′ is a region where the movement of the tip of the boom 30 is prohibited (in terms of structure, the tip of the boom 30 can be moved. The restriction line K6 is a boundary line with an area where movement of the tip of the boom 30 is prohibited.

  As can be seen from the above description, the tip of the boom 30 cannot move outside the operation limit lines K1, K2, K3, K4, and K5. It is possible to move outside K6. At this time, the restriction control unit 64 of the controller 60 performs control to prohibit the operation of the boom 30 that moves to the outside of the restriction line K6. Specifically, the position information position of the boom tip detected by the position detection unit 70, the allowable work range S data stored in the storage unit 63 (the turning angle θ obtained from the position detection unit 70, the tension Data obtained based on the extension amount of the outrigger jack 13 obtained from the extension amount detector 74) and comparing them, and when the tip of the boom 30 reaches the regulation line K6, the boom 30 The operation of the valve control unit 61 is restricted so as to ignore the operation signal of the boom operation lever 51 that moves the tip end of the boom control lever K6 to the outside of the restriction line K6. Therefore, the tip of the boom 30 does not move far beyond the regulation line K6, and the worker on the work table 40 can safely move the work table 40 without worrying about the fall of the traveling body 10. be able to. 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 K6.

  In addition, in the storage unit 63 of the controller 60, the data of the trace line TR0 provided in the area inside the travel line 10 side (along the travel line 10) (along the restriction line K6) is stored as a mathematical expression or a point (coordinate value). ), And the non-stop operation control unit 65 of the controller 60 is such that the tip of the boom 30 reaches the trace line TR0 during the fall operation of the boom 30 (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 TR0), the boom detected by the position detecting means 70 is caused by causing the boom 30 to be contracted in conjunction with the collapse operation of the boom 30. 30 while comparing the position of the tip of 30 with the data of the trace line TR0 stored in the storage unit 63 of the controller 60, the tip of the boom 30 is traced to the trace line T. Lowering moved along the 0 (hereinafter, such control is referred to as a "laid-down non-stop operation control"). Here, the trace line TR0 may be set with reference to the restriction line K6 (for example, as a set of points having a predetermined horizontal distance from the restriction line K6), but the vertical line including the foot pin 21 shown in FIG. You may make it set on the basis of things other than the regulation line K6, such as PL.

  If the non-stop operation control unit 65 of the controller 60 does not perform such a lodging non-stop operation control, in the above-described case, the controller 60 is located when the tip of the boom 30 reaches the regulation line K6 due to the collapse operation of the boom 30. Although the regulation operation of the boom 30 is forcibly stopped by the regulation control unit 64, the non-stop operation control unit 65 of the controller 60 performs the above-described depression non-stop operation control, so that the tip of the boom 30 is Although the movement of the boom 30 intended by the operator can be continued, the workability is improved.

  Next, the allowable work range S in the turning operation surface (horizontal plane) of the boom 30 will be described with reference to FIG. FIG. 4 shows an example of the allowable work range S set around the traveling body 10 in correspondence with the raising / lowering posture of a certain boom 30 (and the protruding amount of the outrigger jack 13).

  Lines K11, K12, K13, and K14 shown in FIG. 4 are determined for each turning position (turning angle θ) of the boom 30, and the allowable work radius that ensures the stability of the traveling body 10 is set to the entire turning position of the boom 30. The area surrounded by the lines (arc curves) K11 and K13 and the lines (straight lines) K12 and K14 indicates the allowable work range S of the boom 30. As can be seen from FIG. 4, the allowable work radius is large in the front and rear regions of the traveling body 10 and is small in the side regions (left and right regions). This is because when the up-and-down angle φ and the length L of the boom 30 are the same (the same falling moment), the boom 30 is set to have a larger front-rear distance than the left-right distance. This is because the stability of the traveling body 10 is ensured when 30 is located in the front-rear region of the traveling body 10 than when the boom 30 is located in the lateral region of the traveling body 10. Note that lines K11, K12, K13, and K14 shown in FIG. 4 are all restriction lines (corresponding to the restriction line K6 in the hoisting operation surface of the boom 30 shown in FIG. 3). That is, the lines K11, K12, K13, and K14 are boundary lines with the region where the movement of the tip of the boom 30 is prohibited.

  As can be seen from the above description, if there is no restriction on the operation of the boom 30, the tip of the boom 30 may move outside the restriction lines K11 to K14. The restriction control unit 64 of the controller 60 performs control for prohibiting the operation of the boom 30 such that the tip of the boom 30 moves to the outside of the restriction lines K11 to K14. Specifically, the position information of the boom tip detected by the position detector 70 and the allowable work range stored in the storage unit 63 (similar to the control for prohibiting the operation of the boom 30 in the above-described undulation operation surface). S data (data determined based on the overhanging amount of the outrigger jack 13 obtained from the overhanging amount detector 74) are compared and compared, and the tip of the boom 30 is out of the restriction lines K11 to K14. When either regulation line is reached, the operation of the valve control unit 61 is regulated 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 regulation line. For this reason, the tip of the boom 30 does not move far beyond the restriction lines K11 to K14, and the operator on the work table 40 can safely move the work table 40 without worrying about the vehicle falling over. be able to. For example, when the turning operation of the boom 30 is performed, the turning operation of the boom 30 is stopped when the tip of the boom 30 reaches the restriction line K14 (see the movement locus (P1 → P2) of the boom tip). Is done.

  In the storage unit 63 of the controller 60, an area in which the area of the allowable work range S is reduced and corrected (similar shape) is defined within the inner area surrounded by the restriction lines K11 to 14 (that is, the allowable work range S). The data of the trace lines TR11, TR12, TR13, and TR14 to be stored 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 performs the tip of the boom 30 during the turning operation of the boom 30. When the part reaches any one of the trace lines TR11 to TR14 (when it is determined that the tip of the boom 30 is about to reach any one of the trace lines TR11 to TR14 during the turning operation of the boom 30) The position detection means is provided by causing the boom 30 to be retracted (based on automatic control) in conjunction with the turning operation of the boom 30. While comparing the position of the tip of the boom 30 detected by 0 with the data of the trace lines TR11 to TR14 stored in the storage unit 63 of the controller 60, the tip of the boom 30 does not exceed the regulation lines K11 to K14. While the working radius (turning radius) R of the boom 30 is appropriately reduced and moved, the boom 30 is moved in the extending direction of the trace line TR14 to continue the turning operation of the boom 30 (hereinafter, such control is referred to as “turning non-stop”). Referred to as "operation control"). FIG. 4 shows the movement trajectory (P1 → P2 → P3) of the boom tip at this time. In the movement of the boom tip in the section from the point P2 to the point P3 on the trace line TR14, the above-described movement trajectory is shown. Turning non-stop operation control is executed.

