JPH10218595A - Control unit of telescopic boom type working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make the operability and working property improvable in the case where a horizontal rectilinear motion is performed, by controlling both of turning and derricking drive means through a driving control means in an operating critical state that arrival at the expansion limit of a telescopic boom is detected. SOLUTION: First of all, a fact of whether a horizontal operating lever 2 is operated or not is judged (S1). When the lever is operated, whether it is reached to the expansion limit or not is judged (S2). Here when so judged that it is reached to the expansion limit, next, whether it is reached to the derricking limit or not is judged (S3). Then, when so judged that it is reached to the derricking limit, a turning hydraulic motor alone is driven and controlled and thereby the shifting operation of a deck is continued. In contrast with this, when so judged that it is not yet reached to the derricking limit, only those two elements, the turning hydraulic motor and a derricking hydraulic cylinder, are driven and controlled, continuing the shifting operation of the deck.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a working machine having a telescopic boom, such as an aerial work vehicle.

[0002]

2. Description of the Related Art Conventionally, an aerial work vehicle is known as one of working machines having a telescopic boom. This aerial work vehicle is provided with a worker's boarding deck at the distal end of the telescopic boom, and the work is performed by positioning the deck at a required work position by turning, raising and lowering, and telescopic operation of the telescopic boom. Basically, there is provided a turning operation lever, an up / down operation lever, and a telescopic operation lever, and the turning operation, the up / down operation, and the telescopic operation of the telescopic boom are individually performed by these operation levers. Had to be done individually.

However, in recent years, in this aerial work vehicle, most of the work requiring the aerial work vehicle requires the deck to be moved linearly in a horizontal or vertical direction along a building wall or the like. To perform a certain operation, and to linearly move the deck, the telescopic boom needs to be turned, raised and lowered, and expanded and contracted (in the case of horizontal linear movement and in the case of vertical linear movement, the turning operation is required). Is unnecessary), so it is necessary to improve the operability of each of these operations.
A horizontal operation lever and a vertical operation lever for instructing the moving direction and the moving amount of the deck in the horizontal linear movement or the vertical linear movement depending on the operation direction and the operation amount are provided. For example, in the case of the horizontal linear movement, the horizontal operation lever is provided. The operation of turning the telescopic boom, the raising / lowering operation, and the expanding / contracting operation can be simultaneously performed only by the operation (see FIG. 1).

[0004]

Incidentally, of the horizontal linear movement and the vertical linear movement, in particular, the horizontal linear movement is performed by interlocking the turning, raising and lowering, and expanding and contracting operations of the telescopic boom based on the operation of the horizontal operation lever. The deck is to be moved linearly in the target movement linear direction, and it is an essential condition that each of these operations can be operated based on an instruction by operating the horizontal operation lever. If the telescopic operation or the up-and-down operation reaches its operation limit (particularly the limit in the reduction direction or the elevation direction) on the way, and the operation based on the instruction of the horizontal operation lever becomes impossible (for example, the expansion and contraction hydraulic cylinder In the case where the further reduction operation is restricted after reaching the end), the horizontal linear movement control is no longer possible and the movement There is stopped.

[0005] Therefore, if the horizontal linear movement is to be further continued, once the movement operation is stopped, the horizontal operation lever is once operated to detour or move horizontally in a direction in which the operation limit in the raising direction is avoided. It is necessary to perform a linear movement. For example, as shown in FIG. 11 (in plan view, symbol P is the center of rotation, Q is the center of the deck), the deck 52 provided at the tip of the telescopic boom 51 is fixed at a constant height and parallel to the wall surface 50. when and reducing operation in the middle case of the horizontal linear movement toward the position a along the target straight line L ₆ in the position f will be described on the assumption that reaches the limit, position a → position b
In the range is performed in conjunction each operation undulating and stretching and turning on the basis of an instruction of the horizontal control lever, the horizontal linear movement in and constant height along the target straight line L ₆ is performed.

However, when reaching the position b, the contraction operation is restricted by reaching the contraction stroke end of the telescopic hydraulic cylinder. Therefore, it is impossible to execute the horizontal linear movement based on the instruction of the operation lever, and the movement is stopped at this point.

[0007] If attempting to further perform horizontal linear movement along the said target straight line L _6, it is necessary to go through a horizontal linear movement bypassing the expansion limit. That is, first, at the position b, the operating lever is once operated in the direction from the position b to the position c to move the deck 52 horizontally and linearly from the position b to the position c. Further, at the position c, the operation lever is again operated in the direction from the position c to the position d to move the deck 52 horizontally and linearly from the position c to the position d. Further, at the position d, the operation lever is again operated in the direction from the position d to the position e to move the deck 52 horizontally and linearly from the position d to the position e. Upon reaching the position e, since the limit of reduction direction is completely avoided, horizontal linear movement along the target straight line L ₆ by operating again here the operation lever toward the position f from position e to Will be resumed.

[0008] Thus, by performing a bypass movement during the horizontal linear movement along the original target straight line L ₆ is under operating conditions, such as stretching or undulations reaches critical actuation at the moving way However, re-operating the operation lever many times for this detouring operation may reduce the operability due to the complicated operation, or the lever operation and the movement of the deck 52. It takes a long time to perform the operation, which causes a problem of a decrease in workability, which is not preferable.

