JPH0626550Y2 - Boom turning control device for work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is directed to a rear linear regulation line and left and right lateral straight lines determined by two adjacent outriggers with one outrigger as a reference. In addition to calculating the work range consisting of the control lines, the boundary turning angle that is the minimum working radius in the rear and left and right side control ranges is calculated, and the actual turning of the boom is performed based on the boundary turning angle. If the boom is on the turning angle by judging the position, the boom is not restricted in any direction, and if it is in any other position, the boom is restricted from turning in a certain direction, and the boom working range is restricted. The present invention relates to a boom turning restriction device in a work vehicle that is designed to be enlarged.

[Background of the invention]

As shown in FIG. 4, a work range (area) A in a work vehicle 5 equipped with a boom 4 which can be raised, retracted and swung via a turntable 3 on a chassis 2 equipped with a plurality of outriggers 1 is: Normal boom up / down angle, extension / retraction length, turning angle,
The overhang amount of the outriggers, including the load, is determined in a composite manner. Among them, the overhang amount of the outriggers (including the direction) and the swing angle of the boom (including the direction) are particularly important determinants. be able to.

[Prior art]

By the way, the work range (area) in the past is also set on the basis of the overhang amount of the outrigger and the swing angle of the boom as described above, but when determining the overturn range based on the overhang amount of the outrigger, As shown in FIG. 5, the fall range determined by the outrigger C having the minimum overhang amount without considering the overturn range that changes depending on the overhang amounts of the adjacent outriggers C ′, that is, the range B shown by the diagonal lines in the figure. Work range (area) D based on X
In addition to determining the rotation angle of the boom, it does not adopt a configuration of continuously detecting the entire rotation range for detecting the swing angle of the boom. For example, the limit set in advance at the boundary line positions of the front, rear, left and right I to IV regions shown in FIG. At present, the switch is configured to detect the turning of the boom.

[Problems to be solved by the device]

Therefore, the boom turning control device in the conventional aerial work vehicle adopting the above-mentioned structure determines the fall range by referring to the fall line X determined by the outrigger C having the minimum overhang amount. Since the (area) D is determined, the overturning range that expands due to the overhang amount of the adjacent outriggers C ′ is cut, and the extended work range obtained by changing the overhang amount of the outriggers is effectively used. It is not possible to perform high-altitude work efficiently, and within the same turning area, that is, the front-rear, left-right I to IV described above.
Then, if the boom is not regulated to turn and an adjacent area is invaded, and if the work range in that area is restricted, the turning operation for intrusion is stopped. Therefore, once the swing regulation is activated, the boom cannot be swung in any direction.Therefore, in such a situation, the boom can be undulated, expanded or contracted, or the load can be reduced. It had various problems such as having to do it.

[Means for Solving the Purpose and Problem of Invention]

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a rear linear regulation line determined by two adjacent outriggers with one outrigger as a reference and The work range composed of the straight regulation lines on the left and right sides is calculated, and the boundary turning angle that becomes the minimum working radius is calculated in the rear and left and right side restriction ranges, and the boundary turning angle is used as a boundary. If the boom is on the turning angle by judging the actual turning position of the boom, the boom is not restricted in any direction, and if it is in any other position, the boom is restricted from turning in a certain direction. In order to expand the work range of the boom, it is to provide a boom turning control device for a work vehicle, and for that purpose, equipped with outriggers to the outside of the chassis to the left and right of the chassis In a work vehicle equipped with a boom that can be lifted and retracted via a turntable that can be swung freely, the overhang detectors provided on each outrigger and the boom swing angle detection that detects the swing angle of the boom Device, a boom length detector that detects the extension and contraction length of the boom, a boom hoisting angle detector that detects the hoisting angle of the boom, the overhang detector, the boom turning angle detector, the boom length detector, and A work composed of a rear linear regulation line and left and right lateral regulation lines that are determined by two outriggers adjacent to each other based on a signal from the boom hoist angle detector. In addition to calculating the range, the boundary turning angle that gives the minimum working radius in the rear and left and right side regulation ranges is calculated, and the boom is positioned on either side of the boundary turning angle. Whether or not the boom is located to the left of the boundary turning angle when the boom tip reaches the work regulation range based on the signal from the calculating unit. Composed of a boom rotation control unit that regulates right rotation, restricts left rotation when the boom is located to the right of the boundary rotation angle, and does not regulate boom rotation when the boom is located above the boundary rotation angle. .

