JPH0654697U - Control device for work vehicle with boom - Google Patents

Abstract

(57) [Summary] [Purpose] Boom tip B of work vehicle A with boom
To be able to easily perform vertical ascending / descending of a without using the extension / contraction operation of the boom B. [Structure] In the work vehicle A with a boom, the work vehicle A with a boom is automatically moved forward and backward in accordance with a change in the boom work radius R accompanying the operation of raising and lowering the boom B.
The amount of change in the boom work radius R and the amount of advance / retreat of the boom-equipped work vehicle A are offset.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a control device for a work vehicle with a boom, which has a swingable platform mounted on a vehicle frame and has a boom which can be raised and lowered and which can be moved forward and backward by a traveling device driven by an appropriate traveling motor. is there.

[0002]

[Prior art]

 In the work vehicle with a boom as described above, it has been a general practice so far to move the load of the boom, the work bucket, etc. to a desired position (altitude and horizontal distance) by raising and lowering the boom. It is a control method.

[0003]

[Problems to be solved by the device]

 However, as shown in FIG. 4, for example, while the work vehicle A with a boom is stopped at a fixed position, the bucket C or the like mounted on the boom tip end Ba may be caught between obstacles in front (for example, the vertical wall surface 3). When the bucket C etc. are vertically moved up and down (C ′, C ″) in such a state, the driver must perform careful driving with simultaneous fine adjustment of the undulation and extension / contraction of the boom B. There is a problem that a highly skilled person is required as a driver of the work vehicle, or the driver is tired more than necessary.

The present invention has been made in view of the above-mentioned circumstances, and as a part of a method of operating a work vehicle with a boom, a boom operation such as vertical up / down operation of a boom tip end near a wall can be performed. It is intended to provide a control device that can simplify the driving method by combining the ups and downs of the boom and the forward and backward movements of the work vehicle in the case of driving with fine adjustment.

[0005]

[Means for Solving the Problems]

 In order to achieve the above-mentioned object, the control device for a work vehicle with a boom according to the present invention is capable of hoisting on a swivel base 12 provided on a vehicle frame 11 as illustrated in, for example, FIGS. In a work vehicle A with a boom, which has a boom B and can be moved forward and backward by a traveling device E which is driven by an appropriate traveling motor, a boom hoisting angle detection means 21 for detecting a hoisting angle of the boom B, and the boom. A controller 16 for controlling the forward / backward movement of the work vehicle A with a boom in accordance with the ups and downs of the boom B. The controller 16 determines whether or not the forward / backward movement control of the work vehicle by the controller 16 is started. Means 20, a boom working radius calculating means 22 for calculating a boom working radius from the boom hoisting angle and the boom length, and the start determining means 2 Boom work radius initial value storage means 24 for storing the boom work radius Ro as an initial value at the time when it is determined that the work vehicle forward / backward control is started at 0, and the boom work radius when the boom work radius changes. Boom work radius variation amount calculation means 25 for calculating the variation amount ΔR of the current boom work radius Rn with respect to the initial value Ro, and the boom work radius of the boom work radius when the boom work radius increases due to the ups and downs of the boom. When the boom working vehicle A corresponding to the increase amount is calculated and the boom working radius is decreased due to the boom undulation, the boom working vehicle A corresponding to the decrease amount is calculated. Of the work vehicle advancing / retreating amount / boom work radius variation amount / comparison calculating means 26 and the work vehicle advancing / retreating amount / boom working radius variation amount / comparison calculating means 26. A traveling operation signal output means for outputting a traveling operation signal to the traveling control device 28 of the boom-equipped work vehicle A so as to drive the boom-equipped work vehicle A to travel according to the backward movement amount or the forward movement amount of the boom-equipped work vehicle A. 27 and 27 are provided.

[0006]

[Action]

 The control device for a boom-equipped work vehicle according to the present invention operates as follows because it is configured as described above.

