JPH0626551Y2 - Boom turning control device for work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention calculates a work control range determined by two adjacent outriggers on the basis of at least one outrigger, and determines by the calculation. The present invention relates to a boom turning control device for a work vehicle in which the turning operation of the boom is prevented from turning to either the left or the right on the intersection of the work control ranges.

[Background of the Invention] As shown in FIG. 4, work on an aerial work vehicle 5 equipped with a boom 4 which is capable of undulating, expanding and contracting and turning through a turntable 3 on a chassis 2 equipped with a plurality of outriggers 1. The range (area) A is usually determined by a combination of the hoisting angle of the boom, the extension / contraction length, the turning angle, the load, and the overhang amount of the outrigger. (Including) and the swing angle (including direction) of the boom can be particularly referred to as main determinants.

[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 lifted, expanded or contracted, or the load can be reduced to release the regulation. 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-described problems, and an object thereof is to calculate a work control range determined by two adjacent outriggers with at least one outrigger as a reference. However, on a line of intersection of the work regulation range determined by the calculation, there is a need to provide a boom rotation regulation device for a work vehicle in which the swing movement of the boom is prevented from pivoting to the left or right side. For that reason, in a work vehicle equipped with outriggers that can be freely extended to the outside of the chassis on the left and right sides of the chassis, and equipped with a boom that can be undulated and retracted via a turntable that is rotatably mounted on the chassis. , The overhang detector on each outrigger, the boom swing angle detector for detecting the boom swing angle, the boom length detector for detecting the boom extension / contraction length, and the boom hoisting angle Based on the signals from the boom hoisting angle detector and the overhang amount detector, the boom turning angle detector, the boom length detector, and the boom hoisting angle detector, two adjacent outriggers are used as a reference. The work regulation range composed of the rear straight regulation line and the left and right straight regulation lines determined by the outrigger is calculated, and the rear regulation line and the left or right side of the calculated work regulation range are calculated. A calculation unit that determines whether the tip of the boom is located on the intersection of the two regulation lines, and a signal from the calculation unit causes the boom tip to move between the regulation line behind the work regulation range and the regulation line on the left or right side. It is configured with a boom swing restricting portion that restricts the swing operation of the boom when the booms are simultaneously positioned on the intersection.

[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 restriction device 20 is composed of a state detecting section 21, a calculation section (working range calculator) 22, and a boom turning restriction section 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. thereby calculating the lifting load, straight forward regulation lines, rear regulating line R ₂ and the left and right sides regulating line load rating calculator 22b for calculating the working regulations range composed of R ₁
From the comparator 22c, a comparator 22c that compares the allowable lifting load obtained by calculation by the rated load calculator 22b with the lifting load detected by the lifting load detector 21e of the state detector 21. Signal indicates that the hoisting load matches the allowable load, that is, when the boom tip is located above the work regulation range, the turning angle detected by the boom turning angle detector 21a is calculated by the rated load calculator 22b. Whether the intersection point of the front or rear regulation line R _{2 of the} obtained work regulation range and the left or right side regulation line R ₁ is coincident with the turning angle, that is, the front or rear regulation line R ₂
And a determining device 22d that determines whether the tip of the boom is simultaneously located at the intersection of the regulation lines of the left or right method.

The boom turning restriction unit 23 is the comparator 22 of the calculation unit 22.
A boom operation control valve 23 that controls the operation of the boom when the lifting load matches the allowable load based on the signal from c.
b and, by a signal from the determination unit 22d of the arithmetic unit 22, regulation line R ₁ regulatory line turning angle of the front or rear of the boom R ₂ and the left or right side when the hoisting load is consistent with the allowable load When the boom tip is located at the intersection of the turning angle of the boom, that is, when the boom tip is located at the intersection of the front or rear regulation line R ₂ and the left or right regulation line. And a turning restriction valve 23a that restricts the turning operation to the.

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 the boom 41 is on the right side regulation.

That is, the determination device 22d determines whether or not the boom 41 is present within the work regulation range R _{1 of} the right side adjacent outriggers 30a and 30b.