  When the non-stop operation control unit 65 of the controller 60 does not perform such turning non-stop operation control, in the above case, the tip of the boom 30 is set to one of the restriction lines K11 to K14 by the turning operation of the boom 30. At this point, the operation of the boom 30 is forcibly stopped by the restriction control unit 64 of the controller 60. However, the non-stop operation control unit 65 of the controller 60 performs the turning non-stop operation control (automatic boom 30 as described above). Although the movement of the tip end portion of the boom 30 to the outside (the side away from the traveling body 10) is limited, the turning operation of the boom 30 intended by the operator continues. Therefore, workability is improved.

  The non-stop operation control unit 65 of the controller 60 detects that the boom 30 is in the overturning operation or the turning operation, which is a condition for starting the non-stop operation control (the inversion non-stop operation control and the turning non-stop operation control). Is performed based on the movement trajectory of the tip of the boom 30 detected (monitored) by the position detection means 70 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 until the position of the tip of the boom 30 detected by the position detecting means 70 reaches or is close to the trace line TR. This is based on whether or not it has been reached.

  In the storage unit 63 of the controller 60, the distance from the base end part (turning center) of the boom 30 to the trace lines TR11 to TR14 in the allowable work range S (hereinafter, this distance is referred to as “regulation radius r”). ) Is stored in advance over the entire turning angle θ of the boom 30, and the boom tip as described above (which is a condition for starting the turning non-stop operation control) will reach any of the trace lines TR11 to TR14. The determination as to whether or not the work radius R in the boom 30 is about to exceed the regulation radius r in the trace lines TR11 to 14 may be made.

  By the way, in the state in which the turning non-stop operation control is executed in the above case (section from point P2 to point P3), the tip of the boom 30 continues to move in the direction in which the trace line TR14 extends, but the work of the boom 30 is not performed. (Automatic) contraction operation of the boom 30 is performed in conjunction with the pivoting operation of the boom 30 so as to change the radius R in a reduced manner. It was supposed to move obliquely downward in the direction in which the trace line TR14 extends (refer to the movement locus (P1 → P2 → P3) of the boom tip shown in FIG. 5). 5 is a schematic diagram showing the movement trajectory (P1 → P2 → P3) of the boom tip when viewed from the arrow X in FIG. 4, and the lines TR1 to TR3 are points P1 to P3, respectively. This corresponds to the trace line TR0 shown in FIG.

  As shown in FIG. 5, during the turning non-stop operation control, an automatic contracting operation is performed in conjunction with the swinging operation of the boom 30. As the boom tip moves in the direction in which the trace line TR14 extends so as to reduce the height H1 at which the boom tip, which has been maintained by the turning operation, is lowered, the point P3 is reached. Sometimes the boom tip is in a position lowered to a height H2.

  The downward movement of the tip of the boom 30 in this way naturally means that the work table 40 (attached to the tip of the boom) is moved down, and this is actually on the work table 40. For the worker who is performing the turning operation, the tip of the boom 30 (work table 40) moves in a direction not intended by the operator, so that the worker feels a sense of discomfort and anxiety. End up. Also, if the boom tip moves in a direction unintended by the operator, the operator who intends to turn the boom 30 may mistakenly think that a failure has occurred, and avoid danger, safety check, etc. For this reason, there is a risk that work at a high place may be interrupted and workability may be lowered, and the work table 40 may interfere with surrounding obstacles or the like as the boom 30 moves in an unintended direction.

  Therefore, as shown in FIG. 1, in addition to the valve control unit 61, the position calculation unit 62, the storage unit 63, the restriction control unit 64, and the non-stop operation control unit 65, the controller 60 includes a turning non-stop operation control. Is provided with a horizontal operation control unit 66 that controls the horizontal operation of the boom 30 during the execution of the above.

  The horizontal operation control unit 66 of the controller 60 determines that the boom tip reaches the trace lines TR11 to 14 by the turning operation of the boom 30, and the non-stop operation control for the turning operation of the boom 30 by the non-stop operation control unit 65. Is started, control for operating the swing motor 23 (control for turning the boom tip), and control for operating the hoisting cylinder 24 and the telescopic cylinder 31 in combination (the height H at which the boom tip is located is constant). Control at the same time) and maintaining the height H at which the boom tip is located constant (maintaining the height H1 when the turning non-stop operation control is started) while keeping the boom tip in a horizontal plane. Horizontal operation control is performed for movement along the trace lines TR11-14. Note that the “turning non-stop operation control” defined in the claims is a concept including the turning non-stop operation control and the horizontal operation control in the present embodiment.

  Specifically, as shown in FIG. 6, when the boom 30 is turned counterclockwise from the state where the tip of the boom 30 is located at the point P <b> 1 (without undulation operation and expansion / contraction operation), The boom tip moves in the horizontal plane and gradually approaches the trace line TR14. When it is determined that the tip of the boom 30 is about to reach the trace line TR14, the boom tip is traced to the trace line TR14 while maintaining the height H1 (see FIG. 7) where the boom tip is located constant. Then, the operation control of the boom 30 that is horizontally moved along (that is, the turning non-stop operation control and the horizontal operation control) is started. At this time, if the turning non-stop operation control and the horizontal operation control are executed after the boom tip reaches the original reaching point P2 to the trace line TR14, vibration due to a sudden change in the movement direction of the boom tip is caused. Since there is a risk that the work platform 40 may receive and the safety of the work may be lowered, in order to prevent this from happening, turn the non-stop operation control and horizontal operation control of the boom tip from the position near the trace line TR14 (front). It is preferable to control the operation of the boom 30 so that the boom tip is smoothly transferred onto the trace line TR14 (point P2 ′) (so that the movement direction of the boom tip does not change abruptly).

  Then, as shown in FIGS. 6 and 7, after the boom tip has been moved onto the trace line TR <b> 14, the boom 30 is lifted while continuing the turning operation of the boom 30 (by the operator's lever operation). Further, by performing the horizontal operation of the boom 30 combined with the contraction operation, the tip of the boom 30 is moved along the trace line TR14 in the horizontal plane (from the arc motion caused by the single swing operation of the boom 30 performed so far). (Refer to the section from point P2 'to point P13 in FIGS. 6 and 7 showing the movement trajectory of the boom tip at this time). ).