First, at a work site where the control device for a boom-equipped work vehicle according to the present invention is used, the tip end portion of the boom B on which a load is suspended or the bucket C attached to the boom tip portion is attached to the boom C. It is a work site where B is vertically moved up and down while finely adjusting the undulation control.

When the boom working radius R increases or decreases as the boom B rises or falls, the control device moves the boom work vehicle A itself forward or backward by a distance commensurate with the increase or decrease ΔR. The basic action is to correct the fluctuation of the boom working radius R and maintain the vertical elevation of the boom tip end portion Ba.

To explain this in more detail, the control device for a boom-equipped work vehicle according to the present invention includes a controller 16 for controlling the forward / backward movement of the boom-equipped work vehicle A according to the ups and downs of the boom B. The controller 16 operates as follows.

That is, the controller 16 is provided with a start discriminating means 20 for discriminating whether or not the work vehicle forward / backward movement control by the controller 16 is started, and the start discriminating means 20 starts the work vehicle forward / backward movement control. When it is determined that the boom working radius initial value storage means 24 stores the boom working radius Ro at that time as an initial value.

When the boom B is raised and lowered with the work of the work vehicle A with boom, the work radius Rn of the boom fluctuates. The present boom work radius Rn and the boom work radius initial value Ro And a boom work radius variation amount ΔR (= Rn−Ro) is input to the work vehicle advancing / retreating amount / boom work radius variation amount / comparison calculation means 26. In the work vehicle advancing / retracting amount / boom work radius variation amount / comparison calculation means 26, the boom is tilted (raised when the boom is downward from the horizontal, the same applies below) and the boom work radius increases (ΔR <0). In this case, the amount of backward movement of work vehicle A commensurate with the increase in the boom working radius is calculated, and the boom working radius is raised by raising the boom (when the boom is downward from the horizontal, lay down, the same applies below). If it decreases (ΔR> 0), the amount of forward movement of work vehicle A commensurate with the amount of decrease in the boom work radius is calculated.

The work vehicle advancing / retracting amount, the boom work radius variation amount, and the retreat amount or the forward moving amount of the work vehicle A calculated by the comparison calculation means are output to the traveling operation signal output means 27, and the traveling operation signal output means 27 The traveling control device 28 is controlled according to the output signal.

As described above, each time the boom is raised or lowered, the work vehicle A is automatically controlled to move forward and backward by a distance corresponding to the amount of increase or decrease in the working radius, and the tip of the boom is finely adjusted by the driver. It goes up and down automatically without doing.

[0014]

[Effect of device]

 The present invention has the following effects due to the configuration and operation as described above.

That is, according to the present invention, if the operator of the work vehicle A with a boom devotes himself to the raising and lowering operation of the boom and its safety, the operator can automatically perform the boom extension / contraction operation without any other operation. The vertical movement of the tip portion Ba can be realized, and the operation of the work vehicle with a boom of this kind can be performed more reliably and easily even if not a highly skilled person.

Further, according to the present invention, when the boom-equipped work vehicle A moves forward by the amount corresponding to the decrease in the working radius when the boom B is raised, if there is an obstacle such as a beam above the boom B, then the work vehicle A will not move. Even if the boom raising angle is restricted, the boom B can be raised to a larger raising angle by advancing the work vehicle A with a boom. As compared with the case where the vehicle A is fixed at a fixed position and the boom is lifted and retracted, the work range of the boom B in the vertical direction can be expanded.

[0017]

【Example】

 FIG. 1 shows an example of a work vehicle with a boom constructed by applying the present invention and its work site.

In the work vehicle with a boom of this embodiment, a multi-stage telescopic boom B is rotatably pivoted by a hoisting cylinder D on a swivel base 12 provided on a vehicle frame 11 with a support shaft 41 as a fulcrum. is doing. A bucket C is attached to the boom tip end portion Ba via a bucket vertical support device F. The bucket C is held in a vertical posture by the bucket vertical support device F even when the boom B is hoisted and lifted along the facing wall surface 3 like C ₁ and C ₂ according to the hoisting of the boom B. It

In the embodiment shown in FIG. 1, a boom-equipped work vehicle A is entered from a low-height entrance 2 into a small indoor work space 1 having an obstacle (beam) 4 above and the boom B is fully retracted. It shows a work site where the bucket C at the end of the boom is vertically moved up and down along the facing vertical wall surface 3 in this state.