When it is determined by the above determination that the boom 41 is within the work regulation range R ₁ , the rear regulation is determined next, and in the same determination, the boom 41 is also regulated in the work regulation range R _2. If it is not, the turning is not restricted and the turning is freely performed, and if the work is restricted to the rear work restriction range R ₂ , the turning in the X direction is restricted.

In the determination of the determining device 22d, if the turning of the boom 41 is restricted by the work restriction range R ₁ but not by the backward work restriction range R ₂ , the Z-direction rotation is restricted. However, when it is determined that the boom 41 is restricted, that is, on the intersection line Y of the work restriction ranges R ₁ and R ₂ , the boom 41 is restricted from turning in the X and Y directions.

By the way, the comparator 22c compares the allowable hoisting load with the hoisting load, and when the hoisting load and the allowable hoisting load match, the tip of the boom is on the regulation line of the work regulation range calculated by the rated load calculator 22b. It is determined by the determiner 22d that it is located at. At this time, when the boom turning angle coincides with the turning angle at which the intersection of the rear regulation line R ₂ and the right regulation line R ₁ of the work regulation range is located by the signal from the boom rotation angle detector 21 a. , i.e., when the tip of the boom to the rear of the regulation line R ₂ and the right side of the regulation line R ₁ on the intersection point Y is determined by the determination unit 22d are positioned at the same time, turn restriction by a signal from the decision unit 22d Valve 23
b controls the swinging action to the left or right side of the boom.

In the above description of the operation, an example of the right rear corner of the vehicle 40 has been described, but it is needless to say that the same operation can be performed even if it is attached to all corners.

[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 detector provided on each outrigger, boom swing angle detector that detects the boom swing angle, boom length detector that detects the boom extension / contraction length, and boom The boom hoisting angle detector that detects the hoisting angle of the robot, and the signals from the overhang amount detector, the boom turning angle detector, the boom length detector, and the boom hoisting angle detector that are adjacent to each other based on one outrigger. A work range composed of a rear linear restriction line and left and right linear restriction lines determined by two matching outriggers is calculated, and the calculated work restriction range is rearward. A calculation unit that determines whether the boom tip is located on the intersection of the regulation line and the left or right regulation line, and a signal from the calculation unit causes the boom tip to move to the left and the regulation line behind the work regulation range. Alternatively, the boom swing restricting part that restricts the swinging motion of the boom when it is located at the intersection of the right side restricting lines at the same time has a larger working range than before, and the boom does not fall over without overturning the vehicle. Since it can be accurately swung, it has various excellent effects such that workability is remarkably improved and safety is sufficiently ensured.

[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, R 1,} R ₂ ...... work regulation range, Y ......
Intersection.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Yoshiyoshi Hirata Inventor, Yoshiyoshi Hirata 3-11-20 Wakaoji, Amagasaki City, Hyogo Prefecture, Kansai Electric Power Co., Inc. 3-34, Kinki Electric Works Co., Ltd. (72) Inventor, Masayoshi Abe 2-34, Honjo East, Oyodo-ku, Osaka City, Osaka Prefecture (72) Kinki Electric Works Co., Ltd. (72) Akihiko Ohira Shinji, Tone-gun, Gunma Prefecture 414, Shimohara, Higashimine, Sugawaji, Village Ai-1 Aichi Vehicle Co., Ltd. Shinji Factory

Claims (1)

[Scope of utility model registration request] Claims: 1. A work vehicle equipped with outriggers which can be freely extended to the outside of the chassis on the left and right sides of the chassis and which is equipped with a boom that can be undulated and extended via a turntable mounted on the chassis so as to be rotatable. In addition, the 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 that detects the hoisting angle of the boom. Undulation angle detector, said overhang amount detector, boom turning angle detector,
Signals from the boom length detector and boom hoisting angle detector determine a rear linear regulation line and left and right lateral regulation determined by two adjacent outriggers with one outrigger as a reference. A calculation unit that calculates the work regulation range composed of lines and determines whether the tip of the boom is located at the intersection of the regulation line behind the calculated work regulation range and the left or right regulation line. A boom swing restricting unit that restricts the swing operation of the boom when the boom tip is located at the intersection of the rearward restricting line of the work restricting range and the leftward or rightward restricting line at the same time by a signal from the computing unit. A boom turning control device for a work vehicle characterized by being provided.