  When the boom tip reaches the point P13 along the trace line TR14, the boom 30 is turned while maintaining the working radius R of the boom 30 at the point P13 on the trace line TR14 thereafter. Even if it is actuated, the boom tip part is an area that moves away from the trace line TR14), and thus the control of the turning non-stop action and the horizontal action that have been performed so far are terminated. The normal (normal) turning operation of the boom 30 performed by the lever operation based on is resumed.

  As described above, in the non-stop operation control apparatus according to the first embodiment, during the execution of the turning non-stop operation control of the boom 30, the tip of the boom 30 is horizontally moved along the trace lines TR1 to TR4 in the horizontal plane. Thus, the operation of the boom 30 is controlled. For this reason, even though the operator performs a boom operation for turning the boom 30 as in the conventional case, the turning non-stop operation control is executed and the tip of the boom 30 is moved downward. Absent. That is, the phenomenon that the tip of the boom 30 moves in a direction not intended by the operator does not occur, and the operator can operate the boom without feeling uncomfortable or uneasy. The work efficiency can be improved.

  Note that, in the non-stop operation control device according to the first embodiment configured as described above, the turning non-stop operation control and the horizontal operation control for the turning operation of the boom 30 are executed, and the boom tip portion is trace line TR11-14. When moving the boom 30 along the trace lines TR11 to 14 (interrupting only the horizontal operation control), the operator intentionally moves the boom tip upward (obliquely upward). May be desired to perform a desired operation by moving to a lower position) or moving downward (moving obliquely downward). Therefore, subsequently, the operation control in the non-stop operation control device when a predetermined operation of the boom operation lever 51 is performed by the operator during the execution of the turning non-stop operation control and the horizontal operation control in the boom 30 will be described. To do.

  For example, as shown in FIG. 6, it is determined that the boom 30 is turned counterclockwise from the state where the tip of the boom 30 is located at the point P1, and the boom tip is about to reach the trace line TR14. Then, the turning non-stop operation control and the horizontal operation control are executed for the turning operation of the boom 30, and thereafter, the operation control of the boom 30 is performed so that the tip of the boom moves horizontally along the trace line TR14. Then, in a state where the tip of the boom 30 that is moving horizontally along the trace line TR14 is positioned at the point P2 ′, the boom operation lever 51 is intentionally set in accordance with the turning operation currently being performed by the operator. First, a case where the operator performs a lever operation for causing the boom 30 to fall down will be described.

  In order for the operator to intentionally move the tip of the boom that is moving horizontally along the trace line TR14, the boom 30 is moved (in conjunction with the operation of turning the boom 30 that has been operated until then). When the controller 60 receives an operation signal (voltage signal) from the boom operation lever 51 when the operation for the fall operation is performed, the horizontal operation control unit 66 of the controller 60 stops the horizontal operation control of the boom 30. It comes to perform control. This is because, during the horizontal operation control of the boom 30 that has been performed so far, the height H at which the boom tip is located is kept constant when the boom 30 is operated in an up-and-down direction or in accordance with the operator's boom operation. Because it becomes impossible.

  At this time, the turning non-stop operation control executed by the non-stop operation control unit 65 of the controller 60 is effectively continued, and the non-stop operation control unit 65 moves the boom tip along the trace line TR14. The working radius R of the boom 30 does not greatly exceed the regulation radius r of the trace line TR14 by performing a contraction operation in conjunction with the turning operation of the boom 30 for the purpose of movement. In conjunction with this, when the operator performs an operation to cause the boom 30 to fall down and the boom 30 is lowered according to this operation command, the non-stop operation control unit 65 determines that the working radius R of the boom 30 is The boom 30 is retracted so as not to greatly exceed the regulation radius r of the trace line TR14, and the increase in the working radius R which is increased by the boom 30's overturning operation is reduced and corrected by the boom 30's contraction operation. Therefore, it is necessary to control the operation of the boom 30 so as not to greatly deviate from the trace line TR14.

  By the way, in the turning non-stop operation control combined with the horizontal operation control described above, the work of the boom 30 is performed by the combination of the reduction of the work radius R by the contraction operation of the boom 30 and the reduction of the work radius R by the raising operation. The operation of the boom 30 was controlled so that the radius R did not greatly exceed the regulation radius r. However, if the lowering operation of the boom 30 is interlocked during the execution of the turning non-stop operation control, the boom 30 is moved only by the contraction operation of the boom 30 (including the increase in the working radius R due to the lowering operation). The operation of the boom 30 must be controlled so that the working radius R does not greatly exceed the regulation radius r. In this case, a contraction operation speed that exceeds the allowable contraction operation speed (maximum contraction operation speed) of the boom 30 is obtained. May be required. In such a case, the contraction operation for reducing the work radius R cannot follow the movement of the boom 30 along the trace line TR14, and the tip of the boom 30 greatly exceeds the trace line TR14 and exceeds the allowable work range S. There is a risk of deviating (reaching the regulation line K14 defined outside the trace line TR14).

  Therefore, when an operation for causing the boom 30 to fall is performed during the execution of the turning non-stop operation control, the horizontal operation control unit 66 interrupts the horizontal operation control and operates an operation signal for causing the boom 30 to fall. Control to ignore. As a result, the normal turning non-stop operation control (without the horizontal operation control) is executed, so that the non-stop operation control unit 65 performs the automatic shrinking operation in conjunction with the turning operation of the boom 30. The tip portion of 30 moves downward in an oblique direction in the direction in which the trace line TR14 extends (see the boom movement locus (P2 → P3) shown in FIG. 5). Accordingly, the boom 30 can be turned so that the boom tip does not exceed the regulation line K14, and the height at which the tip of the boom 30 is substantially lowered by the contraction operation of the boom 30 can be reduced. As a result, the boom 30 can be moved in a direction that matches the movement direction intended by the operator.

