JPH023518Y2 - - Google Patents

Description

[Detailed Description of the Invention] (1) Field of Industrial Application The present invention relates to a swing control device for a work vehicle having a boom that controls the swing stop position of the boom of an aerial work vehicle or the like.

(2) Conventional technology In excavators, etc., the moment of inertia is detected,
Changing the turning braking force according to the moment of inertia is known in the art, as described in, for example, Japanese Utility Model Application Publication No. 58-38865.

(3) Problems that the invention aims to solve However, since the conventional swing control device did not detect speed and changed the braking force,
It was difficult to stop at the target position with high precision.

(4) Means for Solving the Problems In order to solve the above problems, the present invention uses a luffing angle detector that detects the luffing angle of the boom, and a telescopic length detector that detects the telescopic length of the boom. , a swing position detector that detects the swing position of the boom, a swing speed detector that detects the swing speed of the boom, a stop position signal generator that generates a signal indicating the position to stop swinging the boom, and a luffing angle detector. and a moment of inertia calculator that calculates the moment of inertia based on signals from the telescopic length detector, and a moment of inertia calculator that calculates the braking position based on signals from the swing position detector, swing speed detector, moment of inertia calculator, and stop position signal generator. It is equipped with a brake position calculator and a swing braking device that brakes the swing operation of the boom based on a signal from the brake position calculator.

(5) Effect With the above configuration, the position to start braking is calculated based on the current boom position, swing speed, moment of inertia, and stop position, and the swing is performed at a position near the target position according to the swing speed and moment of inertia. Activate the braking device to stop the boom from rotating.

(6) Examples Examples of the present invention will be described below with reference to the drawings.

FIG. 2 shows an aerial work vehicle for working on walls, in which a turntable 2 is rotatably provided on a movable cart 1 via a rotation ring 13, and the turntable is rotated left and right by a rotation motor 3. The base of a telescoping boom 4 is pivotally supported on the turntable 3, and the telescoping boom is raised and lowered up and down by an undulation cylinder 5 provided between the turntable and the telescoping boom, and is telescopically extended and contracted by a built-in telescoping cylinder 6. do. A workbench 7 is held in equilibrium at the tip of the telescopic boom 4, and the workbench is oscillated from side to side by a swinging cylinder 8, and a work tool 16 such as a paint sprayer is provided on the workbench. The turntable 2 includes a rotation position detector 9 that detects the rotation position of the turntable, a rotation speed detector 12 that detects the rotation speed of the turntable, and a rotation braking device 15 that is a brake that brakes the rotation operation of the turntable. A pivot point of the telescopic boom 4 is equipped with a luffing angle detector 10 for detecting the luffing angle of the telescopic boom, and the telescopic boom 4 is equipped with a telescopic length detector 11 for detecting the telescopic length of the telescopic boom. It is equipped.

FIG. 1 shows the configuration of a turning control device, in which a luffing angle detector 10 and an extension/contraction length detector 11 are connected to a moment of inertia calculator 17, which calculates a moment of inertia from a turning radius. A moment calculator 17, a turning position detector 9, and a turning speed detector 12 are connected to a braking position calculator 19, and a stop position signal generator 18 that generates a signal indicating a position to stop the turntable is a braking position calculator. 19, the braking position calculator 19 calculates the turning angle necessary to stop the turntable from the moment of inertia and the turning speed, and calculates the turning angle necessary to stop the turntable from the desired turning position. It outputs when the position is just before the turning angle.
The braking position calculator 19 is connected to a swing braking device 15 such as a hydraulic disc brake.

With the above configuration, the moment of inertia calculator 17
From the moment of inertia calculated in and the detected speed detected by the turning speed detector 12, the turning angle required from the start of braking to the stop is calculated in the braking position calculator 19, and sent from the stop position signal generator 18. When the turntable reaches a position obtained by subtracting the turning angle necessary for stopping from the stop position, the braking position calculator 19 outputs an output, the swing braking device 15 is activated, and the turning of the turntable 2 is braked. stops at the stop position sent from the stop position signal generator 18.

(7) Effect of the invention As described above, according to the invention, the swing control can stop the boom at the target position with high precision, regardless of the boom's heave angle and extension/contraction length, or the boom's swing speed. Since the device is provided, the present invention is effective in improving the precision of automatic wall surface work using an aerial work vehicle.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a block diagram showing the configuration of a swing control device, and FIG. 2 is a side view showing the working state of the aerial work vehicle. 9... Turning position detector, 10... Luffing angle detector, 11... Extension/contraction length detector, 12... Turning speed detector, 15... Turning braking device, 17... Moment of inertia calculator, 18... ...stop position signal generator,
19...Brake position calculator.

Claims (1)

[Scope of utility model registration request] A hoisting angle detector that detects the boom's hoisting angle, a telescopic length detector that detects the boom's telescopic length, a swing position detector that detects the boom's swing position, and a swing speed that detects the boom's swing speed. a detector, a stop position signal generator that generates a signal indicating the position at which the boom should stop swinging, a moment of inertia calculator that calculates the moment of inertia based on the signals from the luffing angle detector and the telescopic length detector, and the swing position. A braking position calculator that calculates the braking position based on signals from a detector, a swinging speed detector, a moment of inertia calculator, and a stop position signal generator, and a swinging brake that brakes the swinging operation of the boom based on signals from the braking position calculator. A swing control device for a work vehicle having a boom, characterized in that the device is equipped with a swing control device.