JPH0647904Y2 - Boom turning control device for aerial work vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention provides correction coefficient data for a reference allowable radius for each turning position of a boom, and turning restriction data obtained from the reference allowable radius and the correction coefficient data. It is stored in advance, the allowable work radius is calculated based on the correction coefficient data and the turning position regulation data, the allowable work radius and the working radius are compared, and if the working radius exceeds the allowable work radius, the turning position is determined. The present invention relates to a boom turning regulation device for an aerial work vehicle that regulates a left turning and a right turning of a boom according to regulation data.

[Prior art and problems to be solved]

Conventionally, for the turning position of the boom, the correction coefficient data is arithmetically operated on the reference allowable load data to obtain the rated load at the turning position, according to Japanese Patent Publication No. 62-34680 (load load prevention device for crane). It is known.

However, the technique disclosed by the above device issues a predetermined alarm to notify the operator that the operation of the boom is the limit when the load is lifted over the allowable load.
The operator can know from such an alarm only in the direction in which the working radius of the boom expands, that is, that the boom should not be extended, the boom angle should be lowered, or the lifting load should not be increased. It does not give any information about the turning direction, so many operators empirically think that turning is safe even if such an alarm is issued, but the direction in which the turning is possible is
It is extremely difficult to intuitively determine whether the image is on the left or right side, both sides are possible, or both sides are not usable. Therefore, under the present circumstances, it is the actual situation that the turning operation is not performed without relying on the intuition.

[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 obtain the correction coefficient data for the reference allowable radius for each turning position of the boom and the reference allowable radius and the correction coefficient data. Stored turning regulation data in advance, calculating an allowable work radius based on the correction coefficient data and turning position regulation data, comparing the allowable work radius and the work radius, and the work radius exceeds the allowable work radius. In this case, there is a need for a boom turning control device for an aerial work vehicle that can control the left turning and right turning of the boom according to the turning position control data. , A boom hoisting angle detector, a boom turning position detector, correction coefficient data for correcting a predetermined fixed reference allowable radius according to the turning position of the boom, and boom rotation. A data storage device that stores turning control data that is a turning control direction determined for a position, and a real radius calculation that calculates a working radius of a boom based on detection signals of the boom length detector and the boom hoisting angle detector. And a rated radius calculator for calculating an allowable working radius based on the detection signal of the boom turning position detector, the correction coefficient data corresponding to the turning position called from the data storage unit, and the rated radius calculator. A comparator for comparing the allowable work radius with the work radius obtained by the real radius calculator, and the swing operation of the boom by the output signal of the comparator and the swing regulation data corresponding to the swing position called from the data storage unit. It comprises a turning regulation means for regulating.

[Action]

Since the above configuration is adopted, when the boom working radius reaches the allowable working radius, the swinging operation data of the boom, which leads to the expansion of the boom working radius, is stored according to the swinging restriction data stored according to the swinging position of the boom. It is possible to regulate and prevent falling due to erroneous operation of turning operation, so that safe and efficient work can be performed.

〔Example〕

An embodiment of a boom turning restriction device for an aerial work vehicle according to the present invention will be described in detail below with reference to FIGS. 1 and 2.

In the figure, 1 is an aerial work vehicle equipped with a boom turning control device 2 according to the present invention, 3 is a turntable, 4 is a boom, 5 is a hoisting cylinder, 6 is a telescopic cylinder, and 7 is an outrigger.

By the way, the boom turning regulation device 2 detects a boom length detector 2a, a boom hoisting angle detector 2b, a boom turning position detector 2c, and a boom turning position (for example, a right turn 180 degrees from a _i as a base point). _ai-1 , _ai-2 , ..., _ai are obtained from the boom length l and the undulation angle θ for each _{ai + 1} , _{ai + 2} , ... Correction coefficient data for the reference allowable radius (corresponding to the turning position ... η
_i-1 , η _i-2 , η _i , η _{i + 1} , η _{i + 2} , ...) And the turning regulation data obtained from the reference allowable radius and the correction coefficient data [corresponding to the correction coefficient data ...
3, 1, 2, 2, ... (where, data 3 = left turning regulation data, data 1 = no turning regulation data, data 2 = right turning regulation data)]
And the boom length detector 2a and the boom hoisting angle detector
A real radius calculator 2f for obtaining a working radius r from a detection signal (l · θ) detected by 2b, a detection signal (ψ) detected by the boom turning position detector 2c, and the turning called from the data storage 2e. A rated radius calculator 2g for calculating an allowable working radius R based on the correction coefficient data η _i ... Corresponding to the position ψ (angle), an allowable working radius R obtained by the rated radius calculator 2g, and the actual radius calculation a comparator 2h for comparing the work radius r determined in vessel 2f, the output signal W ₁ of the comparator 2h. Swing restriction data controlled by W ₂ and the swivel position called from the data storage unit 2e ... 3, 3, 1, 2, 2, ..., That is, left / right swiveling of the boom 4 Consists of regulating valves 8a and 8b.