In view of the above, the present invention proposes a control device for a telescopic boom type working machine which can improve operability and workability when performing horizontal linear movement.

[0010]

Means for Solving the Problems In the present invention, the following configuration is adopted as specific means for solving such problems.

According to the first aspect of the present invention, while a telescopic boom is provided on a vehicle so as to be capable of turning and raising and lowering, a turning angle detecting means for detecting a turning angle, a raising and lowering angle and a length of expansion and contraction of the telescopic boom, respectively, and a raising and lowering angle detector Means, a length detecting means, a turning drive means for turning and driving the telescopic boom, an undulating drive means for driving the telescopic boom up and down, and a telescopic drive means for driving the telescopic boom to expand and contract. An operation lever for instructing a movement direction and an amount of movement for moving the tip portion at a constant height and in any linear direction in plan view is provided, and a detection signal from each of the detection means and a signal from the operation lever And a drive control means for driving and controlling each of the drive means so as to move the distal end of the telescopic boom in response to an operation signal and in accordance with an instruction from the operation lever. A control device for the telescopic boom, comprising: a telescopic limit detection means for detecting the telescopic boom reaching the telescopic limit; and controlling the drive control means by the telescopic limit detecting means to reach the telescopic limit of the telescopic boom. Is detected, and when the drive control by the drive control means is disabled, the tip of the telescopic boom is moved so as to move while maintaining the arbitrary linear direction in plan view based on an instruction of the operation lever. It is characterized in that the drive means and the undulation drive means are driven and controlled.

According to a second aspect of the present invention, a telescopic boom capable of turning and raising and lowering is provided on a vehicle, and a turning angle detecting means for detecting a turning angle, a raising and lowering angle and a telescopic length of the telescopic boom, respectively, and a raising and lowering angle detector are provided. Means, a length detecting means, a turning drive means for turning and driving the telescopic boom, an undulating drive means for driving the telescopic boom up and down, and a telescopic drive means for driving the telescopic boom to expand and contract. An operation lever for instructing a movement direction and an amount of movement for moving the tip portion at a constant height and in any linear direction in plan view is provided, and a detection signal from each of the detection means and a signal from the operation lever are provided. And a drive control means for driving and controlling each of the drive means so as to move the distal end of the telescopic boom in response to an operation signal and in accordance with an instruction from the operation lever. A control device for the telescopic boom, the control device comprising: an up / down limit detecting means for detecting the reaching of the telescopic boom to the up / down limit; and Is detected, and when the drive control by the drive control means is disabled, the tip of the telescopic boom is moved so as to move while maintaining the arbitrary linear direction in plan view based on an instruction of the operation lever. It is characterized in that the drive means and the expansion / contraction drive means are driven and controlled.

According to a third aspect of the present invention, the vehicle comprises a telescopic boom which is capable of turning and raising and lowering on the vehicle, and a turning angle detecting means for detecting a turning angle, a raising and lowering angle and a length of expansion and contraction of the telescopic boom, respectively. Means, a length detecting means, a turning drive means for turning and driving the telescopic boom, an undulating drive means for driving the telescopic boom up and down, and a telescopic drive means for driving the telescopic boom to expand and contract. An operation lever for instructing a movement direction and an amount of movement for moving the tip portion at a constant height and in any linear direction in plan view is provided, and a detection signal from each of the detection means and a signal from the operation lever And a drive control means for driving and controlling each of the drive means so as to move the distal end of the telescopic boom in response to an operation signal and in accordance with an instruction from the operation lever. A control device for the telescopic boom, comprising: a telescopic limit detection means for detecting the telescopic boom reaching the telescopic limit; and controlling the drive control means by the telescopic limit detecting means to reach the telescopic limit of the telescopic boom. Is detected and when the drive control by the drive control means is disabled, only the turning drive means is moved so that the tip of the telescopic boom moves at a constant height based on the instruction of the operation lever. It is characterized in that it is configured to perform drive control.

According to a fourth aspect of the present invention, while a telescopic boom is provided on a vehicle so as to be capable of turning and raising and lowering, a turning angle detecting means for detecting a turning angle, a raising and lowering angle and a length of expansion and contraction of the telescopic boom, respectively, and a raising and lowering angle detector Means, a length detecting means, a turning drive means for turning and driving the telescopic boom, an undulating drive means for driving the telescopic boom up and down, and a telescopic drive means for driving the telescopic boom to expand and contract. An operation lever for instructing a movement direction and an amount of movement for moving the tip portion at a constant height and in any linear direction in plan view is provided, and a detection signal from each of the detection means and a signal from the operation lever are provided. And a drive control means for driving and controlling each of the drive means so as to move the distal end of the telescopic boom in response to an operation signal and in accordance with an instruction from the operation lever. A control device for the telescopic boom, the control device comprising: an up / down limit detecting means for detecting the reaching of the telescopic boom to the up / down limit; and Is detected and when the drive control by the drive control means is disabled, only the turning drive means is moved so that the tip of the telescopic boom moves at a constant height based on the instruction of the operation lever. It is characterized in that it is configured to perform drive control.

[0015]

According to the present invention, the following effects can be obtained by adopting such a configuration.

According to the control device of the telescopic boom type working machine according to the first invention of the present application, the drive device is operated in the normal state in which the telescopic limit detection means does not detect that the telescopic boom reaches the telescopic limit. The control means controls driving of the three members of the turning drive means, the up / down drive means, and the telescopic drive means, and the distal end of the telescopic boom is constant in height and in plan view based on an instruction from the operation lever. It moves in any linear direction, and horizontal linear movement of the tip is realized.