The boom-equipped work vehicle A of the embodiment shown in FIG. 1 is moved forward and backward by a hydraulic traveling motor 13 that drives front wheels 14. A front wheel 14 (or a rear wheel 15) is provided with a wheel tachometer 17 oppositely, and the wheel tachometer 17 measures the amount of rotation of the front wheel 14 (or the rear wheel 15) so that the work vehicle with a boom A It is designed to detect the amount of forward / backward movement.

As shown in FIG. 2, the boom-equipped work vehicle A of the embodiment shown in FIG. 1 includes various instruments such as boom hoisting angle detection means 21, boom length detection means 29, and work vehicle position detection means. 31 (wheel tachometer 17), work vehicle traveling operation detecting means 32 for detecting whether the working vehicle is in the traveling operation, boom telescopic operation detecting means for detecting whether the boom B is in the telescopic operation, etc. A controller that is provided with sensors, and outputs a travel control signal to the travel control device 28 of the work vehicle A with a boom in addition to the input of various data from the various instruments and sensors described above. 16 and an operation switch 30 for causing the controller 16 to start its control action are additionally provided.

The control device shown in FIG. 2 will be described in more detail below. The controller 16 includes the following computing or control means.

The start discriminating means 20 discriminates whether or not the control by the controller 16 may be performed, and the control by the controller 16 is started when the operation switch 30 is turned on. On the other hand, the boom telescopic operation detecting means 33 inputs a signal that the boom B is in the telescopic operation, or the work vehicle traveling operation detecting means 32 inputs a signal that the work vehicle is manually traveling. If the operation switch 30 is turned on, the control by the controller 16 is stopped.

Boom work radius calculating means 22 Calculate the boom work radius R at each time from the boom length L input from the boom length detecting means 29 and the boom hoisting angle α input from the boom hoisting angle detecting step 21. To do.

Boom work radius initial value storage means 24 When the operation switch 30 is turned on and the start determination means 20 determines that the control by the controller 16 has started, the boom work radius Ro at that time is set to the boom work radius initial value. Store as a value.

Work vehicle position initial value storage means 34 The position of the work vehicle at that time when the operation switch 30 is turned on and the start determination means 20 determines that the control by the controller 16 has started (the embodiment of FIG. 1). Then, the rotation angle βo of the front wheel 14 at that time calculated by the wheel tachometer 17 is stored as the initial value Ko.

Boom work radius comparison calculation means 25 The difference between the boom work radius initial value Ro input from the boom work radius initial value storage means 24 and the current boom work radius Rn input from the boom work radius calculation means 22, ie, , The amount of change in the boom work radius ΔR (= Rn-Ro) is calculated.

Work vehicle advancing / retreating amount detecting means 23 Current work vehicle position Kn inputted from the work vehicle position detecting means 31 (in the embodiment shown in FIG. 1, the rotation of the front wheel 14 calculated at this time by the wheel tachometer 17). Angle βn) and the work vehicle position initial value Ko input from the work vehicle position initial value storage means 34 (the rotation angle initial value βo of the front wheels 14 in the embodiment of FIG. 1), that is, the amount of forward and backward movement of the work vehicle. Calculate ΔK (= Kn-Ko).

Work vehicle advance / retreat amount / boom work radius change amount / comparison calculation means 26 Boom work radius change amount ΔR input from the boom work radius comparison calculation means 25 and work vehicle input from the work vehicle advance / retreat amount detection means 23 The amount of advance / retreat ΔK is compared, and the result of the calculation, that is, ΔR + ΔK (= X) is output to the traveling operation signal output means 27.