  Similarly, as shown in FIG. 6, the turning non-stop operation control and the horizontal operation control are executed for the turning operation of the boom 30, and the boom tip moves horizontally along the trace line TR14 to move the point P2. When an operation for extending the boom 30 is performed by the operator to move the boom tip up, the horizontal operation control unit 66 first stops the horizontal operation control of the boom 30. Control for ignoring the operation signal for extending the boom 30 is performed. In such a case, the non-stop operation control unit 65 performs control to automatically raise and lower the boom 30 along with the turning operation of the boom 30. At this time, by turning the boom 30 while the working radius R of the boom 30 is reduced by raising and lowering the boom 30, the turning non-stop operation control of the boom 30 is executed, and the raising and lowering operation of the boom 30 is performed. Therefore, the tip of the boom 30 moves upward and obliquely upward in the direction in which the trace line TR14 extends (the boom movement locus (P2 ′ → P14) shown in FIG. 8). reference). Accordingly, the boom 30 can be swiveled so that the boom tip does not exceed the regulation line K14, and the height at which the tip of the boom 30 is positioned can be substantially increased by the extension operation of the boom 30. As a result, the boom 30 can be moved in a direction that matches the movement direction intended by the operator.

  On the other hand, when the tip of the boom 30 is moved horizontally along the trace line TR14 by the turning non-stop operation control and the horizontal operation control in the same manner as described above and the point P2 is moving, the boom 30 is contracted by the operator. When an operation is performed, the horizontal operation control for the boom 30 is not interrupted immediately (unlike when the operation for the overturning operation or the extension operation is performed), and the lever operation of the operator (the boom 30 is contracted) A contraction operation command value based on an operation signal output from the upper operation device 50 in accordance with the operation command (operation command value in the contraction direction of the expansion / contraction cylinder 31 and referred to as an “operation command value”) Q1 Controls output from the non-stop operation control unit 65 and the horizontal operation control unit 66 in order to cause the boom 30 to perform turning non-stop operation control and horizontal operation control. A contraction operation command value (operation command value in the contraction direction of the telescopic cylinder 31 and referred to as “control command value”) Q2 is compared by the valve control unit 61 of the controller 60 to which these signals are input. Then, the operation control of the boom 30 is performed according to the comparison result.

  When the operation command value Q1 does not exceed the control command value Q2 as shown in FIG. 9 as a result of the comparison of the command values Q1 and Q2 (Q1 ≦ Q2), the valve control unit 61 of the controller 60 Ignoring the operation signal from the upper operation device 50, the second control valve 82 is electromagnetically driven by the output according to the control command value Q2, thereby causing the expansion / contraction cylinder 31 to contract, and the horizontal operation control performed so far. Is continuously executed, the height H1 at which the boom tip is located is maintained constant. This is because when the boom 30 is contracted based on the output of the operation command value Q1 that does not exceed the control command value Q2, the working radius R cannot be sufficiently reduced (the contraction operation of the boom 30 cannot be followed). This is because the boom tip may greatly exceed the regulation line K14 due to the turning operation of the boom 30.

  On the other hand, as shown in FIG. 9A, the valve controller 61 of the controller 60 compares the command values Q1 and Q2, and the operation command value Q1 exceeds the control command value Q2 (Q1> Q2). ) Ignores the control signal from the horizontal operation control unit 66 and stops the horizontal operation control that has been performed so far, and electromagnetically drives the second control valve 82 with an output according to the operation command value Q1. Then, the telescopic cylinder 31 is contracted and the boom 30 is pivoted and contracted to move the boom tip downward and obliquely downward. At this time, the boom 30 is contracted in accordance with the turning operation by the output of the operation command value Q1 exceeding the control command signal Q2, so that the working radius R does not deviate greatly from the regulation radius r and the boom tip portion is A situation that exceeds the allowable work range S (restriction line K14) can be prevented, and the operation of the boom 30 that matches the operator's intention (downward movement of the boom tip) can be realized.

  Further, when the tip of the boom 30 is moved horizontally along the trace line TR14 by the turning non-stop operation control and the horizontal operation control to move the point P2, the operator performs an operation for raising and lowering the boom 30. Similarly, the raising operation command value from the operation signal output from the upper operation device 50 in response to the operator's lever operation (the operation command value in the raising / lowering direction of the hoisting cylinder 24) (Referred to as a “command value”) Q3, and an elevation operation command value (based on control signals output from the non-stop operation control unit 65 and the horizontal operation control unit 66 in order to control the boom 30 for turning non-stop operation control and horizontal operation control) The operation command value in the raising / lowering direction of the hoisting cylinder 24 and referred to as “control command value” Q4 is compared, and the operation control of the boom 30 is performed according to the comparison result. Divide. Accordingly, as shown in FIG. 9B, when the operation command value Q3 does not exceed the control command value Q4, the horizontal operation control is continued and the height H1 at which the boom tip is located is kept constant. The operation is controlled so that the horizontal movement of the boom tip is performed. On the other hand, when the operation command value Q3 exceeds the control command value Q4, the horizontal operation control that has been performed so far is stopped, and the boom 30 is moved upward by the raising operation of the boom 30 while turning the boom tip. By controlling the operation of the boom 30 as described above, it is possible to prevent a situation where the tip of the boom exceeds the allowable work range S (restriction line K14), and the operation of the boom 30 that matches the operator's intention ( The boom tip can be moved upward).

  Then, after the end of the boom reaches a desired position on the trace line TR14 and the operation for raising and lowering or extending and retracting the boom 30 by the operator as described above is completed, the turning operation of the boom 30 (relief and expansion and contraction is performed again). If the boom tip is about to reach the trace lines TR11 to TR14 without operation, the horizontal operation control is executed again in conjunction with the turning non-stop operation control for the turning operation of the boom 30. Here, when the horizontal operation control is resumed, the boom tip is maintained so as to maintain the height H based on the height H at which the tip of the boom 30 is detected by the position detecting means 70 at the time of resume. Control is performed to move the part horizontally along the trace line in the horizontal plane. That is, the horizontal operation control is always performed based on the height H at which the boom tip is located when the horizontal operation of the boom 30 is started (or resumed). At this time, the latest information on the height H at which the boom tip position detected by the position detecting means 70 is stored (information on the height H is continuously recorded each time the height H at which the boom 30 is positioned changes). Update means for updating and storing) may be provided, and the boom 30 may be configured to perform horizontal operation control based on the height H of the boom tip portion stored in the update means.

  Therefore, when the turning non-stop operation control and the horizontal operation control for the turning operation of the boom 30 are executed and the boom tip is horizontally moved along the trace line, the operator intentionally operates the boom 30 while turning the boom 30. When the boom control lever 51 is operated to move the boom tip up or down, the situation where the boom tip exceeds the allowable work range S is prevented, and the operator's intention is Since it is possible to realize the operation of the matching boom 30, work efficiency in non-stop operation control can be improved.

