JPH10226498A - Working machine controller - Google Patents
Working machine controllerInfo
- Publication number
- JPH10226498A JPH10226498A JP3382197A JP3382197A JPH10226498A JP H10226498 A JPH10226498 A JP H10226498A JP 3382197 A JP3382197 A JP 3382197A JP 3382197 A JP3382197 A JP 3382197A JP H10226498 A JPH10226498 A JP H10226498A
- Authority
- JP
- Japan
- Prior art keywords
- oil amount
- hydraulic
- oil
- amount
- hydraulic actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Forklifts And Lifting Vehicles (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、油圧源からの供給
油を複数の油圧アクチュエータに供給して作業機を駆動
するようにした作業機の制御装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work machine control device which supplies a supply oil from a hydraulic source to a plurality of hydraulic actuators to drive the work machine.
【０００２】[0002]
【従来の技術】従来より、例えば伸縮ブームを備えた高
所作業車においては、該伸縮ブームを駆動させるために
複数の油圧アクチュエータ、例えば、伸縮用油圧シリン
ダと起伏用油圧シリンダと旋回用油圧モータを備え、こ
れら各油圧アクチュエータをそれぞれ操作レバーの操作
量に応じて作動させることで、上記伸縮ブームの伸縮、
起伏及び旋回の各動作を行うようになっている。2. Description of the Related Art Conventionally, for example, in an aerial work vehicle equipped with a telescopic boom, a plurality of hydraulic actuators for driving the telescopic boom, for example, a telescopic hydraulic cylinder, an up / down hydraulic cylinder, and a turning hydraulic motor are used. By operating each of these hydraulic actuators according to the operation amount of the operation lever, the expansion and contraction of the telescopic boom,
Each operation of raising and lowering and turning is performed.
【０００３】一方、これら各油圧アクチュエータへの作
動油の供給は、エンジンにより回転駆動される油圧ポン
プにより行われるものであり、従って、各油圧アクチュ
エータへの供給油量は、油圧ポンプの吐出容量とその回
転数とによって決定されることになる。On the other hand, the supply of hydraulic oil to each of these hydraulic actuators is performed by a hydraulic pump that is rotationally driven by an engine. Therefore, the amount of oil supplied to each hydraulic actuator is determined by the discharge capacity of the hydraulic pump and It is determined by the rotation speed.
【０００４】ところで、複数の油圧アクチュエータを備
えた作業機においては、各油圧アクチュエータの単独駆
動に必要な油量よりも上記油圧ポンプの供給油量が多く
なるように設計されており、該各油圧アクチュエータが
それぞれ単独操作される場合には、該油圧アクチュエー
タはその操作レバーの操作量に基づいてその駆動速度が
決定され、その駆動速度で駆動されることになる。とこ
ろが、複数の油圧アクチュエータが同時に操作される
と、それら各油圧アクチュエータに対応する操作レバー
の操作量によっては、該複数の油圧アクチュエータの同
時駆動に必要な油量、即ち、合計必要油量が上記油圧ポ
ンプの供給油量以上となる場合（以下、かかる状態を
「流量飽和状態」という）がある。かかる「流量飽和状
態」において、何らの油量制限を行わないとすれば、該
油圧ポンプからの供給油が負荷の少ない油圧アクチュエ
ータに偏って供給され、負荷の少ない油圧アクチュエー
タのみが駆動され、負荷の大きい油圧アクチュエータが
駆動されないという不都合が発生することになる。By the way, in a working machine having a plurality of hydraulic actuators, the hydraulic pump is designed so that the amount of oil supplied to the hydraulic pump is larger than the amount of oil required for independently driving each hydraulic actuator. When the actuators are operated independently, the drive speed of the hydraulic actuator is determined based on the operation amount of the operation lever, and the hydraulic actuator is driven at the drive speed. However, when a plurality of hydraulic actuators are operated at the same time, depending on the operation amount of the operation lever corresponding to each of the hydraulic actuators, the amount of oil necessary for simultaneous driving of the plurality of hydraulic actuators, that is, the total required oil amount is There is a case where the supply oil amount is equal to or more than the hydraulic pump supply amount (hereinafter, such a state is referred to as a “flow rate saturated state”). In the "flow rate saturated state", if no oil amount restriction is performed, the supply oil from the hydraulic pump is biased to the hydraulic actuator with a small load, and only the hydraulic actuator with a small load is driven, The disadvantage is that the hydraulic actuator having a large value is not driven.
【０００５】かかる流量飽和状態時における供給油量の
偏りに起因する不都合を回避するための方法として、複
数の油圧アクチュエータを備えた作業機においては以下
に述べる如き油量制限手段が備えられている。この油量
制限手段は、油圧アクチュエータの複数同時駆動に伴っ
て供給油量に対して該各油圧アクチュエータ側の合計要
求油量が上回って流量飽和状態となった場合には、供給
油量（例えば「Ｑａ」とする）と合計要求油量（例えば
「Ｑｂ」とする）の比率「Ｑａ／Ｑｂ」に応じて、同時
操作される複数の操作レバーの操作量に基づく各油圧ア
クチュエータの要求油量（例えば「Ｑ1」及び「Ｑ2」と
する）を補正し（即ち、Ｑ1→Ｑ1×（Ｑａ／Ｑｂ）、Ｑ
2→Ｑ2×（Ｑａ／Ｑｂ）とする）、該各油圧アクチュエ
ータをこの補正要求油量に基づいてそれぞれ駆動するこ
とで、上述の如き流量飽和状態における供給油量の偏り
に起因する不都合を回避するものである。[0005] As a method for avoiding inconvenience caused by the uneven supply oil amount in the flow rate saturated state, a working machine having a plurality of hydraulic actuators is provided with an oil amount limiting means as described below. . This oil amount restricting means is provided for controlling the supply oil amount (for example, when the total required oil amount on each hydraulic actuator side exceeds the supply oil amount due to the simultaneous driving of a plurality of hydraulic actuators and the flow rate becomes saturated, In accordance with the ratio “Qa / Qb” between “Qa” and the total required oil amount (eg, “Qb”), the required oil amount of each hydraulic actuator based on the operation amounts of a plurality of operating levers that are simultaneously operated (Eg, “Q 1 ” and “Q 2 ”) (ie, Q 1 → Q 1 × (Qa / Qb), Q
2 → Q 2 × (Qa / Qb)), by driving each of the hydraulic actuators based on the corrected required oil amount, the inconvenience caused by the deviation of the supplied oil amount in the flow rate saturated state as described above can be solved. Avoid it.