In this case, in this embodiment, with the front vertical wall surface 3 as the base point (P), the horizontal distance between the boom tip and the front vertical wall surface 3 decreases, that is, the boom B falls down. The direction in which the boom working radius increases (or the direction in which the work vehicle moves forward) is-(minus), and the horizontal distance between the boom tip and the front vertical wall surface 3 increases, that is, boom B is raised. The direction in which the boom working radius decreases (or the direction in which the work vehicle retracts) is + (plus). Therefore, in the embodiment of FIG. 1, if the boom working radius Rn at that time is in a relation of Rn> Ro with respect to the boom working radius initial value Ro, then ΔR <0, whereas in contrast to Rn <Ro When there is a relationship, ΔR> 0. On the other hand, similarly, in the embodiment of FIG. 1, when the boom work vehicle A moves forward from its initial position, the amount of advance / retreat (ΔK) becomes ΔK <0. On the other hand, the boom work vehicle A has its initial position. When moving backward, the amount of advance / retreat (ΔK) becomes ΔK> 0. From the above, in the embodiment of FIG. 1, if the boom B falls (or is raised) and the boom working radius R increases (or decreases) by ΔR, the work vehicle A correspondingly increases by the same amount as ΔR. If it is moved backward (or forward) by ΔK, then ΔR + ΔK = X 2 = 0.

When X = ΔR + ΔK> 0 based on the signal input from the traveling operation signal output means 27 work vehicle advancing / retreating amount / boom work radius variation amount / comparison calculating means 26, the traveling control is performed in order to advance the work vehicle A with boom. A forward signal is output to the device 28. On the other hand, if X = ΔR + ΔK <0, a backward signal is output to the traveling control device 28 to move the work vehicle A with the boom backward.

In the embodiment of FIG. 1, a hydraulic motor is used as the traveling motor 13, and an electromagnetic proportional valve is used as the traveling control device 28. The solenoid proportional valve controls the supply direction and the supply amount of the hydraulic oil to the traveling motor 13 according to the content of the control signal from the traveling operation signal output means 27, and when the traveling device E becomes ΔR + ΔK≈0. (Front wheel 14) is stopped.

Next, the operation of the boom-equipped work vehicle shown in FIGS. 1 and 2 will be described together with the flowchart shown in FIG.

When the boom-equipped work vehicle of the embodiment shown in FIG. 1 is controlled by the control device shown in FIG. 2, the control is performed in the order of steps S _{1 to} S ₁₁ shown below.

Step S _{1 The} operation switch 30 is turned on to start the control by the control device shown in FIG.

Step S _{2 The} boom expansion / contraction operation detecting means 33 determines whether or not the boom B is currently expanded / compressed. If the boom B is in expansion / contraction operation, the control by the control device of FIG. 2 is stopped. Let

Step S _{3 It} is judged by the work vehicle traveling operation detecting means 32 whether or not the work vehicle A with the boom is currently controlled to travel manually without the control device of FIG. 2. If the vehicle A is manually operated, the control by the control device of FIG. 2 is stopped.

Step S ₄ It is judged whether or not the boom B is in the hoisting operation at present, and if the boom B is not in the hoisting operation, the control by the control device of FIG. There when it is in relief operation is to perform a reverse control before the boom with working vehicle a according to step S ₅ to S ₁₀ below.

Step S ₅ Input the boom length L (constant) detected by the boom length detecting means 29 and the boom hoisting angle α detected by the boom hoisting angle detecting means 21 to the boom working radius calculating means 22. Then, the boom work radius calculating means 22 calculates the boom work radius R, and the boom work radius Ro at the start of control is set as an initial value and stored in the boom work radius initial value storage means 24.

Step S _{6 The} present boom work radius Rn, which changes every moment according to the hoisting operation of the boom B, is calculated, and this is compared with the boom work radius initial value Ro in the boom work radius comparison calculation means 25 to increase or decrease it. The quantity .DELTA.R (= Rn-Ro) is calculated.

