JPH0647914Y2 - Automatic storage control device for turning work device - Google Patents

Description

[Detailed Description of Device] a. Purpose of the Invention (Industrial Application Field) The present invention is a vehicle body (base) such as an aerial work vehicle.
More specifically, the present invention relates to a swivel work device in which a working device is disposed on a swivel base mounted on a swivel upper part thereof. The present invention relates to an automatic storage control device that can be stored in a storage device.

(Prior Art) As shown in FIG. 2, an aerial work vehicle has a swivel base 2 rotatably mounted on a vehicle body 1, and a telescopic boom 4 (working device) mounted on the swivel base 2 so as to be capable of undulating. A work table 7 is attached to the tip of the boom 4. During work, the boom 4 is controlled to move up and down and extend and retract, and the swivel base 2 is rotated by the swivel motor 3 so that the boom 4 is oriented in a desired direction.
Is controlled to move the work table 7 to a predetermined work position. After the work is completed, the boom 4 is fully retracted and laid down to some extent, and then the swing motor 3 is driven to swing the swivel base 2 until the boom 4 is located right above the boom rest 8 on the vehicle body 1. After that, the boom 4 is laid down and placed on the boom rest 8, and is stored and held in this state.

In order to store the boom 4 in this manner, an operator turns the swivel base 2,
That is, the drive of the turning motor 3 may be performed by manual operation control, but this storage is often performed automatically because the burden on the operator is great.

(Problems to be solved by the invention) In order to automatically perform such storage, the swivel base 2
Is detected, the boom 4 is swung directly above the boom rest 8, that is, the swivel base 2 is swung toward the retracted position, and when the swivel motor 2 is swung up to the retracted position, the drive of the swing motor 3 is stopped and the swivel is turned. The platform 2 was to be stopped at this storage position. However, if the drive of the swing motor 3 is stopped at the time when the swivel base 2 reaches the storage position, the swivel base 3 passes through the storage position due to inertia of the swivel base 3 and the boom 4, inertia rotation of the motor 3, and the like. Stop at a position where you have turned to some extent. Therefore, the boom 4 stops slightly above the boom rest 8 and stops, and if the boom 4 is laid down as it is, there is a problem that it cannot be properly placed on the boom rest 8.

The deviation of the stop position becomes smaller if the turning speed is slower. However, if the turning speed of the turntable is slowed, the turning time becomes long at the time of work, and there is a problem that work efficiency is reduced.

In view of such a problem, the present invention provides an automatic storage control device capable of accurately positioning a work device on a swivel base in a storage position and automatically storing the work device without affecting work efficiency. With the goal.

B. Configuration of the Invention (Means for Solving the Problem) As means for achieving such an object, an automatic storage control device of the present invention is an automatic storage for performing drive control of a swing drive means according to operation of an automatic storage switch. When the automatic storage switch is actuated, the swivel control means is driven by switching the drive speed of the swivel drive means to a low speed to move the swivel base toward the storage position at a low speed. The drive of the turning drive means is stopped when the storage position detecting means detects that the vehicle is located at.

Further, the second control device according to the present invention also has deceleration area detection means for detecting whether or not the swivel base is located within the deceleration area set within a predetermined turning angle range centered on the storage position. There is. In this device as well, when the automatic storage switch is turned on, the swivel driving means swivels the swivel base toward the retracted position.However, while the swivel base is outside the deceleration area, the swivel drive means is rotated at a normal speed. While being driven, the turning drive means is driven while decelerating while in the deceleration area, and when the storage position detecting means detects that the turning base is in the storage position, the drive of the turning drive means is stopped. It is like this.

(Operation) With the above control device, when the automatic storage switch is actuated, the swivel drive means is driven so that the swivel base swivels toward the storage position. At this time, the drive speed of the swivel drive means is increased. Is switched to a low speed, the amount of turning due to inertia etc. when the drive of the turning drive means is stopped when the turning base is detected to be in the storage position is small, and the turning base is stopped almost accurately at the storage position. Can be made.

It should be noted that if the turning drive means is set to a low speed at the same time when the automatic storage switch is turned on, it takes time to swing to the storage position when the swivel base is away from the storage position. In the second control device, the deceleration area is set near the storage position, and the vehicle is caused to turn at a normal speed until the swivel is turned into the deceleration area, and the time required for storage is shortened. be able to.

(Embodiment) A preferred embodiment of the present invention will be described below with reference to the drawings.

First, FIG. 2 shows an aerial work vehicle as an example of a work vehicle to be subjected to automatic storage control according to the present invention. This aerial work vehicle is provided with a swivel base 2 mounted on a vehicle body 1 so as to be swingable, and a swivel base pivotally mounted on the swivel base 2 so that the base boom
Telescopic boom 4 with telescopic boom 4b telescopically inserted in 4a
And a work bucket 7 attached to the tip of the telescopic boom 4. Swivel 2
Of the telescopic boom 4 is performed by the hydraulic cylinder motor 3 for swiveling, the hoisting operation of the telescopic boom 4 is performed by the telescopic operation of the hoisting cylinder 5, and the telescopic operation of the telescopic boom 4 is performed by the telescopic cylinder 6 disposed in the telescopic boom 4. It is performed by the expansion and contraction operation.

