JPH10101299A - Boom control device for boom type work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve operational property of a boom by controlling a hydraulic control means based on a control signal that hydraulic pressure source detecting signal is entered in a processing part and applying attitude of a boom and corrects an operation amount signal according to a hydraulic pressure source and controlling actuation speed of a hydraulic actuator. SOLUTION: A boom control device 31 is formed with a processing part 32 and various detectors 33-36 and a hydraulic pressure detecting circuit 37 and electromagnetic proportion control valves 25a-25c and a first unload valve 23. An operation amount signal from an operation amount signal transmitting means 38 for detecting operation amount of an operation lever for supporting driving speed of an extension boom is entered in the processing part 32. And also respective signals from a rising angle detector 33 for detecting rising angle of the extension boom, a boom length detector 34 for detecting length of the extension boom and a turning angle detector 35 for detecting turning angle of the extension boom from turning displacement of a turning truck and also a signal is entered from a moment detector 36 for detecting moment applied to the extension boom.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a boom control device for a boom type work vehicle.

[0002]

2. Description of the Related Art Some boom type working vehicles such as aerial work vehicles and crane vehicles drive the boom by hydraulic pressure, and the boom is driven by a hydraulic circuit for driving the boom.

In recent years, in order to automatically control the moving speed of the boom, the hydraulic pressure applied to a hydraulic actuator installed in the hydraulic circuit is controlled by using hydraulic control means such as an electromagnetic proportional control valve. Electrical adjustments have been made.

On the other hand, some boom type work vehicles have a plurality of hydraulic pumps having different discharge performances as hydraulic sources of a hydraulic circuit for driving a boom, and these hydraulic pumps are selectively used.

[0005] This is, for example, a low-noise engine unit comprising a hydraulic pump driven by a PTO shaft of a traveling engine of a work vehicle and an engine and a hydraulic pump provided separately from the traveling engine, or an electric motor. This is because, when working with a boom type work vehicle equipped with a hydraulic pump unit or the like driven by a motor, these are properly used depending on the situation of the environment at the work site.

However, in such a conventional boom type work vehicle, since there is only one hydraulic circuit for driving the boom, control is performed by hydraulic control means such as an electromagnetic proportional control valve regardless of the hydraulic source. The target value is set in common.

[0007]

In such a conventional boom-type work vehicle, the boom speed cannot be controlled satisfactorily even when any of the hydraulic power sources is connected, and at least one of the hydraulic power sources is connected to the other. The operability of the boom in the connected state had to be somewhat impaired.

For example, in a conventional boom type working vehicle, the boom moving speed (see line A in FIG. 9) and the discharge amount when the hydraulic pump is driven by a PTO shaft of a traveling engine and has a large discharge amount. The movement speed of the boom when the hydraulic pump of the motor unit is relatively small (see line B in FIG. 9) is the stop operation even if the deceleration start position R1, the deceleration completion position R2, or the stop operation position R5 by the hydraulic control means is the same. Since the movement speed of the boom at the time differs, the stop positions R6 and R6 'of the boom eventually shift.

For example, if the stop position is R6 'when the performance based on the line A is used as a reference, the performance up to the original stop position R6 cannot be fully utilized.
Further operation is required between the stop position R6 'and the stop position R6, which lowers the work efficiency. Conversely, if the performance based on the line B is used as a reference, and the stop position is R6, the stop position R6 'is overrun, which is inconvenient.

The present invention has been made in view of such circumstances, and in a boom type working vehicle of this type having a plurality of hydraulic sources having different discharge performances in a hydraulic circuit for driving a boom, any of the hydraulic sources is It is another object of the present invention to improve the operability of the boom even when the boom is connected to a boom driving hydraulic circuit.