On the other hand, in the operating limit state in which the expansion / contraction boom reaches the expansion / contraction limit by the expansion / contraction limit detecting means, the driving control means excludes the expansion / contraction driving means from the driving means. The driving means of
The drive control of the turning drive means and the undulation drive means is performed, and the distal end of the telescopic boom is moved while maintaining the arbitrary linear direction in plan view based on the instruction of the operation lever. . In this case, since the telescopic boom does not perform the telescopic operation, the height of the tip of the telescopic boom changes with the turning of the telescopic boom.

That is, according to the present invention, when the distal end of the telescopic boom moves in an arbitrary linear direction in a plan view at a constant height based on an instruction from the operating lever, the telescopic boom moves in the horizontal linear movement state. Even if the boom reaches the telescopic limit and enters the operation limit state, the horizontal linear movement itself based on the instruction of the operation lever is not stopped at that time unlike the conventional case, and the operation limit has not been reached. The operation of the other driving means, that is, the turning driving means and the undulating driving means, is continued as it is, and the distal end of the telescopic boom changes its height position based on the instruction of the operation lever, but the height in the plan view is changed. When the telescopic boom moves out of the telescopic limit state while moving while maintaining an arbitrary linear direction, the driving control of the telescopic driving means by the driving control means starts again. Is the tip of the telescopic boom is returned to the horizontal linear movement state based on an instruction of the operation lever.

According to the control device for the telescopic boom type working machine according to the second invention of the present application, the driving device is operated in the normal state in which the telescopic limit detection means does not detect the reaching of the telescopic boom to the up-and-down limit. The control means controls driving of the three members of the turning drive means, the up / down drive means, and the telescopic drive means, and the distal end of the telescopic boom is constant in height and in plan view based on an instruction from the operation lever. It moves in any linear direction, and horizontal linear movement of the tip is realized.

On the other hand, in the operating limit state where the extension / retraction boom reaches the up / down limit by the extension / contraction limit detecting means, the drive control means excludes the up / down driving means from the driving means. The driving means of
The drive control of the turning drive means and the telescopic drive means is performed, and the distal end of the telescopic boom is moved while maintaining the arbitrary linear direction in plan view based on an instruction from the operation lever. . In this case, since the telescopic boom is not raised or lowered, the height of the distal end of the telescopic boom changes with the turning of the telescopic boom.

That is, according to the present invention, in the horizontal linear movement state in which the tip of the telescopic boom moves in an arbitrary linear direction in plan view at a constant height based on the instruction of the operation lever, Even if the boom reaches the undulation limit and enters the operation limit state, the horizontal linear movement itself based on the instruction of the operation lever is not stopped at that time unlike the conventional case, and the operation limit has not been reached. The operation of the other driving means, that is, the turning driving means and the telescopic driving means, is continued as it is, and the distal end of the telescopic boom changes its height position based on the instruction of the operation lever, but the height in the plan view is changed. When the telescopic boom moves out of the undulation limit state while moving while maintaining an arbitrary linear direction, the drive control of the undulation drive unit by the drive control unit starts again. Is the tip of the telescopic boom is returned to the horizontal linear movement state based on an instruction of the operation lever.

According to the control device of the telescopic boom type working machine according to the third aspect of the present invention, the driving device is operated in the normal state in which the telescopic limit detection means does not detect the telescopic boom reaching the telescopic limit. The control means controls driving of the three members of the turning drive means, the up / down drive means, and the telescopic drive means, and the distal end of the telescopic boom is constant in height and in plan view based on an instruction from the operation lever. It moves in any linear direction, and horizontal linear movement of the tip is realized.

On the other hand, in the operation limit state in which the expansion / contraction boom reaches the expansion / contraction limit by the expansion / contraction limit detecting means, the operation is controlled by the drive control means to change the height of the tip of the telescopic boom. The drive control of only the turning drive means without accompanying is performed, and the tip of the telescopic boom is moved and moved based on the instruction of the operation lever while maintaining the height constant. In this case, since the telescopic boom does not perform the telescopic boom operation, the distal end of the telescopic boom separates from any linear direction in plan view with the turning of the telescopic boom.

That is, according to the present invention, in the horizontal linear movement state in which the tip of the telescopic boom moves in an arbitrary linear direction in plan view at a constant height based on the instruction of the operation lever, Even if the boom reaches the expansion / contraction limit and enters the operation limit state, the horizontal linear movement itself based on the instruction of the operation lever is not stopped at that time as in the conventional case, and the operation of the turning drive means is not performed. Continued as it is, the tip of the telescopic boom is detached from any linear direction in plan view, but moves at a constant height based on the instruction of the operation lever, and the telescopic boom is moved from the telescopic limit state. Then, the drive control of the telescopic drive means and the undulation drive means by the drive control means are both started again, and the distal end of the telescopic boom is moved by the operation lever. It is returned to the horizontal linear movement state based on the instruction.

According to the control device for the telescopic boom type working machine according to the fourth aspect of the present invention, in the normal state where the telescopic limit detection means does not detect the reaching of the telescopic boom to the up-and-down limit, The control means controls driving of the three members of the turning drive means, the up / down drive means, and the telescopic drive means, and the distal end of the telescopic boom is constant in height and in plan view based on an instruction from the operation lever. It moves in any linear direction, and horizontal linear movement of the tip is realized.