[Action]

By adopting the above configuration, the boom can be accurately swiveled without tipping the vehicle while obtaining a larger working range than before, so workability is significantly improved and sufficient safety is ensured. It

〔Example〕

An embodiment of a boom turning control device for a work vehicle according to the present invention will be described in detail below with reference to FIGS. 1 to 3.

1 to 3 show an embodiment of a boom turning control device in a work vehicle according to the present invention. FIG. 1 is a block diagram of the boom turning control device, and FIG. 2 is a boom turning control device. FIG. 3 is an operation flowchart of the boom, and FIG.

The boom turning control device 20 includes a state detection unit 21 and a calculation unit 22.
And a boom turning restriction unit 23.

The state detection unit 21 includes a boom turning angle detector 21a that detects a turning angle of a boom that is undulated and retractable via a turntable that is turnably mounted on the undercarriage of the crane vehicle, and a chassis of the crane vehicle. Outriggers 30a, 30 mounted on the left and right of the front and back of the chassis
b, 30c, and 30d, an overhang amount detector 21b that detects the overhang amount, a boom length detector 21c that detects the extension and contraction length of the boom, a boom hoist angle detector 21d that detects the hoist angle of the boom, and a boom. And a hoisting load detector 21e for detecting hoisting load of a hoisting load by a winch provided at a base end or a turntable.

The detection signals detected by each of the detectors 21a to 21e are configured to be input to the arithmetic unit 22 provided in the next stage. (See FIG. 1) The computing unit 22 receives the detection signals detected by the boom turning angle detector 21a, the overhang amount detector 21b, the boom length detector 21c, and the boom hoisting angle detector 21d, and accepts the boom. A work regulation range composed of a straight front regulation line, a rear regulation line, and a left and right lateral regulation line P that is determined by two adjacent outriggers with one outrigger as a reference while calculating the lifting load. And forward,
A rated load calculator 22b that calculates a boundary turning angle that has a minimum work radius in each of the rear and left and right side work control ranges, and an allowable lifting load and a state detection unit that are obtained by calculation by the rated load calculator 22b. A comparator 22c for comparing the lifting load detected by the lifting load detector 21e of 21.
And a region determination device 22a that determines which region of the front, rear, and left and right sides the boom is located based on the rotation angle detected by the boom rotation angle detector 21a, and a signal from the comparator 22c determines the lifting load. When the boom coincides with the allowable load, that is, when the boom tip reaches the work regulation range, the boom is located on the left or right side with respect to the boundary turning angle of the area determined by the area determiner 22a, or the boundary turning is performed. It is composed of a judging device 22d for judging whether or not the position is on an angle.

The boom turning restriction unit 23 is the comparator 22 of the calculation unit 22.
A boom operation control valve 2 that controls the operation of the boom when the hoisting load matches the allowable hoisting load, that is, when the boom tip reaches the work restriction range by the signal from c.
When the boom is located on the left side of the boundary turning angle of the area where the boom is located when the hoisting load matches the allowable hoisting load, 3b and a signal from the determiner 22d of the arithmetic unit 22 Restricts the swinging motion of the boom to the right, restricts the swinging motion of the boom to the left when the boom is on the right side, and does not operate when the boom is on the boundary swing angle, and swings the boom. It is constituted by a turning regulation valve 23b that does not regulate the above.

The operation of the boom turning restriction device in the work vehicle according to the present invention will be described below with reference to the flow chart shown in FIG.

As shown in FIG. 3, the operation of the boom turning restriction device 20 on the right rear side of the vehicle 40 (explaining an aerial work vehicle as an example) will be described.

First, it is determined whether or not the boom 41 is restricted by the right side.

That is, the determination device 22d determines whether or not the boom 41 is present within the work restriction range P of the right side adjacent outriggers 30a and 30b.

If it is determined by the above determination that the boom 41 is within the work regulation range, that is, within the right regulation line P, the swinging of the boom 41 can continue a predetermined swing without any restriction.

On the other hand, when the boom 41 is present in the work regulation range, that is, outside the right regulation line P and is regulated by the above determination, the right turning of the boom 41 is regulated.

That is, the turning angle (boundary angle) that determines the minimum restricted work range in the work restriction range P, which is determined based on the determination signal extracted by the area determiner 22a and the comparison signal extracted by the comparator 22c. ) Based on θ, the actual turning position of the boom 41 is determined, and if the boom 41 is in the region II in front of the turning angle (boundary angle) θ, the right turning of the boom 41 is restricted (in this case, It is possible to turn the boom 41 to the left).

If the boom 41 is in the region I behind the turning angle (boundary angle) θ, the left turning of the boom 41 is restricted (the right turning of the boom 41 is possible in this case).