[0011]

SUMMARY OF THE INVENTION In order to solve this problem, an invention according to claim 1 is characterized in that at least a boom that can be raised and lowered and a hydraulic actuator that drives the boom are different in discharge performance from a vehicle body. A plurality of hydraulic sources for supplying hydraulic oil to a hydraulic actuator, hydraulic control means for controlling hydraulic oil when supplying hydraulic oil from the plurality of hydraulic sources to the actuator, and an operating lever for instructing a drive speed of the boom An operation amount signal output unit that detects an operation amount of the boom and outputs an operation amount signal; an attitude detection unit that detects an attitude of the boom and outputs an attitude detection signal; and corrects the operation amount signal according to the attitude detection signal. And a processing unit for outputting a control signal and controlling the hydraulic control means. Hydraulic source detecting means for outputting a detection signal is provided, and the hydraulic source detection signal is input to the processing unit, and based on a control signal obtained by correcting the operation amount signal according to the hydraulic source in addition to the boom attitude. A boom control device for a boom-type work vehicle, wherein the hydraulic pressure control means is controlled to control an operation speed of the actuator.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First, the present invention will be described with reference to a first embodiment shown in FIGS.

In FIG. 2, reference numeral 1 denotes an aerial work vehicle as a boom type work vehicle, and 2 denotes a self-propelled vehicle body.

On the vehicle body 2, there is provided a swivel 4 which is swiveled by a hydraulic motor 3 around a vertical axis NN,
The revolving base 4 is provided with a column 4a that is integrally erected.

A telescopic boom 5 is pivotally supported on the upper end of the column 4a, and can be raised and lowered by a raising and lowering cylinder 6 composed of a hydraulic cylinder.

The telescopic boom 5 in this embodiment is formed by fitting three boom parts 5a, 5b, 5c to a telescopic unit, and can be extended and contracted by a telescopic cylinder 7 composed of a hydraulic cylinder. The hydraulic motor 3, the up-and-down cylinder 6, and the telescopic cylinder 7 correspond to the hydraulic actuator according to the present invention.

A bucket 8 is mounted on the distal end of the boom portion 5c on the distal end side, and a worker riding on the bucket 8 adjusts the swivel base 4 and the telescopic boom 5 by standing the telescopic boom 5 up. By doing so, it can be located at a required high place, and the worker can perform high places.

Further, in the aerial work vehicle 1 of this embodiment, outrigger devices 9 are respectively installed at four front, rear, left, and right sides of the vehicle body 2 as is well known.

The telescopic boom 5 of such an aerial work vehicle 1
Is driven by the hydraulic circuit shown in FIGS.

In this hydraulic circuit, the hydraulic pressure source is configured to have two types of discharge performance as follows.

That is, reference numeral 11a denotes a common hydraulic pump, which is driven by the power of the traveling engine 12a of the aerial work vehicle 1.

Reference numeral 11b denotes a hydraulic pump of a motor unit, which has a smaller discharge amount (in this specification, the discharge amount means a discharge amount per unit time) than the hydraulic pump 11a, and It is driven by the power of 12b.

In the hydraulic pump 11b,
A low-noise engine having a smaller displacement than the traveling engine 12a may be selectively switched and connectable via a clutch.

In the hydraulic power source configured as described above, a hydraulic pump and a power source to be used are selected according to the environmental conditions of the construction site and the like, and required high-altitude work is performed.

Therefore, in such a hydraulic power source, the discharge performance of the hydraulic pump 11a by the power of the traveling engine 12a and the discharge performance of the hydraulic pump 11b by the power of the electric motor 12b are selected from among different discharge performances. It can be appropriately selected and used.

The hydraulic pumps 11a, 11a
As shown in FIG. 3, the pressure oil supplied from the discharge port b passes through the switching valve 17 in the outrigger operation circuit 13 and is then supplied to the boom operation circuit 15 and the like. .

As shown in FIG. 3, the switching valve 17 is a 6-port, 3-position switching valve. When the switching valve 17 is at the neutral position shown in the figure, the hydraulic oil from the hydraulic pumps 11a and 11b is switched. No pressure oil is supplied to the jack cylinders 18a, 18b, 18c and 18d, which are supplied to the boom operation circuit 15 side via the valve 17 and are provided correspondingly to the outrigger devices 9 respectively.

When the switching valve 17 is in the left position or the right position, the pressure oil from the hydraulic pump 11 is supplied to the switching valve 1
The control valves 21a, 21b, 21c, and 21d are provided in parallel in correspondence with the outrigger devices 9 through the control unit 7, but are not supplied to the boom operation circuit 15 side.