Therefore, by controlling the operations of the hydraulic motor 3, the hoisting cylinder 5, and the telescopic cylinder 6, the work bucket 7 can be moved, for example, as shown in FIG. A leveling device (not shown) is arranged between the work bucket 7 and the telescopic boom 4, and the work bucket 7 is always held horizontally during the work by the leveling device.

When the work device 10 does not perform work, the work device 10 contracts the boom 4 and lays it down, puts the boom 4 on the boom rest 8 provided on the vehicle body 1 and holds the boom 4 in the retracted state as shown in the figure. It is supposed to do. The state in which the boom 4 is placed on the boom rest 8 in this way is referred to as a stored state, and the positions of the swivel base 2 and the boom 4 in this stored state are referred to as a stored position. In this retracted position, the center line of the boom 4 is a chain line B extending from the turning center "O" of the swivel base 2 as shown in FIG. Normally in the stored state,
Boom 4 is fully retracted.

Operation control of the work device 10 in this aerial work vehicle will be described with reference to FIG.

FIG. 1 shows a hydraulic circuit for controlling the operation of the swing motor 3, the hoisting cylinder 5 and the telescopic cylinder 6 which constitute the working device 10. The operations of the swing motor 3, the hoisting cylinder 5, and the telescopic cylinder 6 are controlled by control valves 21, 22, 23, respectively. Each control valve 21, 22, 23 is an operating lever
The left and right solenoids 21a, 21b, 22a, 22b, 23a, by the control current output from the valve controller 40 according to the operation of 41.
The operation is controlled by exciting either one of 23b.
Tank by hydraulic pump 31 driven by engine E
The hydraulic oil pumped from 30 and regulated by the relief valve 32 is supplied to each of the control valves 21, 22, and 23 via the oil passages 33 to 36, and the control valves 21, 22, and 23 are operated. Accordingly, the supply / discharge control of the hydraulic oil is performed, and the turning, undulating, and expanding / contracting operations are performed in accordance with the operation of the operation lever 41.

This aerial work vehicle has a swivel base 2 and a boom 4 when the work is completed.
At the same time, it is equipped with an automatic storage control device that automatically pivots to the storage position. This automatic storage control is started when the operator turns on the automatic storage switch 42.

For this reason, the valve controller 40 has an automatic storage switch 42
Are connected, and the ON signal from the automatic storage switch 42 is input to the valve controller 40.
Further, potentiometers 43a and 43b for detecting the turning position of the swivel base 2 are attached to the swivel base 2, and the detected values are also input to the valve controller 40. Of these, the right potentiometer 43a is in the storage position (line B in FIG. 3).
Direction) to the right, and the left potentiometer 43b detects the turning angle to the left.

The automatic storage control is performed by controlling the operation of the swing motor 3. For this reason, the excitation control line 4 for the left and right solenoids 21a and 21b of the control valve 21 for controlling the operation of the swing motor 3
9a and 49b are connected to the valve controller 40 via the second relay 45, the turning speed controller 48, and the first relay 44. The valve controller 40 outputs a predetermined voltage signal from the control line 40a to the swing speed controller 48, and the swing speed controller 48 sends a current signal corresponding to this piezoelectric signal to the left and right solenoids 21a, 2b via the excitation control lines 49a, 49b.
Output to one of 1b. As a result, the amount of hydraulic oil supplied from the control valve 21 to the swing motor 3 is controlled, and the swing motor 3 is driven at a speed corresponding to the current signal.

However, the solenoid 44b of the first relay 44 is connected to the controller 4
When excited by the operating current sent from 0 through the control line 40b, the relay switch 44a moves to the right and the control line 4
The piezoelectric signal from 0a is input to the turning speed controller 48 via the resistor 46. Therefore, even if the voltage output from the valve controller 40 to the control line 40a is the same, when the first relay 44 is turned on, the input voltage to the swing speed controller 48 becomes low due to the resistor 46, and the swing motor 3 is driven. It also slows down. When the solenoid 45b of the second relay 45 is excited by the operating current sent from the valve controller 40 via the control line 40c, the relay switch 45a moves to the left, and the excitation control lines 49a and 49b cause the second relay 45b to operate. The control valve 21 is returned to the neutral position and the drive of the swing motor 3 is stopped.

The control by the automatic storage control device having such a configuration will be described with reference to the flowchart of FIG.

In this control, first, it is determined whether or not the automatic storage switch 42 is turned on, and when it is in the off state, the control is continued as it is (step S1). When the switch 41 is turned on, the routine proceeds to step S2, where it is determined whether or not the swing angle φ (see FIG. 3) from the retracted position of the boom 4 and the swivel base 2 is smaller than the deceleration area angle φA. To be done. As shown in FIG. 3, the deceleration area angle φA is an angle set to about 10 degrees on both sides of the storage position B, and in the present control, the center line of the boom 4 is The swivel base 3 is swung at a normal speed until it enters the deceleration region angle φA, and after entering the deceleration region angle φA, the swivel base 3 is decelerated and swung.