Step S _{7 When} the boom working radius increase / decrease amount ΔR calculated in step S ₆ is ΔR> 0, that is, the horizontal distance between the boom tip and the front vertical wall surface 3 is increasing. At this time, move the work vehicle forward, and when ΔR <0, that is, when the horizontal distance between the boom tip and the front vertical wall surface 3 is decreasing, move the work vehicle backward. Then, a traveling operation signal is output to the traveling control device 28.

Step S _{8 In} the traveling control device 28 which receives the output of the traveling operation signal, the solenoid proportional valve adjusts the supply direction and the supply amount of the hydraulic oil to the traveling motor 13 to move the work vehicle A with a boom forward or backward. To withdraw.

Step S _{9: The} work vehicle advance / retreat amount detecting means 23 (wheel tachometer 17 in the embodiment of FIG. 1) calculates the advance / retreat amount ΔK of the work vehicle A with a boom, and the signal is used to calculate the work vehicle advance / retreat amount / boom work. It is output to the radius variation / comparison calculation means 26.

[0044] In step S ₁₀ work vehicle reciprocating amount boom working radius variation, comparison operation means compares the work vehicle advancing and retreating amount [Delta] K boom working radius variation [Delta] R, now? Relationship [Delta] R + [Delta] K ≒ 0 judge.

In the control by the control device of this embodiment, a slight dead zone is set. For example, when it is within the range of (ΔR + ΔK = 0 ± 5 cm), the forward / backward control of the boom-equipped work vehicle is not performed. In this way, the occurrence of hunting during control is prevented.

When it is determined in step S ₁₀ that ΔR + ΔK≈0, the forward / backward control of the boom-equipped work vehicle by the control device of FIG. 2 at the boom hoisting angle at that time is completed, and step S ₁ Return to. If the determination of ΔR + ΔK≈0 is not obtained in step S ₁₀ , the process proceeds to step S ₁₁ , and the supply of hydraulic oil to the traveling motor 13 is adjusted until ΔR + ΔK≈0.

When working with the boom-equipped work vehicle A in a narrow indoor work site as shown in FIG. 1, the highest position of the boom-equipped work vehicle A (for example, the top 12 a of the swivel base 12 or the bucket). Move the work vehicle A with a boom into the work space 1 while paying attention so that the top Ca of C does not collide with the top of the entrance 2. In this case, in this embodiment, the boom-equipped work vehicle A is advanced to the innermost part in the work space 1 with the boom B being in the most contracted state and the boom B being in the most prone position. Then, if the boom working radius fluctuates as the boom B is raised or lowered, the control device shown in FIG. 2 causes the work vehicle A with a boom to move forward and backward as much as the amount of fluctuation in the boom working radius. Then, the bucket C is controlled so as to always move up and down along the vertical wall surface 3 in a substantially vertical direction.

In the embodiment shown in FIG. 1, when the boom (in the most contracted state) B is in the most raised position (reference B ₂ ), the boom work vehicle A enters the position indicated by reference A ₂ , and at that time The boom elevation angle of is α ₂ .

On the other hand, when performing a similar work at the work site by the conventional control method involving boom expansion and contraction (FIG. 4), as the boom B rises, the boom B moves from the minimum contracted state (Bo) to the boom B. Since it is necessary to extend (B '), compared to the case of the embodiment of FIG. 1 in which all the work is performed with the boom being in the smallest contraction, the work vehicle A with a boom from the beginning of entering the work space 1 As a result, it is unavoidable to position itself at the rear, and as a result, the maximum elevation angle (α ') of the boom B must be smaller than the boom maximum elevation angle (α ₂ ) shown in FIG. . In other words, in the case of the embodiment of FIG. 1 to which the technical idea of the invention of the present application is applied, the upper limit of the boom elevation angle can be set larger than in the case of the conventional control example of FIG. It can be said that the operating range can be made large).