The pipeline extending from the discharge ports of the hydraulic pumps 11a and 11b and the outrigger operation circuit 1
Between the first unload valve 2 and the return line 22 from
3 are arranged. When the first unloading valve 23 is operated, the entire amount of the hydraulic oil discharged from the hydraulic pumps 11a and 11b is directly returned to the tank 27, and the outrigger operation circuit 13, the boom operation circuit 15, and of course, this embodiment. Supply of pressure oil to all hydraulic actuators installed in the hydraulic circuit is stopped, and the operation becomes impossible.

From the switching valve 17 to the boom operation circuit 15
A 6-port 3-position electromagnetic proportional control valve 25a, 25b, 25c of the same type is connected in parallel to a pipeline 24 for supplying the hydraulic oil of the hydraulic pumps 11a, 11b toward Electromagnetic proportional control valves 25a, 25b, 25c
The hydraulic pump 11a or 1 is connected to the hydraulic motor 3, the up / down cylinder 6 and the telescopic cylinder 7 via
The pressure oil from 1b is supplied (see FIG. 4). In addition, these electromagnetic proportional control valves 25a, 25b,
Reference numeral 25c corresponds to the hydraulic control means in the present invention.

Return oil from each of the hydraulic motor 3, the up-and-down cylinder 6, and the telescopic cylinder 7 is supplied to the tank via a common return line 26 via the respective electromagnetic proportional control valves 25a, 25b, 25c. It is returned to 27.

The supply line 24 and the return line 26 extend further, though not shown, to supply hydraulic oil to the hydraulic motor for swinging the bucket 8 and the hydraulic motor for driving the winch. It has become.

In such a part 15 for boom operation, the electromagnetic proportional control valves 25a, 25
A second unload valve 28 is provided between the return pipe 26 and a portion downstream of b and 25c. This second
When the unload valve 28 is operated, the swinging drive and the winch drive of the bucket 8 installed downstream of the second unload valve 28 become impossible, but the bucket 8 installed upstream of the second unload valve 28 becomes impossible. The boom operation circuit 15 and the outrigger operation circuit 13 on the side can be driven as usual.

An aerial work vehicle 1 equipped with such a hydraulic circuit
, An overload prevention device is installed. The overload prevention device stores a limit boom load for each operation state, and determines the position of the telescopic boom 5 according to the elevation angle, boom length, turning position, and the like. When the vehicle exceeds the limit moment, the up-and-down movement, the expansion and contraction movement or the turning movement of the telescopic boom 5 is finally stopped at the limit position to prevent the aerial work vehicle 1 from overturning or being damaged.

The control operation of the telescopic boom 5 by the overload prevention device includes the electromagnetic proportional control valve 25.
The movement speed is adjusted by controlling the flow rates of the a, 25b, and 25c, and the movement is stopped by opening the unload valve 23. Such a control operation is performed in addition to the above-described limit position, the up-and-down cylinder 6, the expansion and contraction This is also performed at the stroke end of the hydraulic cylinder constituting the cylinder 7.

In this embodiment, the boom control device 31 is configured using the components of the overload prevention device. However, the boom control device may be provided separately from the overload prevention device. Good.

The boom control device 31 of this embodiment is
As shown in FIG. 1, the processing unit 32 and various detectors 33 to 3
6, hydraulic pressure source detection circuit 37, and electromagnetic proportional control valves 25a to 25
c and the first unload valve 23.

The processing section 32 is composed of a microcomputer, and also functions as an arithmetic section and a storage section of the overload prevention device.

The various detectors 33 to 36 are
It also has a function as a detector for detecting a signal necessary for a required operation as the overload prevention device.

In this embodiment, the processing unit 32
The operation amount signal from the operation amount signal output means 38 for detecting the operation amount of the operation lever for instructing the driving speed of the telescopic boom 5 is input to the control unit, and the undulation angle detector 33 for detecting the undulation angle of the telescopic boom 5. And signals from a boom length detector 34 for detecting the boom length of the telescopic boom 5 and a turning angle detector 35 for detecting the turning angle of the telescopic boom 5 from the turning displacement of the swivel 4. And a moment detector 36 for detecting a moment applied to the telescopic boom 5.
The signal is also input from the. The undulation angle detector 33, the boom length detector 34, the turning angle detector 35, and the moment detector 36 correspond to the posture detecting means according to the present invention.