【０００６】[0006]
【発明が解決しようとする課題】しかしながら、例えば
第１の油圧アクチュエータが駆動している状態において
既に流量飽和状態にあって油量制限が行われている場合
(即ち、この第１の油圧アクチュエータと並行して他の
油圧アクチュエータが駆動して油量制限が行われている
場合)において、さらに追加的に第２の油圧アクチュエ
ータが駆動操作されると、この第２の油圧アクチュエー
タの駆動に伴う合計要求油量の増大によって、既に駆動
状態にある上記第１の油圧アクチュエータ（及び他の油
圧アクチュエータ）に対する油量制限がさらに加重さ
れ、該第１の油圧アクチュエータの駆動速度が、追加的
な上記第２の油圧アクチュエータの駆動に伴って急に減
速され、大きな駆動ショックが生じることになる。この
ように、既に駆動状態にある第１の油圧アクチュエータ
の駆動速度が、追加的な第２の油圧アクチュエータの駆
動の影響を受けて減速するということは作業機の操作フ
ィーリングという点において好ましくない。However, for example, when the first hydraulic actuator is being driven, the flow rate is already saturated and the oil amount is limited.
(In other words, when another hydraulic actuator is driven in parallel with the first hydraulic actuator to limit the oil amount), when the second hydraulic actuator is further driven, Due to the increase in the total required oil amount accompanying the driving of the second hydraulic actuator, the oil amount restriction on the first hydraulic actuator (and other hydraulic actuators) already in the driving state is further weighted, and the first hydraulic actuator Is suddenly reduced with the additional driving of the second hydraulic actuator, and a large driving shock occurs. As described above, it is not preferable in terms of the operation feeling of the working machine that the driving speed of the first hydraulic actuator already in the driving state is reduced by the influence of the driving of the additional second hydraulic actuator. .
【０００７】これを具体的に説明すると次の通りであ
る。即ち、図４に示すように、今、第１の油圧アクチュ
エータが流量飽和状態下において油量制限され、その制
限油量Ｑ11で駆動しているとする。この状態において、
第２の油圧アクチュエータの駆動操作がなされこれが起
動される場合、該第２の油圧アクチュエータは操作レバ
ーの操作量に対応した本来の必要油量Ｑ21ではなく、油
量制限を受けた後の制限油量Ｑ22で駆動が開始される
が、それと同時に、既に駆動状態にある上記第１の油圧
アクチュエータも、上記第２の油圧アクチュエータへの
油量供給の影響を受けて、さらに油量制限され、その供
給油量が上記制限油量Ｑ11からさらに油量Ｑ12まで急激
に減少し、その駆動速度が急減速され、大きな駆動ショ
ックを発生することになるものである。This will be described in detail below. That is, as shown in FIG. 4, now, the first hydraulic actuator is oil amount limiting under flow saturation, and is driven at its limit oil amount Q 11. In this state,
When the driving operation of the second hydraulic actuator which made is activated, the hydraulic actuator of the second rather than the original required oil amount Q 21 corresponding to the operation amount of the operation lever, limit after receiving oil amount limiting While driving in the oil amount Q 22 is started, at the same time, also already the first hydraulic actuator in a driving state, under the influence of the oil amount supplied to said second hydraulic actuator, and further oil amount limiting , the oil supply amount decreases sharply to further oil amount Q 12 from the limited amount of oil Q 11, the driving speed is rapid deceleration, it is those that will generate a large driving shock.
【０００８】尚、かかる問題は、上述のように、既に駆
動中の複数の油圧アクチュエータがあって且つ既に油量
制限が行われている場合において、さらに他の油圧アク
チュエータが追加的に起動されることによる駆動中の油
圧アクチュエータの急激な減速される場合に限らず、例
えば三個の油圧アクチュエータが共に並行駆動され且つ
油量制限が行われている場合において、これら三個の油
圧アクチュエータのうちの一つが減速側（即ち、必要油
量が減少する方向）に操作され、これに伴って他の二個
の油圧アクチュエータが急激に加速される場合においも
同様である。[0008] Such a problem is, as described above, when there are a plurality of hydraulic actuators that are already being driven and the oil amount is already limited, another hydraulic actuator is additionally activated. Not only when the hydraulic actuator during driving is suddenly decelerated, but also when, for example, all three hydraulic actuators are driven in parallel and the amount of oil is restricted, among these three hydraulic actuators, The same applies to the case where one is operated on the deceleration side (that is, the direction in which the required oil amount decreases), and the other two hydraulic actuators are rapidly accelerated accordingly.
【０００９】そこで本発明は、複数の油圧アクチュエー
タの同時駆動時に油量制限が行われるものにおいて、既
に駆動中の油圧アクチュエータが、追加的に起動あるい
は駆動状態が変更される他の油圧アクチュエータの影響
を受けてその駆動速度が急変することを可及的に緩和し
得るようにした作業機の制御装置を提供することを目的
としてなされたものである。In view of the above, the present invention relates to an apparatus in which a plurality of hydraulic actuators are simultaneously driven to restrict the amount of oil. In this case, the hydraulic actuator that is already being driven is affected by another hydraulic actuator whose startup or driving state is additionally changed. Accordingly, it is an object of the present invention to provide a control device for a working machine which can reduce a sudden change in the driving speed as much as possible.