  In the allowable work range S set for the aerial work platform 1, a region (horizontal operation prohibition region) for prohibiting horizontal operation control of the boom tip by the horizontal operation control unit 66 of the controller 60 may be provided. For example, an area below the horizontal plane including the foot pin 21 (horizontal plane including the horizontal line WL shown in FIG. 3) within the allowable work range S is set as the horizontal operation prohibited area S ′ (area hatched in the drawing). However, when the boom 30 is about to exceed the trace line in the prohibited area S ′, only the non-stop operation control may be executed and the horizontal operation control may not be executed. In the horizontal operation prohibited area S ′ below the horizontal plane as described above, the working radius R is caused by the fall operation of the boom 30, contrary to the operation of the boom 30 in the area above the horizontal plane described above. Is reduced, and the working radius R is increased in the raising operation of the boom 30. For this reason, when performing the swing non-stop operation control and the horizontal operation control with respect to the swing operation of the boom 30 in the horizontal operation prohibition region S ′, the combined operation of the collapse operation and the contraction operation is performed together with the swing operation of the boom 30. Since the operation of the boom 30 in the vicinity of the traveling body 10 is performed when the horizontal operation is performed in such a region, the boom 30 may interfere with the vehicle structure, There is a possibility that the boom 30 may be requested to operate beyond the limit of the contraction operation (cylinder end). In addition, the boom 30 may exceed the allowable work range S inward (in the direction approaching the traveling body 10). Therefore, by setting the horizontal operation prohibition area S ′ for prohibiting the horizontal operation of the boom tip portion, the worker on the workbench 40 can safely do so without worrying about the collision of the boom 30 or the falling of the vehicle. It is possible to move the boom tip (workbench 40).

  Next, a non-stop operation control apparatus according to the second embodiment of the present invention will be described. The aerial 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, and is therefore common to the first embodiment. The components to be described are denoted by the same reference numerals and will be omitted, and here, the description will focus on portions that are different from the first embodiment.

  In the non-stop operation control apparatus according to the second embodiment, as shown in FIG. 11, the controller 60 is similar to the first embodiment in that the valve control unit 61, the position calculation unit 62 (position detection means 70), and the storage unit. 63, restriction control unit 64, non-stop operation control unit 65, horizontal operation control unit 66, timer 90, first operation speed calculation unit 91, second operation speed calculation unit 92, allowable operation speed setting unit 93, comparative determination Part 94 and an operating speed control part 95.

  Also in the non-stop operation control device according to the second embodiment, as in the case of the first embodiment, when the tip of the boom 30 during the lying down operation reaches the trace line TR0 (the operator's lever operation (2) The fall non-stop operation control for moving the tip of the boom 30 downward along the trace line TR0 by continuing the collapse operation of the boom 30 and performing the (automatic) boom 30 contraction operation together. Done. Similarly, when the tip of the boom 30 during the turning operation reaches the trace lines TR11 to TR14, the boom 30 (automatic) is continued while the turning operation of the boom 30 is continued (by the operator's lever operation). By performing this contraction operation together, turning non-stop operation control for horizontally moving the tip of the boom 30 along the trace lines TR11 to TR14 in the horizontal plane is performed.

  By the way, in such a non-stop operation control device, when the falling operation and the turning operation of the boom 30 are performed in the vicinity of the trace line TR, the tip of the boom in both the falling direction and the turning direction. Is likely to reach the trace line TR, and the lodging non-stop operation control and the turning non-stop operation control are likely to be executed at the same time. Is moved along the trace line TR, so that the boom 30 is retracted and the boom 30 is turned by the operator's lever operation. Yes. However, when the inversion non-stop operation control and the turning non-stop operation control are executed in conjunction with each other, the details of the boom 30 which is performed to move the tip of the boom along the trace line TR will be described later. There is a possibility that the required operation amount of the contraction operation (which is automatically performed in conjunction with the turning operation) becomes excessive, and the contraction operation speed of the boom 30 exceeds the allowable contraction operation speed (maximum contraction operation speed). Therefore, in such a case, the lodging non-stop operation control and the turning non-stop operation control cannot be executed in conjunction with each other, and there is a problem that the boom tip portion deviates from the allowable work range S. For this reason, conventionally, the boom operation (for example, the non-stop operation control performed previously) of one of the overturning operation and the turning operation of the boom 30 for which the boom operation is required (for example, the previously performed non-stop operation control) Only the turning operation) is executed, and the boom operation (for example, the overturning operation) by the other non-stop operation control (for example, the non-stop operation control executed later) is controlled to stop the operation. Therefore, in the non-stop operation control device according to the second embodiment, the contraction operation speed of the boom 30 for non-stop operation control is corrected, and the lodging non-stop operation control and the turning non-stop operation control are executed in conjunction with each other. It is configured as possible. The non-stop operation control device according to the second embodiment will now be described.

  The horizontal operation control unit 66 of the controller 60 performs an operation (undulation and expansion / contraction operation) other than the swing operation of the boom 30 by the operator while the swing non-stop operation control and the horizontal operation control for the swing operation of the boom 30 are performed. When it is interrupted, it receives the operation signal from the upper operation device 50, and performs control to stop the horizontal operation control that has been performed so far. At this time, the turning non-stop operation control is continuously executed, and the boom 30 is automatically retracted in conjunction with the turning operation of the boom 30, so that the boom tip is moved along the trace lines TR 11 to 14. Control to move down (while turning) is performed.

  The first operating speed calculation unit 91 of the controller 60 outputs the amount of change in the output value of the undulation angle detector 71 (that is, the undulation angle φ of the boom 30) and the output of the length detector 72 within a minute time measured by the timer 90. Based on the amount of change in the value (that is, the length L of the boom 30) and the amount of change in the output value of the turning angle detector 73 (that is, the turning angle θ of the boom 30), Calculate the turning speed. In calculating each operation speed, the operation speed of the boom 30 corresponding to the operation state (operation amount) in each direction (front-rear direction, left-right direction, and direction around the axis) of the boom operation lever 51 is stored in a storage unit such as a RAM. (Elevation operation speed, telescopic operation speed, turning operation speed) are stored in advance, and based on the operation state of the boom operation lever 51, each operation speed of the boom 30 corresponding to the operation state is called from the storage means. It may be configured.