On the other hand, in the operation limit state in which the telescopic limit detecting means detects that the telescopic boom has reached the up / down limit, the operation is controlled by the drive control means to change the height of the distal end of the telescopic boom. The drive control of only the turning drive means without accompanying is performed, and the tip of the telescopic boom is moved and moved based on the instruction of the operation lever while maintaining the height constant. In this case, since the telescopic boom does not perform the telescopic boom operation, the distal end of the telescopic boom separates from any linear direction in plan view with the turning of the telescopic boom.

That is, according to the present invention, in the horizontal linear movement state in which the distal end of the telescopic boom moves in an arbitrary linear direction in plan view at a constant height based on the instruction of the operation lever, Even if the boom reaches the undulation limit and enters the operation limit state, the horizontal linear movement itself based on the instruction of the operation lever is not stopped at that time as in the conventional case, and the operation of the turning drive means is not performed. Continued as it is, the tip of the telescopic boom is detached from any linear direction in plan view, but moves at a constant height based on the instruction of the operation lever, and the telescopic boom is moved from the telescopic limit state. Then, the drive control of the telescopic drive means and the undulation drive means by the drive control means are both started again, and the distal end of the telescopic boom is moved by the operation lever. It is returned to the horizontal linear movement state based on the instruction.

As described above, in each invention of the present application,
Even under working conditions in which the telescopic boom reaches the telescopic limit or the undulating limit during the horizontal linear movement based on the operation of the operation lever, the operator continues to operate the operation lever as it is, so that the telescopic boom can be moved. The tip portion is temporarily referred to as “movement maintaining only an arbitrary linear direction in plan view” or “movement maintaining only height alone” in the above-described expansion / contraction limit or undulation limit. In a state other than the undulation limit, the “horizontal linear movement with a constant height and maintaining an arbitrary linear direction in a plan view” is continued. For example, the telescopic boom reaches the telescopic limit or the undulating limit as in the related art. At this point, the horizontal linear movement is stopped, at which point the operator operates the operating lever in a direction that can avoid the expansion / contraction limit or the undulation limit. Compared to the case where it is necessary to repair, the operability is greatly improved, and the useful effect of shortening the moving time of the tip of the telescopic boom and, consequently, the working time can be achieved. Is something that can be done.

[0029]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment FIG. 1 shows an aerial work vehicle 30 as a telescopic boom type working machine to which the present invention is applied. This aerial work vehicle 3
Numeral 0 connects the base end of the telescopic boom 33 to the swivel base 32 mounted on the vehicle 31 so that it can be raised and lowered in the vertical direction, and maintains the deck 34 at the distal end of the telescopic boom 33 and keeps the horizontal level at all times. It is configured so that it can turn freely in a state where it has been set. The telescopic boom 33 is turned by a turning hydraulic motor 35 (corresponding to "turn driving means" in the claims) provided on the turning table 32 side, and is built in the inside thereof. The retractable hydraulic cylinder 37 (corresponding to the “telescopic drive means” in the claims) expands and contracts, and is further provided with the undulating hydraulic cylinder 36 (the claims). (Corresponding to “raising / lowering driving means”). The deck 34 is a hydraulic motor 3 for turning the deck.
8 is turned.

Further, the state of the telescopic boom 33, that is, the turning angle, the telescopic length, and the undulation angle are respectively determined by the boom turning angle detector 5 (corresponding to "turning angle detecting means" in the claims). Boom length detector 3 (corresponding to “length detecting means” in claims) and undulation angle detector 4 (corresponding to “undulation angle detecting means” in claims). . In this embodiment, the boom length detector 3 is used as “expansion / contraction limit detecting means” for detecting the stroke end of the telescopic hydraulic cylinder 37, and the undulating angle detector 4 is used as the undulating hydraulic cylinder 36. Are also used as "undulation limit detecting means" for detecting the stroke end of the stroke. The turning angle of the deck 34 is detected by the deck turning angle detector 6.

On the other hand, the swivel 32 and the deck 34
Are provided with a vertical operation lever 1 and a horizontal operation lever 2 (here, the operation levers 1 and 2 on the swivel table 32 side are shown, and these operation levers 1 and 2 are shown).
The illustration of operation levers for individual operation of each of the hydraulic actuators provided other than 2 is not shown). Also,
A control unit 41 and a hydraulic unit 42 are arranged on the swivel 32 side. This control unit 41 includes:
A controller 10 (corresponding to “drive control means” in claims) and amplifiers 11 to 14 shown in FIG. 2 are provided, and the hydraulic unit 42 controls the hydraulic actuators shown in FIG. Valves 21 to 24 are provided.

The aerial work vehicle 30 constructed as described above
By operating the operation lever for the individual operation, the turning, expansion and contraction, and driving of the telescopic boom 33 can be individually controlled to position the deck 34 at a predetermined working position. Apart from this, by operating the vertical operation lever 1 or the horizontal operation lever 2, the deck 34 can be moved in a vertical or horizontal linear direction. Since the present invention is directed to horizontal linear movement control in which the number of hydraulic actuators related to the linear movement control is large, the “horizontal linear movement control” will be described below.
The explanation is focused on.