【００１０】[0010]
【課題を解決するための手段】本発明ではかかる課題を
解決するための具体的手段として、油圧源からの供給油
を受けて作業機を駆動する複数の油圧アクチュエータ
と、該複数の油圧アクチュエータを駆動するために該各
油圧アクチュエータにそれぞれ対応して設けられた複数
の駆動制御手段と、該各駆動制御手段のそれぞれに操作
信号を出力する複数の操作レバーと、上記各油圧アクチ
ュエータのそれぞれに供給される油量を制限する複数の
油量制限手段と、上記各操作レバーの操作に基づき上記
各駆動制御手段から上記各油圧アクチュエータに供給さ
れるべき油量の合計を合計要求油量として算出する合計
必要油量算出手段と、上記油圧源の供給油量を算出する
供給油量算出手段と、上記合計要求油量と供給油量とを
比較して該合計要求油量が上記供給油量以下である場合
には上記油量制限手段による上記各油圧アクチュエータ
への供給油量の制限を行わない一方、上記合計要求油量
が上記供給油量以上である場合には該合計要求油量が上
記供給油量以下となるように上記油量制限手段により上
記各油圧アクチュエータへの供給油量を制限するように
該油量制限手段に油量制限信号を出力する油量制限判別
手段とを備えてなる作業機の制御装置において、上記油
量制限判別手段から油量制限信号が出力されている状態
においては、上記操作レバーの操作量の変更に対応して
駆動速度が変更される一方の油圧アクチュエータの駆動
速度の変更と、該一方の油圧アクチュエータの駆動速度
の変更に伴ってその駆動速度が変更される他方の油圧ア
クチュエータの駆動速度の変更とを徐々に行うようにそ
の制御特性を変更する制御特性変更手段を備えたことを
特徴としている。According to the present invention, as a specific means for solving the above-mentioned problems, a plurality of hydraulic actuators for driving a working machine by receiving supply oil from a hydraulic source, and a plurality of hydraulic actuators are provided. A plurality of drive control means provided for each of the hydraulic actuators for driving; a plurality of operation levers for outputting operation signals to the respective drive control means; and a plurality of operation levers for supplying the respective hydraulic actuators And calculating a sum of oil amounts to be supplied from the drive control units to the hydraulic actuators based on the operation of the operation levers as a total required oil amount. A total required oil amount calculating means, a supplied oil amount calculating means for calculating the supplied oil amount of the hydraulic pressure source, and comparing the total required oil amount with the supplied oil amount to determine the total required oil amount. When the amount is equal to or less than the supply oil amount, the amount of oil supply to each of the hydraulic actuators is not limited by the oil amount limiting means, while when the total required oil amount is equal to or more than the supply oil amount, The amount of oil that outputs an oil amount limiting signal to the oil amount limiting means so as to limit the amount of oil supplied to each of the hydraulic actuators by the oil amount limiting means so that the total required oil amount is equal to or less than the supply oil amount. In a control device for a working machine including a limit determining means, when the oil amount limit signal is output from the oil amount limit determining means, the drive speed is increased in accordance with a change in the operation amount of the operation lever. The change of the drive speed of the one hydraulic actuator to be changed and the change of the drive speed of the other hydraulic actuator whose drive speed is changed in accordance with the change of the drive speed of the one hydraulic actuator are gradually reduced. It is characterized by having a control characteristics changing means for changing the control characteristics to perform the.
【００１１】[0011]
【発明の効果】本発明ではかかる構成とすることにより
次のような効果が得られる。即ち、油量制限判別手段か
ら油量制限信号が出力されている状態においては、操作
レバーの操作量の変更に対応して駆動速度が変更される
一方の油圧アクチュエータの駆動速度の変更と、該一方
の油圧アクチュエータの駆動速度の変更に伴ってその駆
動速度が変更される他方の油圧アクチュエータの駆動速
度の変更とを徐々に行うようにその制御特性が変更され
るので、例えば上記一方の油圧アクチュエータが追加的
に起動される場合にあっては、該一方の油圧アクチュエ
ータの起動に伴う油量制限の影響を受けて、既に駆動状
態にある上記他方の油圧アクチュエータの駆動速度が減
速される場合におけるその減速度、あるいは上記他方の
油圧アクチュエータとともに並行駆動されている場合に
おいて該一方の油圧アクチュエータが例えば減速方向に
操作され、これに伴って上記他方の油圧アクチュエータ
が加速される場合における加速度が、共に小さくなり、
それだけ上記他方の油圧アクチュエータの駆動途中での
減速あるいは加速に起因する駆動ショックが低減され、
延いては作業機の操作フィーリングの向上が図れるもの
である。According to the present invention, the following effects can be obtained by adopting such a configuration. That is, in a state where the oil amount restriction signal is output from the oil amount restriction determination unit, the drive speed of one of the hydraulic actuators whose drive speed is changed corresponding to the change of the operation amount of the operation lever is changed. The control characteristic is changed so as to gradually change the drive speed of the other hydraulic actuator, the drive speed of which is changed with the change of the drive speed of the one hydraulic actuator. Is additionally activated, when the drive speed of the other hydraulic actuator which is already in a driving state is reduced due to the influence of the oil amount limitation accompanying the activation of the one hydraulic actuator. When the deceleration or the other hydraulic actuator is driven in parallel with the other hydraulic actuator, for example, the one hydraulic actuator is decelerated. Is operated in the direction, acceleration, becomes both smaller in the case where the other hydraulic actuator is accelerated along with this,
As a result, a drive shock caused by deceleration or acceleration during the driving of the other hydraulic actuator is reduced,
As a result, the operation feeling of the working machine can be improved.
【００１２】[0012]
【発明の実施の形態】以下、本発明を添付図面に示す実
施形態に基づいて具体的に説明する。図１には、本発明
にかかる制御装置を備えた作業機として、高所作業車１
を示している。この高所作業車１は、車両２上に旋回自
在に搭載された旋回台３に、順次テレスコ状に嵌挿配置
される基端ブーム５と中間ブーム６と先端ブーム７から
なる伸縮ブーム４を起伏自在に取り付けるとともに、該
伸縮ブーム４の先端部、即ち、上記先端ブーム７の先端
部には作業車搭乗用のデッキ８を取り付けている。そし
て、上記伸縮ブーム４は、その内部に内装配置された伸
縮用油圧シリンダ９の伸縮動により伸縮駆動され、また
該伸縮ブーム４と上記旋回台３との間に跨がって配置さ
れた起伏用油圧シリンダ１０の伸縮動によって起伏駆動
され、さらに上記旋回台３側に配置した旋回用油圧モー
タ１１によって回転駆動される。尚、この伸縮用油圧シ
リンダ９と起伏用油圧シリンダ１０と旋回用油圧モータ
１１は、それぞれ特許請求の範囲中の「油圧アクチュエ
ータ」に該当する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be specifically described based on embodiments shown in the accompanying drawings. FIG. 1 shows an aerial work vehicle 1 as a working machine provided with a control device according to the present invention.