  The second operation speed calculation unit 92 is output from the non-stop operation control unit 65 to the valve control unit 61 when the non-stop operation control by the non-stop operation control unit 65 is executed for the collapse operation of the boom 30. On the basis of a contraction operation command value (operation command value in the contraction direction of the telescopic cylinder 31) Q21 for contracting the boom 30 to be contracted, the contraction operation speed Vt1 of the boom 30 corresponding to the magnitude of the command value Q21 (FIG. 12 (A)) is calculated.

  Similarly, when the non-stop operation control by the non-stop operation control unit 65 is executed for the turning operation of the boom 30, the second operation speed calculation unit 92 is changed from the non-stop operation control unit 65 to the valve control unit 61. Based on the contraction operation command value (operation command value in the contraction direction of the telescopic cylinder 31) Q22 for contracting the output boom 30, the contraction operation speed Vt2 of the boom 30 according to the magnitude of the command value Q22. (See FIG. 12B).

  At this time, the greater the lowering operation speed of the boom 30 (the amount of operation of the boom operation lever 51) is, the larger the contraction operation command value Q21 is. Therefore, the contraction operation speed Vt1 obtained correspondingly increases accordingly. Similarly, the larger the turning operation speed of the boom 30 (the amount of operation of the boom operation lever 51) is, the larger the contraction operation command value Q22 is. Therefore, the contraction operation speed Vt2 obtained correspondingly increases accordingly. This means that when the boom 30's overturning operation speed or turning operation speed is high, the contraction operation speeds Vt1 and Vt2 are correspondingly increased to prevent the follow-up delay of the non-stop operation control (the contraction operation of the boom 30). Because. In such a case, the inertial force (centrifugal force) acting on the tip of the boom 30 also increases, so that the contraction operation speeds Vt1 and Vt2 of the boom 30 need to be increased accordingly. . Further, the second operation speed calculation unit 82 calculates the contraction operation speed Vt (= Vt1 + Vt2) as a total speed obtained by adding the contraction operation speed Vt1 and the contraction operation speed Vt2 (see FIG. 12C). Needless to say, Vt2 = 0 when only the lodging non-stop operation control is executed for the boom 30, and Vt1 = 0 when only the turning non-stop operation control is executed.

  The allowable operating speed setting unit 93 of the controller 60 includes an allowable undulation operating speed as an allowable operating speed (maximum operating speed) of the boom 30 obtained when the flow rate of pressure oil that can be discharged and supplied by the hydraulic pump P is utilized to the maximum. The allowable telescopic operation speed (Vtmax) and the allowable turning operation speed are set. Each of these permissible operating speeds is determined based on the maximum pressure oil discharge flow rate from the hydraulic pump P as described above, the diameter of the oil passage (hydraulic piping), the viscosity of the operating oil, and the like.

  The comparison determination unit 94 of the controller 60 compares the contraction operation speed (total speed) Vt obtained by the second operation speed calculation unit 92 with the allowable expansion / contraction operation speed Vtmax preset in the allowable operation speed setting unit 93. When it is calculated and the contraction operation speed Vt is determined to exceed the allowable expansion / contraction operation speed Vtmax (Vt ≧ Vtmax), a deceleration request signal is output to the operation speed control unit 95. At this time, when only one of the lodging non-stop operation control and the turning non-stop operation control is executed with respect to the operation of the boom 30, Vt1 = 0 or Vt2 = 0 as described above. The non-stop operation speed Vt obtained in this way is set relatively low (low speed) and does not exceed the allowable telescopic operation speed Vtmax, but both the lodging non-stop operation control and the turning non-stop operation control are executed simultaneously. In this case, for example, when the inclining operation speed and the turning operation speed of the boom 30 in operation are high, or when the tip of the boom 30 moves in a section where the regulation radius r changes rapidly (FIG. 11B). When the boom tip shown in FIG. 2 moves from the point P20 onto the trace line TR14), the non-stop operating speed Vt is high ( Since fast to) be set is assumed, there is a possibility that contraction operation speed Vt exceeds the permissible expansion operating speed Vtmax.

  When the operation speed control unit 95 of the controller 60 determines that the contraction operation speed Vt is higher than the allowable expansion / contraction operation speed Vtmax as described above and receives a signal from the comparison determination unit 84, the lodging non-stop operation control and the turning non-stop are performed. In response to the operation of the boom 30 for which the operation control is being performed, a deceleration command signal for decelerating the overturning operation speed or the turning operation speed is output to the valve control unit 61.

  Then, the valve control unit 61 of the controller 60 that has received this deceleration command signal outputs a control signal to the first control valve 81 or the third control valve 83 corresponding to the hoisting cylinder 24 and the swing motor 23, respectively. By lowering the valve opening degree of the control valve 81 or the third control valve (decelerating the operating speed of the hoisting cylinder 24 or the swing motor 23), the above-described collapse operating speed or the swing operating speed of the boom 30 during the tilting and swinging operations. The control which decelerates is performed. At this time, the valve control unit 61 to which the operation command value for actually operating the boom 30 is constantly input is the above-described contraction operation command value input from the non-stop operation control unit 65 in executing the non-stop operation control. (Operation command value in the contraction direction of the telescopic cylinder 31) Which one of the operation command values of Q21 and Q22 is input first is determined, and based on the determination result, either the undulation operation speed or the turning operation speed Decide whether to slow down.

  When the contraction operation command value Q21 for performing the contraction operation of the boom 30 in executing the lodging nonstop operation control is input before the contraction operation command value Q22 for performing the contraction operation of the boom 30 in executing the turning nonstop operation control. The valve control unit 61 performs control to reduce the turning operation speed while maintaining the lodging operation speed. On the contrary, when the contraction operation command value Q21 is input before the contraction operation command value Q22, the valve control unit 61 performs control to reduce the contraction operation speed while maintaining the turning operation speed. The operation speed on the non-stop operation control side executed first is maintained (prioritized), and the operation speed on the non-stop operation control side executed later is decelerated and controlled, for example, on the trace line TR0 in the lodging direction. If the boom non-stop operation control is executed along with the boom non-stop operation control according to the contraction operation command value Q21, the swing non-stop operation control is executed later, the contraction operation command is executed. Since the boom 30 is contracted according to the outputs of the values Q21 and Q22, when the applied contraction operation command value Q22 is large, vibration accompanying a rapid change in the contraction operation speed is generated in the work table 40. This is because the safety of work may be reduced. Further, since the inclining operation direction and the turning operation direction of the boom 30 are substantially orthogonal to each other, when the operation speed (the falling operation speed or the turning operation speed) executed later is very high, the tip of the boom This is because there is a risk that vibration accompanying the rapid change in the operation direction of the part (working table 40) may occur in the working table 40 and the safety may be lowered.