The hydraulic power source detecting circuit 37 corresponds to the hydraulic power source detecting means of the present invention, and has an engine rotation signal relay 41, a motor unit power switch 42, a motor unit signal relay 43, and a motor unit power relay 44.
The engine rotation signal relay 41 is connected to the traveling engine 12.
The power supply line is provided between the power supply line from the alternator 45 and the power supply line from the battery, which generates electric power in conjunction with a.

When the traveling engine 12a is rotating and the hydraulic pump 11a is operating, since the alternator 45 is generating power, there is no potential difference between the power supply lines of the engine rotation signal relay 41 and no excitation occurs. Therefore, the switching contact 46 linked to the engine rotation signal relay 41 keeps the ground connected to the engine rotation signal line 47, and transmits the engine rotation signal to the processing unit 32 via the engine rotation signal line 47. Thus, it is detected that the traveling engine 12a is rotating and the hydraulic pump 11a is operating.

On the other hand, the hydraulic pump 11b of the motor unit
Is detected as follows.

In this case, since the traveling engine 12a is not rotating and the alternator 45 is not generating electric power, a potential difference is generated in the power supply line of the engine rotation signal relay 41 to be excited.

Therefore, the switching contact 46 linked to the engine rotation signal relay 41 connects the motor unit side terminal 48 to the ground. When the motor unit power switch 42 is turned on, the motor unit side terminal 48 and the ground are connected, so that the motor unit signal relay 4
3 and the motor unit power supply relay 44 are energized.

When the motor unit signal relay 43 is energized, the contact 52 provided on the motor unit signal line 51 is closed, and a motor unit signal indicating that the motor unit is being driven is input to the processing unit 32. In addition, when the motor unit power supply relay 44 is energized, the contacts 54 arranged on the motor unit power supply line 53 are closed, and the motor 12b of the motor unit is driven.

That is, in the hydraulic pressure source detection circuit 37, the traveling engine 12a is driven and the hydraulic pump 11a
Is active, the engine speed signal line 47
, An engine rotation signal is input to the processing unit 32, the motor 12b of the motor unit is driven, and the hydraulic pump 11b
Is active, the motor unit signal line 51
, A motor unit signal is input.

Thus, the processing section 32 can recognize whether the hydraulic pump driven as the hydraulic pressure source is 11a or 11b.

As a method of detecting the hydraulic pumps 11a and 11b driven as the hydraulic pressure sources, any one of the hydraulic pumps 11a and 11b can be driven by detecting the hydraulic pressure or the flow rate immediately downstream of the hydraulic pumps 11a and 11b. Can be detected.

As described above, in the processing section 32 to which required signals are inputted from the detectors 33 to 36 and the hydraulic pressure source detection circuit 37, predetermined processing is performed using these detection signals, and the processing section 32 adjusts the moving speed of the telescopic boom 5 by outputting a signal as a voltage to a solenoid portion of any of the electromagnetic proportional valves 25 a to 25 c corresponding to the operation of the telescopic boom 5, using the calculation result as a control signal, Also, stop at the required limit position.

In this case, since the engine rotation signal or the motor unit signal is input to the processing unit 32 from the engine rotation signal line 47 or the motor unit signal line 51, it depends on which of these signals is input. The output of the control signal from the processing unit 32 is different as follows.

For example, FIG. 5 shows correction coefficient data for controlling the speed of the telescopic boom 5 near the limit position, where A is the case of the hydraulic pump 11a driven by the traveling engine 12a, and B is the case of This is the case of the hydraulic pump 11b of the motor unit.

Here, the correction coefficient = (valve output / operating amount) × 100.

In A, H1 is reached up to the position of the working radius R1.
Is maintained, and when it exceeds this, the output is gradually reduced so that the output becomes H2 at the position of the work radius R2, and the moving speed of the telescopic boom 5 is reduced.

On the other hand, in B, the output of H3 is maintained up to the position of the working radius R3.
The output of the telescopic boom 5 is reduced by gradually reducing the output so that the output becomes H4 at the position of.