Is shown. The aerial work vehicle 1 includes a telescopic boom 4 composed of a base boom 5, an intermediate boom 6, and a distal boom 7 that are sequentially inserted and arranged in a telescopic manner on a swivel 3 that is rotatably mounted on the vehicle 2. A deck 8 for mounting a work vehicle is attached to the tip of the telescopic boom 4, that is, to the tip of the tip boom 7. The telescopic boom 4 is driven to expand and contract by the expansion and contraction of a telescopic hydraulic cylinder 9 disposed inside the telescopic boom. The hydraulic cylinder 10 is driven up and down by the expansion and contraction of the hydraulic cylinder 10, and is further rotationally driven by a hydraulic hydraulic motor 11 disposed on the side of the swivel 3. The hydraulic cylinder 9 for expansion and contraction, the hydraulic cylinder 10 for raising and lowering, and the hydraulic motor 11 for turning each correspond to a “hydraulic actuator” in the claims.
【００１３】さらに、上記旋回台３側には、次述する制
御ユニット３０と油圧ユニット４０が備えられるととも
に、上記デッキ８側には次述する各操作レバー２１〜２
３を備えた操作盤２０が配置されている。Further, a control unit 30 and a hydraulic unit 40 described below are provided on the swivel 3 side, and operation levers 21 to 2 described below are provided on the deck 8 side.
An operation panel 20 provided with the control panel 3 is provided.
【００１４】次に、図２の制御ブロック図に基づいて、
上記高所作業車１の制御系及び油圧系の構成を具体的に
説明する。操作盤２０ 上記操作盤２０には、その操作量に対応した伸縮操作信
号「ａ1」を出力する伸縮操作レバー２１と、その操作
量に対応した起伏操作信号「ｂ1」を出力する起伏操作
レバー２２と、その操作量に対応した旋回操作信号「ｃ
1」を出力する旋回操作レバー２３とが設けられてい
る。そして、これら各操作レバー２１〜２３からの各操
作信号「ａ1」，「ｂ1」，「ｃ1」は、それぞれ後述す
る制御特性変更手段３４に入力される。Next, based on the control block diagram of FIG.
The configuration of the control system and the hydraulic system of the aerial work vehicle 1 will be specifically described. Operation panel 20 The operation panel 20 includes a telescopic operation lever 21 that outputs a telescopic operation signal “a 1 ” corresponding to the operation amount, and a undulation operation that outputs a undulation operation signal “b 1 ” corresponding to the operation amount. The lever 22 and a turning operation signal “c” corresponding to the operation amount
A turning operation lever 23 for outputting " 1 " is provided. Then, the operation signals “a 1 ”, “b 1 ”, and “c 1 ” from the operation levers 21 to 23 are input to the control characteristic changing unit 34 described later.
【００１５】制御ユニット３０ 上記制御ユニット３０には、供給油量算出手段３１と合
計必要油量算出手段３２と油量制限判別手段３３と制御
特性変更手段３４とテーブル３５と伸縮油量制限手段３
６と起伏油量制限手段３７及び旋回油量制限手段３８が
備えられている。[0015] The control unit 30 the control unit 30, the oil supply amount calculating means 31 and the total required oil amount calculating section 32 and an oil amount limiting discriminating means 33 and the control characteristics changing unit 34 and the table 35 telescopic oil amount limiting means 3
6 and an undulating oil amount limiting means 37 and a turning oil amount limiting means 38 are provided.
【００１６】供給油量算出手段３１ 上記供給油量算出手段３１は、後述する油圧ユニット４
０側に設けられた油圧源４１の供給油量「Ｑａ」を算出
してその算出値に対応した供給油量信号「ｄ」を次述の
油量制限判別手段３３に出力する。Supply oil amount calculation means 31 The supply oil amount calculation means 31 includes a hydraulic unit 4 described later.
The oil supply amount “Qa” of the oil pressure source 41 provided on the 0 side is calculated, and the oil supply amount signal “d” corresponding to the calculated value is output to the oil amount restriction determining means 33 described below.
【００１７】この供給油量「Ｑａ」の算出方法は次の通
りである。即ち、上記油圧源４１は、高所作業車１の走
行用エンジンによって駆動される油圧ポンプで構成され
る。従って、基本的には、油圧ポンプの吐出容量とエン
ジン回転数とに基づいて算出されるが、例えば上記油圧
ポンプが定容量ポンプで且つ上記エンジンも定速回転す
るものであれば供給油量「Ｑａ」は計算によらずとも一
義的に予め決定される。また、上記油圧ポンプが可変容
量型ポンプであり且つエンジン回転数も可変されるもの
である場合には、例えば、吐出容量検出器とエンジン回
転数検出器とを用い、これら両検出器の検出値に基づい
て上記供給油量「Ｑａ」を演算にて算出することにな
る。The method of calculating the supply oil amount "Qa" is as follows. That is, the hydraulic pressure source 41 is configured by a hydraulic pump driven by the traveling engine of the aerial work vehicle 1. Therefore, basically, it is calculated based on the discharge capacity of the hydraulic pump and the engine speed. For example, if the hydraulic pump is a constant displacement pump and the engine also rotates at a constant speed, the supply oil amount “ "Qa" is uniquely determined in advance without calculation. When the hydraulic pump is a variable displacement pump and the engine speed is also variable, for example, a discharge capacity detector and an engine speed detector are used, and the detection values of these two detectors are used. , The supply oil amount “Qa” is calculated by calculation.