As shown in FIG. 1, the horizontal linear movement is performed, for example, by moving the deck 34 provided at the distal end of the telescopic boom 33 along a target moving straight line L extending in the horizontal direction in parallel with the wall surface 40 of the building. The horizontal movement is performed by operating the horizontal operation lever 2. That is, FIG.
As shown in (1), the operation direction and operation amount of the horizontal operation lever 2 are input to the controller 10 as the movement direction and movement amount signal of the deck 34. In the controller 10, the boom length detector 3, the up-and-down angle detector 4, and the boom swing are used to move the deck 34 horizontally and linearly based on the movement direction and movement amount designated by the horizontal operation lever 2. The operating amount and operating direction of the telescopic hydraulic cylinder 37, the undulating hydraulic cylinder 36, and the slewing hydraulic motor 35 are calculated in accordance with the current boom length, the swelling angle, and the slewing angle respectively input from the angle detector 5. The calculated output value is output to the boom expansion / contraction control valve 21, the boom up / down control valve 22, and the boom turning control valve 23 via the actuators 11 to 13, respectively. The horizontal linear movement of the deck 34 based on the instruction is realized.

As described above, the horizontal linear movement requires that all operations related to the position of the deck 34, that is, the extension / retraction operation of the extension / retraction boom 33, the up / down operation, and the turning operation be controlled in conjunction with each other. is there. Therefore, in the course of the horizontal linear movement, for example, when the telescopic hydraulic cylinder 37 reaches the end of the reduction stroke and further reduction is impossible (that is, when the telescopic boom 33 is in the operation limit in the reduction direction (extension limit)). Is reached), the control element in the horizontal linear movement control is missing and the horizontal linear movement cannot be continued, and the conventional control method is to stop the horizontal linear movement control at that time. This is as described above. Also, when the raising / lowering hydraulic cylinder 36 has reached the end of the raising stroke and cannot further raise (the case where the telescopic boom 33 has reached the operating limit in the raising direction (lift limit)). The same is true.

When the telescopic boom 33 reaches the telescopic limit or the undulation limit as described above, the horizontal linear movement cannot be continued as it is. As described above, it is necessary to temporarily pass a detour movement away from the straight line L.

However, according to the conventional control method,
The horizontal linear movement is based on the premise that the operation of the three control elements related thereto is permitted.
Since the horizontal linear movement based on the instruction of the horizontal operation lever 2 at that time is stopped when the expansion limit or the undulation limit is reached, the detour is performed when the expansion limit or the undulation limit is reached. If the operator intends to perform a horizontal movement, the operator must re-do the operation of the horizontal operation lever 2 many times, which reduces the operability due to the complexity of the horizontal linear movement operation, or the workability. As mentioned earlier, it contributed to the decline.

Therefore, in this embodiment, when the operation of the telescopic boom 33 reaches the telescopic limit or the undulating limit during the control of the horizontal linear movement, the detouring movement is performed without changing the operation state of the horizontal operation lever 2. It is an object of the present invention to solve the conventional problem as described above by allowing the operation to be performed while maintaining the above.

Specifically, it is as shown in the flowchart of FIG. That is, in the horizontal linear movement control, after the control is started, first, in step S1, the horizontal operation lever 2 is turned on.
The presence or absence of the operation is determined. Here, the horizontal operation lever 2
Is not operated unless the horizontal operation lever 2 is operated, but if the horizontal operation lever 2 is operated, step S2
It is determined whether or not the expansion / contraction limit has been reached (that is, whether or not the expansion / contraction hydraulic cylinder 37 has reached the reduction stroke end).

If it is determined that the extension / retraction limit has been reached, it is determined in step S3 whether the elevation / retraction limit has been reached (that is, whether or not the elevation hydraulic cylinder 36 has reached the end of the elevation stroke). Is determined. When it is determined that the undulation limit has been reached (that is, when the expansion and contraction limit and the undulation limit occur simultaneously), only the turning hydraulic motor 35 is drive-controlled to move the deck 34. Continue (step S5.
Hereinafter, this is referred to as “first drive control”).

On the other hand, when it is determined that the undulating limit has not been reached (that is, when only the expansion and contraction limit is reached), only the turning hydraulic motor 35 and the undulating hydraulic cylinder 36 are driven. By controlling, the moving operation of the deck 34 is continued (Step S4; hereinafter, referred to as “second drive control”).

On the other hand, if it is determined in step S2 that the expansion limit has not been reached, it is further determined in step S6 whether the undulation limit has been reached. Here, when it is determined that the undulation limit has been reached, only the turning hydraulic motor 35 and the telescopic hydraulic cylinder 37 are drive-controlled to continue the moving operation of the deck 34 (step S7; hereinafter). , "Third drive control"). On the other hand, when it is determined that it does not meet the undulation limit (when it has not reached any of the expansion and contraction limit and the undulation limit), the turning hydraulic motor 35, the undulation hydraulic cylinder 36, and the expansion and contraction hydraulic The three members of the cylinder 37 are drive-controlled together to execute the original horizontal linear movement (step S8).

By performing the above control, the detour movement necessary when the contraction operation or the raising operation of the telescopic boom 33 reaches the operation limit during the control of the horizontal linear movement is performed by the horizontal operation lever. 2 is performed automatically while maintaining the operation state of FIG.