Here, the correction coefficient H3 is larger than H1, and the correction coefficient H4 is larger than H2, because the discharge amount of the hydraulic pump 11b is larger than the discharge amount of the hydraulic pump 11a. In order to increase the applied voltage to the solenoids of the electromagnetic control throttle valves 25a to 25c to be controlled to increase the flow rates at the electromagnetic control throttle valves 25a to 25c to make them as equal as possible and to make the moving speed of the telescopic boom 5 coincide. It is.

In the above A and B, the correction coefficient between each point may be obtained by interpolation according to a conventional method.

The change in the moving speed of the telescopic boom 5 when the correction coefficient shown in FIG. 5 is output is as shown in FIG.

That is, in the case of the hydraulic pump 11a (see line A), since the correction coefficient H1 has been output up to the position of the working radius R1, the moving speed is V1, and when it exceeds this, the flow rate gradually decreases. Will do.

On the other hand, when using the hydraulic pump 11b (line B)
Since the discharge amount is smaller than that of the hydraulic pump 11a, the moving speed is V2 lower than V1 even if the correction coefficient H2 is larger than the correction coefficient H1, and the moving speed is maintained up to the working radius R3. At the position of the radius R3, the moving speed of the hydraulic pump 11a is reduced to V2, which is the same.

Thereafter, no matter which of the hydraulic pumps 11a and 11b is used, since the correction coefficients change as described above, the moving speed of the telescopic boom 5 according to the working radius is the same. Slow down to become.

After that, after the telescopic boom 5 is reduced to the moving speed V3 at which the telescopic boom 5 can be stopped at the working radius R4 or R2, when the telescopic boom 5 reaches the position of the working radius R5, the first unload valve 23 is turned off. Operates, and the telescopic boom 5 can be smoothly stopped at the position of the working radius R6.

In the embodiment shown in FIG. 5, (R1, H1), (R2, H2), (R3, H3) and (R3) are used to set the correction coefficients for the hydraulic pumps 11a and 11b.
It is necessary to store the four points (4, H4) as data, which is complicated.

In order to cope with such complexity, if a correction coefficient is given as in the second or third embodiment shown in FIG. 7 or FIG. It is possible to avoid complexity while enjoying the same effects as described above.

In the second embodiment shown in FIG.
The correction coefficient for the hydraulic pump 11a indicated by A is given in the same manner as described above, but the correction coefficient for the hydraulic pump 11b indicated by B1 is
The value obtained by multiplying the hydraulic pressure source coefficient Xa by using b is used.

As in this embodiment, the hydraulic pump 11
When the discharge amount of the hydraulic pump 11b is smaller than a, the hydraulic source-specific coefficient Xa is a value larger than 1.

The hydraulic pump 11 thus obtained
Since the correction coefficient when b is used is substantially the same as the correction coefficient shown in FIG. 5, the same effect as described above can be obtained.

In the third embodiment shown in FIG. 8, the correction coefficient for the hydraulic pump 11a indicated by A is the same as described above, but the correction coefficient for the hydraulic pump 11b indicated by B2 is In this case, a value obtained by adding a hydraulic source-specific coefficient Xb (where Xb> 0) by using the hydraulic pump 11b to the correction coefficient of A is used.

Also in this case, since the correction coefficient when the hydraulic pump 11b is used substantially coincides with the correction coefficient shown in FIG. 5, the same effect as described above can be obtained.

In the second and third embodiments, when the correction coefficient for B2 and B3 exceeds 100, the correction coefficient may be controlled as 100%.

In the above-described embodiment, two types of the hydraulic pump 11a driven by the traveling engine 12a and the hydraulic pump 11b of the motor unit are described, but the present invention is not limited to this. can do.

For example, even with the same hydraulic pump 11a driven by the traveling engine 12a, if the accelerator opening of the traveling engine 12a is different, the discharge performance such as the discharge amount from the hydraulic pump 11a is different. Therefore, the present invention can be implemented by treating each accelerator opening as a separate hydraulic pump.

The present invention can also be applied to a case where the boom type working vehicle has three or more types of hydraulic pumps, or a case where a plurality of hydraulic pumps are driven simultaneously to combine the hydraulic oil from both. Since the discharge performance is different from the case where one of the hydraulic pumps is driven alone, the present invention can be implemented in such a case.