【００１８】制御特性変更手段３４ 上記制御特性変更手段３４は、本発明の要旨たるもので
あって、上記各操作レバー２１〜２３からの各操作信号
「ａ1」，「ｂ1」，「ｃ1」が入力されるとともに、後
述する油量制限判別手段３３からの油量制限信号「ｆ」
が入力される。そして、この制御特性変更手段３４で
は、上記油量制限信号「ｆ」の入力の有無に応じて各油
圧アクチュエータの駆動速度の制御特性を変更するもの
である。具体的には次の通りである。The control characteristic changing means 34 constitutes the gist of the present invention, and each of the operation signals "a 1 ", "b 1 ", "c" from each of the operation levers 21 to 23 is provided. 1 ”is input, and an oil amount restriction signal“ f ”from an oil amount restriction determination unit 33 described later.
Is entered. The control characteristic changing means 34 changes the control characteristic of the drive speed of each hydraulic actuator according to the presence or absence of the input of the oil amount restriction signal "f". Specifically, it is as follows.
【００１９】即ち、上記制御特性変更手段３４には、テ
ーブル３５が付設されている。そして、このテーブル３
５には、通常時の制御特性データと流量飽和時の制御特
性データとを、上記伸縮用油圧シリンダ９と起伏用油圧
シリンダ１０と旋回用油圧モータ１１のそれぞれについ
て備えている。That is, the control characteristic changing means 34 is provided with a table 35. And this table 3
5 includes control characteristic data at normal time and control characteristic data at the time of flow rate saturation for each of the hydraulic cylinder 9 for expansion and contraction, the hydraulic cylinder 10 for raising and lowering, and the hydraulic motor 11 for turning.
【００２０】ここで、流量飽和時の制御特性とは、本発
明がその狙いとする制御特性であって、図３に示すよう
に、例えば流量飽和状態の下で既に油量制限を受けて制
御油量Ｑ11で駆動している第１の油圧アクチュエータ
と、追加的に起動される第２の油圧アクチュエータとを
例にとって説明すると、時間「ｔ1」において上記第２
の油圧アクチュエータの駆動操作がなされてこれが起動
（加速）される場合、既に駆動中の上記第１の油圧アク
チュエータは上記時間「ｔ1」において上記第２の油圧
アクチュエータの駆動に伴う油量制限の影響を受けてそ
の供給油量が制御油量Ｑ12まで減少しその駆動速度が減
速される。また、上記第２の油圧アクチュエータは本来
の必要油量Ｑ21よりも少ない制限油量Ｑ22まで加速され
る。かかる場合において、上記第１の油圧アクチュエー
タの制限油量Ｑ11から制限油量Ｑ12までの減少操作を時
間ｔ1から時間ｔ2までの時間「Ｔ」の間に緩やかに行わ
せると同時に、上記第２の油圧アクチュエータの制限油
量Ｑ22までの立ち上がりを時間「ｔ1」から時間「ｔ2」
までの時間「Ｔ」の間に緩やかに行わせるような制御特
性である。Here, the control characteristic at the time of flow rate saturation is the control characteristic aimed at by the present invention, and as shown in FIG. a first hydraulic actuator which is driven by the oil amount Q 11, additionally will be described a second hydraulic actuator for example being activated, the time the second in the "t 1"
Is activated (accelerated), the first hydraulic actuator that is already being driven is restricted in the oil amount limitation accompanying the driving of the second hydraulic actuator at the time “t 1 ”. its oil supply amount is decreased to control oil flow Q 12 is the driving speed is decelerated affected. Further, the second hydraulic actuator is accelerated less to limit oil amount Q 22 than the original required oil amount Q 21. In such a case, when the slowly made during the time "T" of the reduction operation from the limit oil amount Q 11 of the first hydraulic actuator to limit oil amount Q 12 from the time t 1 to time t 2 at the same time, the time from the rise time "t 1" to a second hydraulic actuator limit oil amount Q 22 "t 2"
The control characteristic is such that the control is performed gently during the time “T” until the time t.
【００２１】一方、通常時の制御特性データは、上記流
量飽和時の制御特性における上記時間「Ｔ」を該流量飽
和時のそれよりも小さく設定し、操作レバーの操作に応
じて上記油圧アクチュエータを急速に加速あるいは減速
させるような制御特性であり、図４に示す従来の制御特
性に近いものである。On the other hand, according to the control characteristic data at the normal time, the time "T" in the control characteristic at the time of the flow rate saturation is set smaller than that at the time of the flow rate saturation, and the hydraulic actuator is operated in accordance with the operation of the operation lever. This is a control characteristic for rapidly accelerating or decelerating, and is close to the conventional control characteristic shown in FIG.
【００２２】そして、上記制御特性変更手段３４におい
ては、上記各操作レバー２１〜２３から各操作信号「ａ
1」，「ｂ1」，「ｃ1」を受けた場合において、上記油
量制限信号「ｆ」が入力されていない時には、操作され
た操作レバーに対応する通常時の制御データを上記テー
ブル３５から読み出し、この読み出した制御データ（加
速時間あるいは減速時間）と上記操作レバーの操作量に
対応する操作データ（加速時間あるいは減速時間）とを
比較し、制御データ値が操作データ値よりも大きい時に
は該操作データ値を制限操作信号「ａ2」，「ｂ2」，
「ｃ2」として上記合計必要油量算出手段３２及び後述
の各油量制限手段３６〜３８に出力し、また、制御デー
タ値が操作データ値よりも小さい時には該操作データ値
に拘わらず、上記制御データ値を制限操作信号
「ａ2」，「ｂ2」，「ｃ2」として上記合計必要油量算
出手段３２及び後述の各油量制限手段３６〜３８に出力
する。In the control characteristic changing means 34, each of the operation signals "a" is transmitted from each of the operation levers 21 to 23.
When the oil amount limit signal “f” is not input when receiving “ 1 ”, “b 1 ”, and “c 1 ”, the control data in the normal state corresponding to the operated operating lever is stored in the table 35. And compares the read control data (acceleration time or deceleration time) with the operation data (acceleration time or deceleration time) corresponding to the operation amount of the operation lever. When the control data value is larger than the operation data value, The operation data values are set to the limit operation signals “a 2 ”, “b 2 ”,
"C 2" as the output to the total required oil amount calculating section 32 and the oil amount limiting means described below 36-38, also regardless of the manipulation data value when the control data values is less than the operation data values, the control data value limiting operation signal "a 2", and outputs "b 2", as in the total required oil amount calculating section 32 and the oil amount limiting means described below 36-38 "c 2".