Here, the above "first drive control" to "third drive control"
The actual movement state in the “drive control” will be described with reference to FIGS. 4 to 9. 4 and 8 correspond to FIG.
5 shows a plan view from the arrow Y direction, and FIGS. 5, 6, and 9 show side views from the arrow X direction in FIG.

Movement in the case of "first drive control" (see FIGS. 8 and 9) In this case, based on the instruction of the horizontal operation lever 2, only the turning operation not involved in the height change of the deck 34 Is performed, and the reduction and raising operations related to the height change are canceled. Therefore, as shown in FIG. 9, a constant height movement is realized in a side view, but in a plan view, the up-and-down hydraulic cylinder 36 and the telescopic hydraulic cylinder 37 are respectively reduced in a plan view as shown in FIG. In the range at the stroke end and the raising stroke end, that is, in the range from “position b to position d”, a movement trajectory L ₄ that departs from the original target movement straight line L and expands outside the turning radius is drawn. Move.

Movement in the case of "second drive control" (see FIGS. 4 and 5) In this case, only the turning operation and the undulating operation are performed based on the instruction of the horizontal operation lever 2, and the expansion and contraction operation is performed. Is canceled. Accordingly, as shown in FIG. 4, a linear movement along the target movement straight line L is realized in a plan view. However, as shown in FIG. 5, in the side view, in the range where the telescopic hydraulic cylinder 37 is at the end of the reduction stroke, that is, in the range from “position b to position d”, the original target movement straight line L leaving to move to draw a movement locus L ₂ as bulge upward.

Movement in the case of "third drive control" (see FIGS. 4 and 6) In this case, only the turning operation and the extension / contraction operation are performed based on the instruction of the horizontal operation lever 2, and the up / down operation is performed. Is canceled. Accordingly, as shown in FIG. 4, a linear movement along the target movement straight line L is realized in a plan view. However, as shown in FIG. 6, in the side view, in the range in which the hydraulic cylinder 36 for raising and lowering is at the end of the raising stroke, that is, in the range from “position b to position d”, the original target movement straight line L disengaged from moving to draw a movement locus L _3, such as bulge downward.

The range from the position b to the position a and the range from the position d to the position e in the above-mentioned "first drive control" to "third drive control" both reach the expansion / contraction limit and the undulation limit. Since the turning hydraulic motor 35, the up-and-down hydraulic cylinder 36, and the telescopic hydraulic cylinder 37 are both driven and controlled based on the instruction of the horizontal operation lever 2, the original horizontal linear movement (the A horizontal linear movement along the target moving straight line L) is performed.

Second Embodiment FIG. 7 shows a control flowchart of a control device according to a second embodiment of the present invention. This embodiment is similar to the “first drive control” in the first embodiment. That is, in the first embodiment, when the telescopic hydraulic cylinder 37 reaches the end of the reduction stroke, the turning hydraulic motor 35
And the hydraulic cylinder 36 for raising and lowering, and conversely, when the hydraulic cylinder 36 for raising and lowering reaches the end of the raising stroke, the hydraulic motor 35 for turning and the hydraulic cylinder 37 for extending and retracting are controlled. On the other hand, according to the present embodiment, in the horizontal linear movement control (step S1), one or both of the up-and-down hydraulic cylinder 36 and the telescopic hydraulic cylinder 37 are either at the end of the raising stroke or at the end of the reducing stroke. Is reached (step S2), only the turning hydraulic motor 35 is always drive-controlled to continue the movement (step S3).

If neither the raising / lowering hydraulic cylinder 36 nor the telescopic hydraulic cylinder 37 has reached the end of the raising stroke or the end of the reducing stroke, the normal control (step S4) executes the original horizontal linear movement. Is realized. The moving state of the deck 34 in the second embodiment is as shown in FIGS.

Third Embodiment FIG. 10 shows a control flowchart of a control device according to a third embodiment of the present invention. In this embodiment, when starting work at a high place by horizontal linear movement using the work vehicle 30, it is expected that the telescopic boom 33 will reach the telescopic limit or the undulating limit during the work, for example. In such a case, the form of the detour movement performed when the telescopic limit or the undulation limit is reached is determined in consideration of the surrounding conditions of the work site.

In other words, as a form of the detour movement due to the expansion / contraction limit or the undulation limit during the horizontal linear movement, the deck 34 is moved along the target movement straight line L in plan view as shown in FIG. 9 (that is, a movement mode in which the horizontal distance from the target movement straight line L is constant, and is abbreviated as “constant R” in the flowchart) and FIG.
As shown in (2), there is a mode in which the deck 34 is moved along the target moving straight line L in a side view (that is, a moving mode with a constant height, which is abbreviated as “H constant” in the flowchart). . Therefore, prior to work,
As the detour movement when the expansion limit or the undulation limit is reached, one of a movement mode of “constant horizontal distance” and a movement mode of “constant height” is selected.

The horizontal linear movement enabling such a movement mode to be selected in advance will be described with reference to the flowchart of FIG. In the horizontal linear movement control, after the control is started, first, in step S1, one of a movement form of "constant horizontal distance" and a movement form of "constant height" is selected in consideration of work conditions and the like. This selection is made by a switch operated by the operator.

Next, in step S2, it is determined whether or not the horizontal operation lever 2 has been operated. Here, if the horizontal operation lever 2 is not operated, no control is performed, but if the horizontal operation lever 2 is operated, the telescopic hydraulic cylinder 37 is moved to the end of the reduction stroke in step S3. It is determined whether or not it has reached (ie, whether or not it is at the expansion / contraction limit).