  In this manner, the valve operating section 61 decelerates the lodging operation speed or the turning operation speed, and the corresponding contraction operation speeds Vt1 and Vt2 are also decelerated, and as a result, the contraction operation control for contracting the boom 30 is performed. When the speed Vt is decelerated and corrected within a range lower than the allowable expansion / contraction operation speed Vtmax, the lodging non-stop operation control and the turning non-stop operation control based on the output corresponding to the deceleration operation speed Vt corrected for the deceleration are performed. Can be executed in conjunction with each other.

  Specifically, as shown in FIG. 12B, it is first determined that the tip of the boom 30 that is turning is about to reach the trace line TR14 near the point P20, and turning non-stop action control and horizontal action are performed. When the control is executed, the boom 30 starts to contract at the contraction operation speed Vt2 by these operation controls. Next, from the state in which the turning non-stop operation control and the horizontal operation control are executed in this way, as shown in FIG. When it is determined that the part is about to reach the trace line TR21 (point P21) of the boom 30 in the inclining operation direction, the inclining non-stop operation control is started in conjunction so that the inclining operation can be continued. At this time, the contraction operation speed Vt1 is added to the contraction operation speed Vt2 for the boom 30 to further contract the boom 30 in order to execute the lodging nonstop operation control in conjunction with the turning nonstop operation control. As a result, as shown in FIG. 12C, the boom 30 is contracted and operated at the contraction operation speed Vt (= Vt1 + Vt2) in conjunction with the overturning and turning operation. The contraction operation speed Vt is the allowable expansion / contraction operation speed Vtmax. In the case of exceeding, the lodging operation (the lodging operation speed) based on the lodging non-stop operation control executed later is decelerated. Correspondingly, the contraction operation speed Vt1 is also decelerated and the contraction operation speed Vt as the total speed is corrected to be lower than the allowable expansion / contraction operation speed Vtmax. As a result, the lodging non-stop operation control and the turning non-stop operation control can be executed in conjunction with each other based on the output corresponding to the contraction operation speed Vt corrected for deceleration. The point P22 is reached without exceeding the range S (regulation lines K6, K14).

  When the contraction operation command values Q21 and Q22 are input at the same time, control is performed to decelerate both the lodging operation speed and the turning operation speed. Depending on the magnitudes of the operation command values Q21 and Q22, they may be proportionally distributed and decelerated.

  As described above, in the non-stop operation control device according to the second embodiment, the contraction operation speed of the boom 30 for non-stop operation control is corrected, and the lodging non-stop operation control and the turning non-stop operation control are interlocked. Therefore, the boom 30 can be continuously lowered and swiveled without the tip of the boom 30 deviating from the allowable work range S. Therefore, it is possible to improve the work efficiency in the non-stop operation control (very convenient).

  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 first and second embodiments described above, the non-stop operation control unit 65 of the controller 60 is configured to execute the lodging non-stop operation control and the turning non-stop operation control with respect to the operation of the boom. However, the present invention is not limited to this, and in addition to these non-stop operation controls, the raising non-stop operation control may be executed. In particular, in the second embodiment, the turning non-stop operation control and the raising The non-stop operation control may be executed in conjunction with the non-stop operation control. The lifting non-stop operation control means that the boom is continued by causing the boom to retract in conjunction with the boom lifting operation when the tip of the boom reaches the trace line due to the boom lifting operation. This means that the boom is controlled so that it can be lifted and lifted, and the “non-lifting non-stop operating control” defined in the claims refers to these non-stop lifting control and non-stop lifting It is a concept that includes forms such as operation control.

  In the second embodiment described above, the boom operation (turning operation or overturning operation) related to the nonstop operation control executed later in the turning nonstop operation control and the overturning nonstop operation control is configured to perform deceleration control. However, you may comprise so that deceleration control of the boom operation in which the operation was performed later may be carried out.

  Further, in the above-described embodiment, the object to which the present invention is applied is an aerial work vehicle whose traveling body is a tire wheel type, but the traveling body is not necessarily limited to the tire wheel type, and the crawler device. For example, the vehicle may travel. Alternatively, it may be an aerial work platform for running on a track with wheels for running on a track, or an aerial work vehicle for both track and road equipped with both tire wheels and wheels for running on a track. .

  Further, the object to which the present invention is applied is not necessarily an aerial work vehicle, and a boom configured to have a working machine at a tip end portion of a boom that is provided on a traveling body so as to be able to undulate, extend, and rotate. As long as it is a work vehicle, it may be another boom operator (for example, a crane vehicle, a digging pillar car, etc.).

It is a block diagram which shows the operating system of the boom and work bench | platform in the aerial work vehicle to which the non-stop operation control apparatus which concerns on 1st Embodiment of this invention is applied. It is a perspective view which shows the said aerial work vehicle. It is a schematic diagram which shows an example of the allowable work range in the boom raising / lowering surface (inside a vertical surface) set corresponding to the turning angle posture of a certain boom in the aerial work vehicle. It is a schematic diagram which shows an example of the allowable work range in the boom turning surface (within a horizontal surface) in the aerial work vehicle. It is a schematic diagram which shows the movement locus | trajectory of a boom front-end | tip part when it sees from the arrow X in FIG. It is a schematic diagram which shows the movement locus | trajectory of a boom front-end | tip part when turning non-stop operation control is performed in the aerial work vehicle. It is a schematic diagram which shows the movement locus | trajectory of a boom front-end | tip part when it sees from the arrow Y in FIG. It is a schematic diagram which shows the movement locus | trajectory of a boom front-end | tip part when boom extension operation is performed during execution of turning non-stop action control. (A) is a schematic diagram showing the movement trajectory of the boom tip when a boom expansion / contraction operation is performed during the execution of the turning non-stop operation control, and (B) is a diagram illustrating the movement of the boom during the execution of the turning non-stop operation control. It is a schematic diagram which shows the movement locus | trajectory of a boom front-end | tip part when a back operation is performed. It is a schematic diagram which shows an example of the horizontal operation prohibition area | region set in the allowable work range in the aerial work vehicle. It is a block diagram which shows the operating system of the boom and work bench | platform in an aerial work vehicle to which the non-stop operation control apparatus which concerns on 2nd Embodiment of this invention is applied. (A) is a schematic diagram for explaining the boom contraction operation speed when the lodging non-stop operation control is executed, and (B) is the boom contraction operation speed when the swing non-stop operation control is executed. (C) is a schematic diagram for explaining the boom contraction operation speed when the lodging and turning non-stop operation control is executed.