9a is an expansion / contraction regulating valve, and 9b is an undulation regulating valve.

Hereinafter, the operation of the boom turning control device in the aerial work vehicle according to the present invention will be described based on the above configuration.

Now, assuming that the boom turning position is at a _i-1 and the tip of the boom 4 is at the position plotted in FIG. 1 (A, that is, exceeding the allowable working radius R), the boom length 1 and the hoisting angle θ Since the correction coefficient data for the required reference allowable radius is η _i−1 , the reference allowable radius and the correction coefficient data are output to the next-stage rated radius calculator 2g, and the boom 4 is also operated by the rated radius calculator 2g. The allowable work radius R at the turning position a _i-1 of is calculated.

The allowable work radius R is input to the comparator 2h at the next stage, and the actual radius is calculated from the detection signals (l.theta.) Detected by the boom length detector 2a and the boom hoisting angle detector 2b by the comparator 2h. Compared with the working radius r calculated by the computing unit 2f,
Left turn of the comparator 2h output signal W ₂ and the data storage unit 2e left turn restriction valve by turning regulation data 3 corresponding to the pivot position to be called from the (fall side valve) 8b is controlled boom 4 is restricted It

If the tip of the boom 4 is located at (B) shown in FIG. _{1, the} boom length detector 2a can be used even if the turning position a _{i-1 of the} boom 4 is the same as the position where the regulation is applied. And the detection signal (l ・ θ) detected by the boom hoisting angle detector 2b
Since the working radius r calculated by the actual radius calculator 2f is smaller than the allowable working radius R, the operation of the boom 4 is determined to be within the allowable working radius range, and therefore the boom 4 can be swung without being stopped, and No warning is given.

By the way, when the detection radius exceeds the allowable radius, an alarm is issued and the boom operation is stopped.

[Effect of device]

As described in detail above, the present invention corrects a boom length detector, a boom hoisting angle detector, a boom turning position detector, and a fixed constant reference allowable radius according to the turning position of the boom. A data storage device that stores the correction coefficient data and the turning regulation data that is the turning regulation direction that is determined for the turning position of the boom, and the boom length detector and the boom hoisting angle detector detect signals of the boom. A real radius calculator for calculating a working radius; a rated radius calculator for calculating an allowable working radius based on a detection signal of the boom turning position detector, correction coefficient data corresponding to a turning position called from the data storage, A comparator for comparing the allowable work radius calculated by the rated radius calculator and the work radius calculated by the actual radius calculator, and an output signal of the comparator and the data storage unit. Since it is configured with the swing control means that controls the swing operation of the boom based on the swing control data corresponding to the swing position, when the work radius of the boom reaches the allowable work radius, the swing of the boom leads to the expansion of the work radius of the boom. The operation can be restricted by the turning restriction data stored according to the turning position of the boom, and various excellent effects such as safe and efficient work can be achieved.

[Brief description of drawings]

FIG. 1 is a perspective view showing an example of an aerial work vehicle equipped with a boom turning control device for an aerial work vehicle according to the present invention;
The figure is a block diagram for explaining the boom turning restriction device. 1 …… Aerial work vehicle, 2 …… Boom turning control device, 2a ……
Boom length detector, 2b ... Boom undulation angle detector, 2c ...
… Boom turning position detector, 2e …… Data storage, 2f ……
Real radius calculator, 2g …… Rated radius calculator, 2h …… Comparator,
3 ... turntable, 4 ... boom, 5 ... undulating cylinder, 6 ... telescopic cylinder, 7 ... outrigger, 8a
…… Right turn control valve, 8b …… Left turn control valve.

Claims (1)

[Scope of utility model registration request] 1. A boom length detector, a boom hoisting angle detector, a boom turning position detector, correction coefficient data for correcting a predetermined constant reference allowable radius according to the turning position of the boom, and a boom. A data storage device that stores turning control data that is a turning control direction that is determined with respect to the turning position of the robot, and a boom working radius is calculated based on detection signals of the boom length detector and the boom hoisting angle detector. A radius calculator, a detection signal of the boom swing position detector, a correction radius data corresponding to the swing position called from the data storage unit, and a rated radius calculator for calculating an allowable working radius, and the rated radius calculator. A comparator for comparing the calculated allowable working radius with the working radius calculated by the real radius calculator, and a rotation signal corresponding to the turning signal called from the data storage device and the data storage device. Regulation data by the boom of the swing operation in the boom pivot restricting device in aerial platforms, characterized in that is constituted by a pivot regulating means for regulating the.