If it is determined that the extension / retraction limit has been reached, then in step S4, it is determined whether or not the up-and-down hydraulic cylinder 36 has reached the end of the upstroke stroke (that is, whether or not the up / down limit has been reached). Is determined. Then, when it is determined that the undulation limit has been reached (that is, when the expansion / contraction limit and the undulation limit occur simultaneously), in step S7, the selected movement form is the “constant horizontal distance” movement form. (R constant) is determined, and when the movement mode of “constant horizontal distance” is selected, the movement mode cannot be realized in a state where the expansion / contraction limit and the undulation limit occur simultaneously. At that time, the control of the horizontal linear movement is stopped (step S10). On the other hand, if the “constant horizontal distance” movement mode is not selected,
Further, in step S8, it is determined whether or not the selected movement mode is a “constant height” movement mode (H constant).
When the “constant height” movement mode is selected, only the turning hydraulic motor 35 is drive-controlled to perform the “constant height” operation.
Is realized (step S9). On the other hand, in step S8, if it is determined that the selected movement mode is not the “constant height” movement mode (that is, if no movement mode is selected), the horizontal linear movement is performed at that time. The selection is stopped (step S10).

On the other hand, if it is determined in step S4 that the undulation limit has not been reached (that is, if only the expansion and contraction limit has been reached), then in step S5, the selected movement mode is set to "constant horizontal distance". Movement form (R constant)
It is determined whether or not the “constant horizontal distance” movement mode is selected, and two of the turning hydraulic motor 35 and the undulating hydraulic cylinder 36 are drive-controlled to set the “constant horizontal distance” of the deck 34. Is realized (step S6).
On the other hand, the selected movement mode is “constant horizontal distance”
If the moving mode is not the moving mode (H), the selected moving mode is the “constant height” moving mode (H) in step S8.
It is determined whether or not the “constant height” movement mode is selected. If the “constant height” movement mode is selected, only the turning hydraulic motor 35 is drive-controlled to realize the “constant height” movement mode (step S9). ). On the other hand, if it is determined in step S8 that the selected movement mode is not the “constant height” movement mode, the horizontal linear movement selection is stopped at that time (step S10).

If it is determined in step S3 that the expansion / contraction limit has not been reached, the process proceeds to step S3.
At 11, it is determined whether the undulation limit has been reached. Here, when the undulating limit has not been reached (that is, when neither the expansion limit nor the undulating limit has been reached), the turning hydraulic motor 35 and the undulating hydraulic cylinder 3
6 and the telescopic hydraulic cylinder 37 are both driven and controlled to execute the original horizontal linear movement (step S14).

On the other hand, when it is determined that the undulation limit has been reached, it is further determined in step S12 whether or not the selected movement mode is the “constant horizontal distance” movement mode. If the "constant" movement mode is selected, the two hydraulic motors 35 for turning and the telescopic hydraulic cylinder 37 are drive-controlled to achieve the "constant horizontal distance" movement of the deck 34 (step S13). ). On the other hand, if the selected moving mode is not the “constant horizontal distance” moving mode, it is further determined in step S8 whether the selected moving mode is the “constant height” moving mode. Is selected, the drive mode of only the turning hydraulic motor 35 is controlled to realize the above-mentioned “constant height” movement mode (step S9), and the selected movement mode is “constant height”. , The horizontal linear movement selection is stopped at that time (step S10).

By performing the above control, the detour movement necessary when the contraction operation or the raising operation of the telescopic boom 33 reaches the operation limit during the control of the horizontal linear movement is set in advance. This is automatically performed in the moving mode.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a working state of an aerial work vehicle.

FIG. 2 is a control block diagram in the control device of the present invention.

FIG. 3 is a control flowchart according to the first embodiment of the present invention.

FIG. 4 is a plan view showing a moving state of a deck when horizontal linear movement control is executed in the first embodiment.

FIG. 5 is a side view showing a moving state of the deck when the horizontal linear movement control is executed in the first embodiment.

FIG. 6 is a side view showing a moving state of the deck when the horizontal linear movement control is performed in the first embodiment.

FIG. 7 is a control flowchart according to a second embodiment of the present invention.

FIG. 8 is a plan view illustrating a moving state of a deck when horizontal linear movement control is executed in the second embodiment.

FIG. 9 is a side view showing a moving state of a deck when horizontal linear movement control is executed in the second embodiment.

FIG. 10 is a control flowchart according to a third embodiment of the present invention.

FIG. 11 is a plan view (plan view) showing a horizontal linear movement state in a conventional working machine.

[Explanation of symbols]

1 is a vertical operation lever, 2 is a horizontal operation lever, 3 is a boom length detector, 4 is an up / down angle detector, 5 is a boom swing angle detector, 6 is a deck swing angle detector, 10 is a controller, 1
1 is an amplifier for extending and retracting the boom, 12 is an amplifier for raising and lowering the boom,
13 is a boom swing amplifier, 14 is a deck swing amplifier, 21 is a boom extension / retraction control valve, 22 is a boom up / down control valve, 23 is a boom swing control valve, 24 is a deck swing control valve, and 30 is a high position. Work vehicle, 31 is a vehicle, 32 is a turntable, 33 is a telescopic boom, 34 is a deck,
35 is a hydraulic motor for turning, 36 is a hydraulic cylinder for undulating,
37 is a telescopic hydraulic cylinder, 38 is a deck turning hydraulic motor, 40 is a wall surface, 41 is a control unit, 42 is a hydraulic unit, L is a target moving straight line, L _{1 to} L ₄ are moving trajectories, P is a turning center, Q Is the center of the deck.