Explanation of symbols

1 High-altitude work vehicle (boom work vehicle)
10 traveling body 30 boom 50 upper operation device (operation device)
60 controller 61 valve control unit (operation control means)
63 Storage section (storage means)
65 Non-stop operation control unit (non-stop operation control means)
66 Horizontal operation control unit (non-stop operation control means)
70 Position detecting means 93 Allowable operating speed setting section (allowable operating speed setting means)
94 Comparison Judgment Unit (Comparison Judgment Unit)
95 Operating speed control unit (Operating speed setting means)
S Allowable work range S 'Horizontal operation prohibited area R Work radius K Restriction line (boundary line, restriction line)
TR trace line (regulation line)
Q1 Operation command value (first contraction operation command value)
Q2 Control command value (second contraction operation command value)
Q3 Operation command value (first lifting operation command value)
Q4 Control command value (first lifting operation command value)
Vt contraction speed (non-stop contraction speed)
Vtmax Allowable telescopic operation speed (Allowable contraction operation speed)

Claims (9)

A traveling body,
A boom provided on the traveling body so as to freely turn, undulate and extend;
An operating device for operating the boom;
An operation control means for controlling the operation of the boom based on an operation signal from the operation device;
Position detecting means for detecting the position of the tip of the boom;
Provided on the boundary line with the region where the movement of the tip of the boom, which is determined for each height position of the tip of the boom, is prohibited in the turning operation surface of the boom or in the region inside the boundary. Storage means for storing data on the regulation line;
The boom turning operation is performed based on the operation signal from the operation device, and the boom tip detected by the position detecting means is read from the data of the storage means. In a case where the regulation line determined for each height position of the tip of the boom is reached in the operation plane, the boom contraction operation and the boom operation are combined and controlled in conjunction with each other. And non-stop operation control means for performing a turning non-stop operation control for horizontally moving the tip of the boom along the regulation line ,
The non-stop operation control means stores the height of the current position of the tip of the boom while continuously updating as the tip of the boom moves, and when the turning non-stop operation control is started, A non-stop operation control apparatus for a boom working vehicle, wherein the boom operation control is performed while maintaining a height at which a tip of the boom is positioned at the start of the turning non -stop operation control. The non-stop operation control means executes the turning non-stop operation control and horizontally moves the tip of the boom along the regulation line in response to an operation signal for turning the boom from the operating device. When the operation signal for raising or lowering the boom is obtained from the operation device, the working radius of the boom is reduced while changing the height at which the tip of the boom is positioned. 2. The non-stop operation control device for a boom working vehicle according to claim 1 , wherein the boom is continuously turned so that a portion does not exceed the regulation line. The non-stop operation control means is
When an operation signal for tilting the boom is obtained from the operating device, the boom is contracted in conjunction with the turning operation of the boom while regulating the boom lifting operation. Continue turning operation,
When an operation signal for extending the boom from the operation device is obtained, by performing control to raise and lower the boom in conjunction with the turning operation of the boom while restricting the expansion and contraction operation of the boom, The non-stop operation control device according to claim 2 , wherein the boom is continuously turned. The non-stop operation control means is
When an operation signal for retracting the boom from the operation device is obtained, a first contraction operation command value for contracting the boom based on the operation signal and the turning non-stop operation control are executed, and the boom A second contraction operation command value for operating the boom to contract in order to move the tip of the boom in the horizontal direction along the restriction line,
When the first contraction operation command value does not exceed the second contraction operation command value, the boom operation is performed to horizontally move the tip of the boom along the regulation line based on the second contraction operation command value. Continue to control,
When the first contraction operation command value exceeds the second contraction operation command value, the boom is continuously rotated while the boom is contracted based on the first contraction operation command value. The non-stop operation control device for a boom working vehicle according to claim 2 . The non-stop operation control means is
When an operation signal for raising and lowering the boom is obtained from the operation device, a first raising operation command value for raising and lowering the boom based on the operation signal and the turning non-stop operation control are executed. Comparing the second raising and lowering command value for raising and lowering the boom in order to move the tip of the boom horizontally along the restriction line,
When the first raising operation command value does not exceed the second raising operation command value, the tip of the boom is moved horizontally along the restriction line based on the second raising operation command value. Continue to control the boom,
When the first raising operation command value exceeds the second raising operation command value, the boom is continuously turned while raising the boom based on the first raising operation command value. The non-stop operation control device for a boom working vehicle according to claim 2 . The operation of the boom that horizontally moves the tip of the boom along the restriction line by the non-stop operation control means within an allowable work range that is inside the restriction line and can move the tip of the boom. A non-stop operation control device for a boom working vehicle according to any one of claims 1 to 5 , wherein a horizontal operation prohibition region in which the movement is restricted is provided. The non-stop operation control means performs the hoisting operation of the boom based on the turning non-stop operation control and an operation signal from the operation device, and the tip of the boom is provided in the hoisting surface of the boom. Undulation non-stop operation control for moving the tip of the boom along the regulation line by causing the boom to contract in conjunction with the boom raising and lowering operation when reaching the regulation line. Configured to run,
Claim 1 wherein when the pivot nonstop operation control and said relief nonstop operation control is executed together is characterized in that one of the operating speed of the turning operation or relief operation of at least the boom is controlled decelerated nonstop operation controller for a boom work vehicle according to any one of 6. An allowable operating speed setting means in which an allowable contracting operating speed is preset as a limit speed at which the boom can be contracted;
In the undulating non-stop operation control, the boom is contracted to move so that the tip of the boom does not exceed the regulation line, and in the turning non-stop operation control, the boom tip is controlled by the regulation. The non-stop contraction operation speed obtained by adding the operation speeds for retracting the boom so as not to exceed the line exceeds the allowable contraction operation speed set in the allowable operation speed setting means. Comparison judgment means for judging whether or not,
And an operation speed control means for performing control to decelerate at least one of the swing operation and the undulation operation of the boom when the non-stop contraction operation speed exceeds the allowable contraction operation speed. The non-stop operation control device for a boom working vehicle according to claim 7 . 9. The boom according to claim 7, wherein the operation speed of the operation related to the non-stop operation control to be executed at least later among the turning operation and the undulation operation of the boom is configured to be decelerated. Non-stop operation control device for work vehicles.

Images