【００２３】これに対して、上記油量制限信号「ｆ」が
入力されている状態、即ち、上記伸縮用油圧シリンダ９
と起伏用油圧シリンダ１０と旋回用油圧モータ１１のう
ちのいずれか二つが駆動中であり且つ既に流量飽和状態
にあって油量制限が行われている状態において、上記駆
動中の油圧アクチュエータに加えて、さらに他の油圧ア
クチュエータが起動されて油量制限がさらに加重される
場合には、この加重的な油量制限に基づく、既に駆動中
の油圧アクチュエータへの供給油量の減少率（即ち、減
速度）と、追加的に駆動される他の油圧アクチュエータ
への供給油量の増加率（即ち、加速度）とを共に緩やか
な特性とするようにその制御特性を変更する。即ち、操
作された操作レバーに対応する流量飽和時の制御データ
を上記テーブル３５から読み出し、上記操作レバーの操
作量に対応する操作データ（加速時間あるいは減速時
間）と流量飽和時の制御データ（加速時間あるいは減速
時間）とを比較し、制御データ値が操作データ値よりも
大きい時には該操作データ値を制限操作信号「ａ2」，
「ｂ2」，「ｃ2」として上記合計必要油量算出手段３２
及び後述の各油量制限手段３６〜３８に出力し、また、
制御データ値が操作データ値よりも小さい時には該操作
データ値に拘わらず、上記制御データ値を制限操作信号
「ａ2」，「ｂ2」，「ｃ2」として上記合計必要油量算
出手段３２及び後述の各油量制限手段３６〜３８に出力
する。On the other hand, the state in which the oil amount restriction signal "f" is input, that is, the expansion / contraction hydraulic cylinder 9
In the state where any one of the hydraulic cylinder for raising and lowering 10 and the hydraulic motor for turning 11 is being driven and the flow rate is already saturated and the oil amount is restricted, the hydraulic actuator in addition to the above-mentioned hydraulic actuator being driven is added. Therefore, when another hydraulic actuator is activated and the oil amount restriction is further weighted, the reduction rate of the oil supply amount to the already driven hydraulic actuator based on the weighted oil amount restriction (that is, The control characteristic is changed so that the deceleration) and the rate of increase (that is, acceleration) of the amount of oil supplied to another hydraulic actuator to be additionally driven are made moderate. That is, control data at the time of flow saturation corresponding to the operated lever operated is read from the table 35, and operation data (acceleration time or deceleration time) corresponding to the operation amount of the operation lever and control data (acceleration time) at the time of flow saturation are read. Time or deceleration time), and when the control data value is larger than the operation data value, the operation data value is set to the limited operation signal “a 2 ”,
The total required oil amount calculating means 32 is referred to as “b 2 ” or “c 2 ”.
And output to each oil amount limiting means 36 to 38 described below,
When the control data value is smaller than the operation data value, regardless of the operation data value, the control data value is used as the limited operation signals “a 2 ”, “b 2 ”, and “c 2 ” to calculate the total required oil amount calculating means 32. And output to each oil amount limiting means 36 to 38 described later.
【００２４】尚、ここでは上記三つの油圧アクチュエー
タ９，１０，１１のうちの二つの油圧アクチュエータが
駆動中で且つ既に油量制限が行われている場合におい
て、さらに追加的に他の油圧アクチュエータが起動され
る（加速される）場合について説明したが、これとは異
なって、例えば上記三つの油圧アクチュエータ９，１
０，１１の全てが駆動中で且つ既に油量制限が行われて
いる場合において、これらのうちのいずれか一つの油圧
アクチュエータが減速側に駆動状態が変更される場合に
おいても同様である。Here, in the case where two of the three hydraulic actuators 9, 10, and 11 are being driven and the oil amount has already been limited, another hydraulic actuator is additionally provided. The case where the actuator is started (accelerated) has been described, but differently from the above, for example, the above three hydraulic actuators 9 and 1
The same applies to the case where all of the hydraulic actuators 0 and 11 are being driven and the oil amount has already been restricted, and the driving state of any one of these hydraulic actuators is changed to the deceleration side.
【００２５】合計必要油量算出手段３２ 上記合計必要油量算出手段３２は、上記制御特性変更手
段３４からの制限操作信号「ａ2」，「ｂ2」，「ｃ2」
を受けて、これら各制限操作信号「ａ2」，「ｂ2」，
「ｃ2」に対応した各油圧アクチュエータ毎の必要油量
を加算して合計要求油量を求め、この合計要求油量に対
応した合計要求油量信号ｅを次述の油量制限判別手段３
３に出力する。The total required oil amount calculating means 32 is provided with a limiting operation signal "a 2 ", "b 2 ", "c 2 " from the control characteristic changing means 34.
Accordingly, each of these limit operation signals “a 2 ”, “b 2 ”,
The required oil amount for each hydraulic actuator corresponding to “c 2 ” is added to obtain a total required oil amount, and a total required oil amount signal e corresponding to the total required oil amount is determined by an oil amount restriction determination unit 3 described below.
Output to 3.
【００２６】油量制限判別手段３３ 上記油量制限判別手段３３は、上記供給油量算出手段３
１からの供給油量信号「ｄ」と上記合計必要油量算出手
段３２からの合計要求油量信号「ｅ」とを受けてこれら
両者を比較し、合計要求油量「Ｑｂ」が供給油量「Ｑ
ａ」よりも多い時に流量飽和状態であると判断して油量
制限信号「ｆ」を出力することは既述の通りである。し
かしながら、この油量制限信号「ｆ」はこのように単に
出力制御特性変更手段３４における制御特性変更の判断
基準となるだけでなく、次述する各油量制限手段３６〜
３８における油量制限の制限比率を規定するものであっ
て、その内容は「ｆ＝Ｑａ／Ｑｂ」という演算値であ
る。従って、上記制御特性変更手段３４は、「ｆ＝（Ｑ
ａ／Ｑｂ）＜１」の場合にのみ、油量制限信号「ｆ」の
入力有り、と判断して上記「流量飽和時の制御特性変更
制御」を行い、「ｆ＝（Ｑａ／Ｑｂ）＝１」の場合に
は、油量制限信号「ｆ」の入力無し、と判断して上記
「通常時の制御特性変更制御」を行う。The oil amount restriction judging means 33 includes the oil amount restriction judging means 33.