Therefore, when φ> φA, the routine proceeds to step S3, where the solenoid 44b of the first relay 44 is held in the de-energized state (OFF), and when φ ≦ φA, the solenoid of the first relay 44 is held.
Excite (turn on) 44b. When a predetermined voltage signal is output from the valve controller 40 to the control line 40a in this way, as described above, the swing motor 3 is driven at a normal speed when the first relay 44 is off, and when the first relay 44 is on, the swing motor 3 is on. 3 is driven at a reduced speed. The swing motor 3 is driven in a direction of moving the boom 4 closer to the storage position.

Next, in step S6, it is determined whether or not the turning angle φ is smaller than the minute angle α, that is, whether or not the turning angle φ becomes substantially zero and the boom 4 reaches the retracted position. If φ> α and the storage position is not reached, the second relay 45
Is kept off, the drive of the swing motor 3 is continued, and when it is determined that φ ≦ α and the boom 4 has reached the retracted position, the second relay 45 is turned on to drive the swing motor 3. To stop.

With this configuration, the boom 4 turns at a normal speed until the boom 4 enters the deceleration area angle φA, the turning speed is reduced when the boom 4 enters the deceleration area angle φA, and the turning is performed when the boom 4 reaches the storage position. Is stopped. For this reason, not only the storage is performed in a short time, but also the turning stop is performed in a state where the turning speed is slow, and the boom 4 can be positioned almost exactly at the storage position to stop the turning.

Then, the hoisting cylinder 5 is operated to tilt the boom 4 down, and the boom 4 is placed on the boom rest 8 to complete the storage. The fall of the boom 4 may be automatically performed or may be manually performed.

In this example, the drive speed of the swing motor 3 is slowed when the swing angle φ enters the deceleration area angle φA, but the swing motor 3 is driven when the automatic retract switch 41 is pressed.
You may make it slow the drive speed of. However, in this case, although the boom 4 can be accurately stopped at the storage position, the storage time becomes long.

Further, in this example, when the drive speed of the swing motor 3 is slowed down, the amount of oil supplied from the drive control valve 21 of the swing motor to the swing motor 3 is reduced, but the hydraulic motor 3 is used by another method. You may make it slow the drive speed of. For example, a method of reducing the rotation of the engine E may be used.

Further, although the aerial work vehicle has been described as an example in the present example, it goes without saying that the present invention is not limited to this.

C. As described above, according to the present invention, when the automatic storage switch is actuated, the drive speed of the swing drive means is switched to a low speed, and the swivel base turns so as to turn toward the storage position. Since the drive means is driven, the turning amount due to inertia etc. when the drive of the turning drive means is stopped when it is detected that the turning base is located at the storage position is small, and the swivel base is almost accurately moved at the storage position. It can be stopped. The timing at which the turning drive means is switched to the low speed may be the same as when the automatic storage switch is turned on, or when the turning base is turned within the deceleration area. However, the storage time can be shortened by turning at a normal speed up to the deceleration area and reducing the drive speed within the deceleration area.

[Brief description of drawings]

FIG. 1 is a control circuit diagram of a working apparatus for performing automatic storage control according to the present invention, FIGS. 2 and 3 are perspective and plan views of this aerial work vehicle, and FIG. 4 is an automatic view according to the present invention. It is a flow chart which shows storage control. 2 …… Swivel base, 3 …… Swing motor 4 …… Boom, 8 …… Boom rest 40 …… Valve controller 41 …… Operating lever, 42 …… Automatic retract switch 44,45 …… Relay

Claims (2)

[Scope of utility model registration request] 1. A swivel mounted rotatably on a base, a swivel drive means capable of adjusting a drive speed for swiveling the swivel, and a working device arranged on the swivel. Storing and holding the working device on the base, and detecting whether or not the swivel base is at a storage position where the working device is stored and held by the storing and holding means. Storage position detecting means, an automatic storage switch that is operated when the working device is stored, and when the automatic storage switch is operated, the drive speed of the swing drive means is switched to a low speed to drive, An automatic storage swing in which the swivel base is swung toward the storage position at a low speed, and when the storage position detection unit detects that the swivel base is in the storage position, the drive of the swing drive unit is stopped. Automatic storage control apparatus of a slewing working device, characterized in that it is composed of a control means. 2. A swivel mounted rotatably on a base, a swivel drive means capable of adjusting a drive speed for swiveling the swivel, and a working device arranged on the swivel. Storing and holding the working device on the base, and detecting whether or not the swivel base is at a storage position where the working device is stored and held by the storing and holding means. And a deceleration area detecting means for detecting whether or not the swivel base is located in a deceleration area set in a predetermined turning angle range centered on the storage position, and when storing the working device. And an automatic storage switch that is actuated at the normal speed when the deceleration area detection means detects that the swivel base is outside the deceleration area when the automatic storage switch is operated. When it is detected that the turntable is within the deceleration area, the speed is reduced to drive the turning drive means to turn the turntable toward the storage position, and the storage position detection means causes the turntable to move. An automatic storage control device for a revolving work device, comprising: an automatic storage revolving control means for stopping the drive of the revolving drive means when it is detected that the vehicle is in the storage position.