By the way, the output of the turning regulation signal in both of the regulation states is outputted from the judging device 22d to the turning regulation valve 23a of the next stage.
Then, the swinging of the boom 41 toward the right side or the left side under the above-described regulation is stopped.

The area where the boom 41 hits between the area I and the area II
III, that is, when the vehicle is located on the turning angle (boundary angle) θ that determines the minimum control work range in the work control range, both the right side and the left side control are not performed by the determining device 22d. Is determined and the boom 4 at that position is
One turn can continue a predetermined turn without any restriction.

In the above description of the operation, the case where the boom 41 is turning on the right side of the vehicle 40 has been described as an example, but the same operation can be performed when the boom 41 is on the left side, rear side, and front side. Of course.

[Effect of device]

As described in detail above, the present invention is equipped with outriggers on the left, right, front and rear of the chassis so that the outriggers can be projected outward from the chassis, and a boom that can be undulated and retracted via a turntable mounted on the chassis so as to be rotatable. In the equipped work vehicle, each overhang amount detector provided on each outrigger, the boom swing angle detector that detects the swing angle of the boom, the boom length detector that detects the extension and contraction length of the boom, and the boom The boom hoisting angle detector that detects the hoisting angle of the robot and the detection signals from the overhang detector, the boom turning angle detector, the boom length detector, and the boom hoisting angle detector are used as a reference based on one outrigger. A work range composed of a rear linear regulation line and left and right lateral regulation lines determined by two adjacent outriggers is calculated, and the rear and left and right lateral regulation lines are calculated. A calculation unit that calculates a boundary turning angle that is the smallest working radius in the range and determines whether the boom is located on the left or right side of the boundary turning angle or on the boundary turning angle, and the calculation unit. When the boom tip reaches the work regulation range by the signal from the section, the right turn is restricted when the boom is located on the left side of the boundary turning angle, and the left turn is controlled when the boom is located on the right side of the boundary turning angle. It is configured with a boom swing control section that regulates the boom and does not control the boom swing when the boom is located on the boundary swing angle, so that a larger working range than before can be obtained and the boom can be accurately moved without tipping the vehicle. Since the swivel operation can be performed, the workability is remarkably improved and the safety is sufficiently ensured, which has various excellent effects.

[Brief description of drawings]

1 to 3 show an embodiment of a boom turning control device in a work vehicle according to the present invention. FIG. 1 is a block diagram of the boom turning control device, and FIG. 2 is a boom turning control device. Fig. 3 is an operational flowchart of the boom operation,
FIG. 4 and FIG. 5 are explanatory diagrams of a boom operation by a conventional boom turning restriction device. 20 ... Boom rotation restricting device, 21 ... State detection unit, 2
2 ... Calculation unit, 23 ... Boom turning control unit, 21a ...
Boom turning angle detector, 21b ... Overhang amount detector,
21c ... boom length detector, 21d ... boom hoisting angle detector, 21e ... lifting load detector, 22a ... area determiner, 22b ... rated load calculator, 22c ... comparator,
22d ... Judgment device, 23a ... Turning control valve, 23b
...... Boom operation control valve, outrigger ...... 30a, 3
0b, 30c, 30d, 40 ... Vehicles (high-place work vehicles),
41 …… Boom.

Claims (1)

[Scope of utility model registration request] Claims: 1. A work vehicle equipped with outriggers which can be extended to the outside of the chassis on the left and right sides of the chassis, and which are equipped with a boom that can be undulated and retracted via a turntable that is rotatably mounted on the chassis. In addition, each overhang amount detector provided on each outrigger, the boom swing angle detector that detects the swing angle of the boom, the boom length detector that detects the extension and contraction length of the boom, and the hoisting angle of the boom are detected. Two outriggers adjacent to each other based on one outrigger based on the detection signals from the boom hoisting angle detector, the overhang amount detector, the boom turning angle detector, the boom length detector, and the boom hoisting angle detector. The work range consisting of the rear linear regulation line and the left and right lateral regulation lines determined by A calculation unit that calculates a boundary turning angle that is a radius and determines whether the boom is located on the left or right side of the boundary turning angle or on the boundary turning angle, and a signal from the calculation unit. When the boom tip reaches the work regulation range, when the boom is located on the left side of the boundary turning angle, the right turning is restricted, and when the boom is located on the right side of the boundary turning angle, the left turning is restricted,
A boom swing restricting device for a work vehicle, comprising: a boom swing restricting unit that does not restrict the swing of the boom when the boom is positioned on a boundary swing angle.