1 and the total required oil amount signal "e" from the total required oil amount calculating means 32, the two are compared, and the total required oil amount "Qb" is determined as the supplied oil amount. "Q
As described above, it is determined that the flow rate is saturated when the number is larger than "a" and the oil amount restriction signal "f" is output. However, the oil amount limiting signal “f” does not merely serve as a criterion for changing the control characteristics in the output control characteristic changing unit 34 as described above, but also serves as each of the oil amount limiting units 36 to
The restriction ratio of the restriction on the amount of oil in 38 is specified, and its content is a calculated value of “f = Qa / Qb”. Therefore, the control characteristic changing means 34 sets “f = (Q
Only when “a / Qb) <1,” it is determined that the oil amount restriction signal “f” has been input, and the “control characteristic change control at the time of flow rate saturation” is performed, and “f = (Qa / Qb) = In the case of "1", it is determined that the oil amount restriction signal "f" has not been input, and the "normal-time control characteristic change control" is performed.
【００２７】油量制限手段３６〜３８ 上記各油量制限手段３６〜３８は、上記制御特性変更手
段３４と後述する油圧ユニット４０の各駆動制御手段４
２〜４４の間に介装されて、上記油量制限判別手段３３
から油量制限信号「ｆ」を受けた時に、該油量制限信号
「ｆ」で示される制限比率「Ｑａ／Ｑｂ」に基づいて、
上記制御特性変更手段３４からの各制限操作信号
「ａ2」，「ｂ2」，「ｃ2」を、それぞれ最終操作信号
「ａ3＝ａ2×Ｑａ／Ｑｂ」、「ｂ3＝ｂ2×Ｑａ／Ｑ
ｂ」、「ｃ3＝ｃ2×Ｑａ／Ｑｂ」、として次述の各駆動
制御手段４２〜４４に伝達するものである。The oil amount limiting means 36 to 38 are respectively composed of the control characteristic changing means 34 and the drive control means 4 of the hydraulic unit 40 which will be described later.
2 to 44, the oil amount restriction determining means 33
When an oil amount restriction signal “f” is received from the controller, based on the restriction ratio “Qa / Qb” indicated by the oil amount restriction signal “f”,
The limiting operation signals “a 2 ”, “b 2 ”, and “c 2 ” from the control characteristic changing means 34 are respectively converted into final operation signals “a 3 = a 2 × Qa / Qb” and “b 3 = b 2”. × Qa / Q
b ", is intended to transfer to the" c 3 = c 2 × Qa / Qb ", as the drive control means of the following predicate 42-44.
【００２８】油圧ユニット４０ 上記油圧ユニット４０は、油圧源４１と伸縮、起伏及び
旋回の各駆動制御手段４２〜４４を備えている。 Hydraulic unit 40 The hydraulic unit 40 is provided with a hydraulic source 41 and drive control means 42 to 44 for expansion and contraction, undulation and turning.
【００２９】油圧源４１ 上記油圧源４１は、上述のように、上記高所作業車１の
走行用エンジンで駆動される油圧ポンプで構成され、例
えばエンジン回転数に対応して所定の供給油量Ｑａを発
生する。この油圧源４１の供給油量は、次述の各駆動制
御手段４２〜４４を介してそれぞれ伸縮用油圧シリンダ
９と起伏用油圧シリンダ１０と旋回用油圧モータ１１に
供給される。The hydraulic source 41 is, as described above, constituted by a hydraulic pump driven by the traveling engine of the aerial work vehicle 1, and has a predetermined oil supply amount corresponding to the engine speed, for example. Qa is generated. The supply oil amount of the hydraulic pressure source 41 is supplied to the telescopic hydraulic cylinder 9, the undulating hydraulic cylinder 10, and the turning hydraulic motor 11 via the respective drive control means 42 to 44 described below.
【００３０】駆動制御手段４２〜４４ 上記各駆動制御手段４２〜４４は、それぞれ電磁比例制
御弁で構成されるものであって、上記油圧源４１と上記
伸縮用油圧シリンダ９，起伏用油圧シリンダ１０及び旋
回用油圧モータ１１との間の油圧供給路中に介設されて
いる。そして、この各駆動制御手段４２〜４４の操作方
向と操作量（即ち、上記伸縮用油圧シリンダ９，起伏用
油圧シリンダ１０，旋回用油圧モータ１１の駆動方向と
駆動量）は、上記各油量制限手段３６〜３８からそれぞ
れ出力される上記各最終操作信号「ａ3」，「ｂ3」，
「ｃ3」によって決定される。Drive control means 42 to 44 Each of the drive control means 42 to 44 is constituted by an electromagnetic proportional control valve, and includes the hydraulic source 41, the hydraulic cylinder 9 for extending and retracting, and the hydraulic cylinder 10 for raising and lowering. And a hydraulic supply path between the hydraulic motor 11 and the turning hydraulic motor 11. The operation direction and operation amount of each of the drive control means 42 to 44 (that is, the drive direction and drive amount of the telescopic hydraulic cylinder 9, the undulating hydraulic cylinder 10, and the turning hydraulic motor 11) are determined by the respective oil amounts. The final operation signals “a 3 ”, “b 3 ”,
It is determined by the "c 3".
【００３１】作動等の説明 続いて、上述の如き構成をもつ上記高所作業車１の制御
装置についてその作動等を説明する。Next, the operation and the like of the control device for the aerial work vehicle 1 having the above-described configuration will be described.