Claims (4)

[Claims] A swivel angle detecting means, a hoisting angle detecting means, and a length detecting means for detecting a turning angle, a hoisting angle and a telescopic length of the telescopic boom, respectively, while a telescopic boom is provided on the vehicle. Swing drive means for swinging the telescopic boom, undulating drive means for raising and lowering the telescopic boom, and telescopic drive means for driving the telescopic boom to expand and contract. An operation lever for instructing a movement direction and a movement amount for moving the lens in a constant and arbitrary linear direction in plan view is provided, and receives a detection signal from each of the detection means and an operation signal from the operation lever. A control device for a telescopic boom type working machine, comprising: a drive control means for driving and controlling each of the driving means so as to move a distal end portion of the telescopic boom based on an instruction of the operation lever. And a telescopic limit detecting means for detecting the reaching of the telescopic boom to the telescopic limit. The drive control means comprises: a drive that detects the telescopic boom reaching the telescopic limit by the telescopic limit detecting means. When the drive control by the control means becomes impossible, the turning drive means and the up-and-down drive so that the distal end of the telescopic boom moves while maintaining the arbitrary linear direction in plan view based on the instruction of the operation lever. A control device for a telescopic boom type working machine, wherein the control device is configured to drive control the means. 2. A vehicle comprising a telescopic boom capable of turning and raising and lowering on a vehicle, and a turning angle detecting means, a raising and lowering angle detecting means and a length detecting means detecting a turning angle, a raising and lowering angle and a telescopic length of the telescopic boom, respectively. Swing drive means for swinging the telescopic boom, undulating drive means for raising and lowering the telescopic boom, and telescopic drive means for driving the telescopic boom to expand and contract. An operation lever for instructing a movement direction and a movement amount for moving the lens in a constant and arbitrary linear direction in plan view is provided, and receives a detection signal from each of the detection means and an operation signal from the operation lever. A control device for a telescopic boom type working machine, comprising: a drive control means for driving and controlling each of the driving means so as to move a distal end portion of the telescopic boom based on an instruction of the operation lever. And an up / down limit detection means for detecting the reaching of the telescopic boom to the up / down limit, and the drive control means, wherein the up / down limit of the telescopic boom is detected by the up / down limit detecting means to drive the drive. When the drive control by the control means becomes impossible, the turning drive means and the telescopic drive move so that the distal end of the telescopic boom moves while maintaining the arbitrary linear direction in plan view based on the instruction of the operation lever. A control device for a telescopic boom type working machine, wherein the control device is configured to drive control the means. 3. A swivel angle detecting means, a hoisting angle detecting means, and a length detecting means for detecting a turning angle, a hoisting angle and a telescopic length of the telescopic boom, respectively, while having a telescopic boom capable of turning and hoisting on the vehicle. Swing drive means for swinging the telescopic boom, undulating drive means for raising and lowering the telescopic boom, and telescopic drive means for driving the telescopic boom to expand and contract. An operation lever for instructing a movement direction and a movement amount for moving the lens in a constant and arbitrary linear direction in plan view is provided, and receives a detection signal from each of the detection means and an operation signal from the operation lever. A control device for a telescopic boom type working machine, comprising: a drive control means for driving and controlling each of the driving means so as to move a distal end portion of the telescopic boom based on an instruction of the operation lever. And a telescopic limit detecting means for detecting the reaching of the telescopic boom to the telescopic limit. The drive control means comprises: a drive that detects the telescopic boom reaching the telescopic limit by the telescopic limit detecting means. When the drive control by the control means becomes impossible, only the turning drive means is drive-controlled so that the distal end of the telescopic boom moves while maintaining the height constant, based on the instruction of the operation lever. A control device for a telescopic boom type working machine, wherein the control device is configured. 4. A swivel angle detecting means, a hoisting angle detecting means, and a length detecting means for detecting a turning angle, a hoisting angle and a telescopic length of the telescopic boom, respectively, while a telescopic boom capable of turning and hoisting is provided on the vehicle. Swing drive means for swinging the telescopic boom, undulating drive means for raising and lowering the telescopic boom, and telescopic drive means for driving the telescopic boom to expand and contract. An operation lever for instructing a movement direction and a movement amount for moving the lens in a constant and arbitrary linear direction in plan view is provided, and receives a detection signal from each of the detection means and an operation signal from the operation lever. A control device for a telescopic boom type working machine, comprising: a drive control means for driving and controlling each of the driving means so as to move a distal end portion of the telescopic boom based on an instruction of the operation lever. And an up / down limit detection means for detecting the reaching of the telescopic boom to the up / down limit, and the drive control means, wherein the up / down limit of the telescopic boom is detected by the up / down limit detecting means to drive the drive. When the drive control by the control means becomes impossible, only the turning drive means is drive-controlled so that the distal end of the telescopic boom moves while maintaining the height constant, based on the instruction of the operation lever. A control device for a telescopic boom type working machine, wherein the control device is configured.