Further, when a hydraulic source having an extremely small discharge amount such as an emergency hydraulic pump is provided, the moving speed of the telescopic boom as in the present application is not controlled for the hydraulic source having an extremely small discharge amount. It goes without saying that the present invention may be implemented only with other hydraulic pumps.

In the above-described embodiment, the electromagnetic proportional control valves 25a, 25
b, 25c, but the present invention is not limited to this,
Another flow control valve may be provided in series upstream or downstream of such a main valve and used.

Further, according to the present invention, as in the above-described embodiment, the control signal obtained by using the overload prevention device is applied to the control signal obtained by using the correction coefficient calculated as described above. The control signal may be obtained by directly using the correction coefficient for the operation amount signal of the operation lever. The correction coefficient is not limited to the calculated value, and may be a stored value.

Further, although the above-described embodiment has been described with reference to the working radius, it is needless to say that the present invention can be applied based on the turning position instead of the working radius.

[0078]

As described above, according to the first aspect of the present invention, in this type of boom type working vehicle, when the processing result is output to the hydraulic control means, the output value of the processing unit is set to the Since the correction is made in accordance with the detection signal from the hydraulic pressure source detecting means, the flow control of the hydraulic control means is improved as compared with the related art in which a common value is output.

Therefore, the operability of the boom can be improved regardless of which hydraulic source is connected to the hydraulic circuit for driving the boom.

[Brief description of the drawings]

FIG. 1 is a block diagram of a boom control device.

FIG. 2 is a side view of the aerial work vehicle.

FIG. 3 is an outrigger operation circuit.

FIG. 4 is a boom operation circuit.

FIG. 5 is a diagram illustrating a relationship between a correction coefficient and a work radius;

FIG. 6 is a diagram showing the relationship between the telescopic boom speed and the working radius corresponding to FIG. 5;

FIG. 7 is another relationship diagram between a correction coefficient and a working radius.

FIG. 8 is a diagram illustrating still another relationship between the correction coefficient and the working radius.

FIG. 9 is a relationship diagram between a telescopic boom speed and a working radius in a conventional example.

[Explanation of symbols]

Reference Signs List 1 aerial work vehicle (boom type work vehicle) 3 hydraulic motor (hydraulic actuator) 5 telescopic boom (boom) 6 up / down cylinder (hydraulic actuator) 7 telescopic cylinder (hydraulic actuator) 11a, 11b hydraulic pump (hydraulic power source) 15 boom operation Circuits 25a, 25b, 25c Electromagnetic proportional control valve (hydraulic control means) 31 Boom control device 32 Processing unit 33 Up-and-down angle detector (posture detection means) 34 Boom length detector (posture detection means) 35 Swing angle detector (posture) Detection means) 36 Moment detector (posture detection means) 37 Hydraulic power source detection circuit (Hydraulic power source detection means) 38 Operation amount signal output means

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[Procedure amendment]

[Submission date] October 18, 1996

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Claims (1)

[Claims] A hydraulic actuator for driving the boom, a hydraulic actuator for driving the boom, a plurality of hydraulic sources for supplying hydraulic oil to the hydraulic actuator having different discharge performances, and a plurality of hydraulic sources for the hydraulic actuator. Hydraulic pressure control means for controlling the pressure oil when supplying the pressure oil to the actuator; operation amount signal output means for detecting an operation amount of an operation lever for instructing a drive speed of the boom and outputting an operation amount signal; A posture detection unit that detects a posture of the boom and outputs a posture detection signal; and a processing unit that outputs a control signal obtained by correcting the operation amount signal in accordance with the posture detection signal and controls the hydraulic pressure control unit. In a boom type working vehicle, a hydraulic power source detecting means for detecting an active hydraulic power source among the plurality of hydraulic power sources and outputting a hydraulic power source detection signal is provided, and the hydraulic power source detection signal The operating unit controls the hydraulic pressure control unit based on a control signal obtained by correcting the operation amount signal in accordance with a hydraulic pressure source in addition to a boom posture, and controls an operating speed of the actuator. Boom control device for a boom type working vehicle.