Although the above description is for the case where the telescopic boom is used in the fully retracted state, the work vehicle A with a boom of the embodiment of FIG. 1 is used when the telescopic boom is in the fully extended state. Also, the work range in the vertical direction can be expanded as compared with the case of the conventional example shown in FIG. That is, in the case of the embodiment shown in FIG. 1, since the position of the work vehicle A can be moved forward and backward, the work vehicle A can be moved forward and backward even in the limit work state where the boom is fully extended. There is room for expanding the work range compared to the case where work is performed by fixing the work vehicle as shown in.

The description of the embodiment with reference to FIGS. 2 and 3 was based on the feedback type control device, but the idea of the present invention is that the boom radius variation amount ΔR and the work calculated in advance are calculated. The so-called feed is used to move the work vehicle back and forth by a constant advance / retreat amount ΔK based on the calculated data when a constant boom half-diameter fluctuation amount ΔR occurs using the data related to the vehicle advance / retreat amount ΔK. It goes without saying that it can also be applied to a forward control device.

[Brief description of drawings]

FIG. 1 is an explanatory view of a work site by a control device for a boom-equipped work vehicle according to an embodiment of the present invention.

2 is a block diagram of a control device attached to the work vehicle with a boom shown in FIG. 1. FIG.

FIG. 3 is a flowchart of control by the control device shown in FIG.

FIG. 4 is an explanatory view of a work site when a work vehicle with a boom is controlled by a conventional control method.

[Explanation of symbols]

Reference numeral 11 is a vehicle frame, 12 is a swivel base, 13 is a traveling motor, 14 is wheels, 16 is a controller, 17 is a wheel tachometer, 20 is a start discriminating means, 21 is a boom hoisting angle detecting means, and 22 is a boom working radius calculating means. , 23 is a work vehicle advancing / retreating amount detecting means, 24 is a boom work radius initial value storing means, 25 is a boom work radius comparing / calculating means, 26 is a work vehicle advancing / retracting amount / boom work radius variation / comparison calculating means, and 27 is a traveling operation. Signal output means, 28 is a travel control device, 29 is boom length detection means, 30 is an operation switch, A is a work vehicle with a boom, B is a boom, and C is a bucket.

Claims (1)

[Scope of utility model registration request] 1. A forward / backward movement by a traveling device (E) which comprises a swivel base (12) provided on a vehicle frame (11), a boom (B) which can be raised and lowered, and which is driven by an appropriate traveling motor (13). In a work vehicle (A) with a boom enabled, boom hoisting angle detection means (21) for detecting the hoisting angle of the boom (B), and the work vehicle (9) with the boom in accordance with the hoisting of the boom (B). Controller for controlling forward / backward movement of A)
(16), the controller (16) includes a start determination means (20) for determining whether or not the work vehicle forward / backward movement control by the controller (16) is started, and a boom hoisting angle and a boom length. Boom work radius calculation means (22) for calculating the boom work radius, and the boom work radius (Ro) at the time when the start determination means (20) determines that the work vehicle forward / backward movement control has started are set as initial values. A boom work radius initial value storage means (24) for storing and a boom for calculating a variation amount (ΔR) of the current boom work radius (Rn) with respect to the boom work radius initial value (Ro) when the boom work radius changes. A work radius fluctuation amount calculating means (25) and, when the boom work radius is increased due to ups and downs of the boom, calculates a retreat amount of the work vehicle with a boom (A) corresponding to the increase amount of the boom work radius. On the other hand, when the boom working radius is reduced due to the ups and downs of the boom, the work vehicle advancing / retracting amount / boom work radius is calculated to calculate the forward moving amount of the boom equipped working vehicle (A) corresponding to the decrease amount of the boom working radius. The amount of fluctuation / comparison calculation means (26) and the amount of advance / retreat of the work vehicle / boom work radius fluctuation amount / boom according to the amount of retreat or advance of the work vehicle with boom (A) calculated by the comparison calculation means (26) And a traveling operation signal output means (27) for outputting a traveling operation signal to a traveling control device (28) of the boom-equipped work vehicle (A) so as to drive the attached work vehicle (A). Control device for work vehicle with boom.