【００３２】先ず、上記各操作レバー２１〜２３がそれ
ぞれ単独で操作される場合であるが、この場合には、こ
の単独操作される上記伸縮用油圧シリンダ９、起伏用油
圧シリンダ１０又は旋回用油圧モータ１１の必要油量が
上記油圧源４１からの供給油量Ｑａよりも多くなること
はなく、従って、上記油量制限判別手段３３からの油量
制限信号「ｆ」に基づく上記各伸縮油量制限手段３６、
起伏油量制限手段３７又は旋回油量制限手段３８による
油量制限は実行されず、上記伸縮用油圧シリンダ９，起
伏用油圧シリンダ１０又は旋回用油圧モータ１１は、そ
れぞれ対応する操作レバー２１，２２又は２３からの操
作信号「ａ1＝ａ3」、「ｂ＝ｂ3」又は「ｃ1＝ｃ3」に
基づいて駆動される。First, the operation levers 21 to 23 are individually operated. In this case, the independently operated telescopic hydraulic cylinder 9, the undulating hydraulic cylinder 10, or the turning hydraulic The required oil amount of the motor 11 does not become larger than the supply oil amount Qa from the hydraulic pressure source 41. Therefore, each of the expansion and contraction oil amounts based on the oil amount restriction signal “f” from the oil amount restriction determination unit 33. Limiting means 36,
The oil amount limitation by the undulating oil amount limiting means 37 or the turning oil amount limiting means 38 is not executed, and the telescopic hydraulic cylinder 9, the undulating hydraulic cylinder 10, or the turning hydraulic motor 11 is operated by the corresponding operating lever 21, 22. Or, it is driven based on the operation signal “a 1 = a 3 ”, “b = b 3 ” or “c 1 = c 3 ” from 23.
【００３３】尚、上記各操作レバー２１〜２３のうち、
複数の操作レバーが同時操作された場合であっても、そ
の操作量の大きさによっては上記各油圧アクチュエータ
の全てが何らの油量制限を受けることなく駆動すること
ができ、この場合の駆動制御は上記の単独操作の場合と
同様である。Incidentally, among the above-mentioned operation levers 21 to 23,
Even when a plurality of operation levers are simultaneously operated, depending on the magnitude of the operation amount, all of the above hydraulic actuators can be driven without any limitation on the amount of oil. Is the same as in the case of the single operation described above.
【００３４】一方、例えば起伏操作レバー２２と旋回操
作レバー２３とが共に操作され、上記起伏用油圧シリン
ダ１０と旋回用油圧モータ１１とが並行して駆動されて
いる場合であるが、かかる場合においてはこれら起伏用
油圧シリンダ１０と旋回用油圧モータ１１との要求油量
の合計、即ち、合計要求油量Ｑｂが上記油圧源４１の供
給油量Ｑａを上回ることが生じ得る。従ってこの場合に
は、上記油量制限判別手段３３から油量制限信号「ｆ」
が出力され、上記起伏用油圧シリンダ１０と旋回用油圧
モータ１１は上記起伏油量制限手段３７及び旋回油量制
限手段３８においてそれぞれ上記油量制限信号「ｆ」に
基づく制限比率で油量制限がなされている。On the other hand, for example, the up / down operation lever 22 and the turning operation lever 23 are operated together, and the up / down hydraulic cylinder 10 and the turning hydraulic motor 11 are driven in parallel. The sum of the required oil amounts of the undulating hydraulic cylinder 10 and the turning hydraulic motor 11, that is, the total required oil amount Qb may exceed the supply oil amount Qa of the hydraulic source 41. Accordingly, in this case, the oil amount restriction signal “f” is output from the oil amount restriction determination unit 33.
The undulating hydraulic cylinder 10 and the slewing hydraulic motor 11 are controlled by the undulating oil amount limiting means 37 and the slewing oil amount limiting means 38 at an oil amount limitation at a limitation ratio based on the oil amount limitation signal “f”. It has been done.
【００３５】この状態で、さらに伸縮操作レバー２１が
操作され、その操作に基づいて上記伸縮用油圧シリンダ
９が起動される場合には、該伸縮用油圧シリンダ９の起
動に伴って既に駆動中である上記起伏用油圧シリンダ１
０及び旋回用油圧モータ１１への供給油量がさらに油量
制限を受けて減少し、それらの駆動速度が現在の速度か
ら急激に減速されることがあり、かかる急激な減速は大
きな駆動ショックを発生するものであって、操作の安全
上あるいは操作フィーリングという点において好ましく
ないことは既述の通りである。In this state, when the telescopic operation lever 21 is further operated and the telescopic hydraulic cylinder 9 is started based on the operation, the driving is already in progress with the start of the telescopic hydraulic cylinder 9. The above-mentioned hydraulic cylinder for undulation 1
0 and the amount of oil supplied to the turning hydraulic motor 11 is further reduced due to the oil amount limitation, and their driving speed may be rapidly reduced from the current speed. Such a sudden deceleration may cause a large driving shock. As described above, this phenomenon occurs and is not preferable in terms of operation safety or operation feeling.
【００３６】ところが、この実施形態のものにおいて
は、上記起伏用油圧シリンダ１０と旋回用油圧モータ１
１との並行駆動によって上記油量制限判別手段３３から
油量制限信号「ｆ」が出力されている流量飽和状態にお
いて、さらに追加的に上記伸縮用油圧シリンダ９が起動
されたような場合には、上記制御特性変更手段３４にお
いて上記伸縮用油圧シリンダ９の加速度と、該伸縮用油
圧シリンダ９の起動に伴って減速される上記起伏用油圧
シリンダ１０及び旋回用油圧モータ１１の減速度との変
化が、共に緩やかな特性となるように制御特性が変更さ
れる（即ち、上記テーブル３５における流量飽和時の制
御データが採用される）。従って、上記伸縮用油圧シリ
ンダ９の起動に伴って、既に駆動中の起伏用油圧シリン
ダ１０及び旋回用油圧モータ１１が減速されるものの、
その減速による駆動ショックは可及的に抑制され、結果
的に操作の安全性能あるいは操作フィーリングの向上が
図れるものである。However, in this embodiment, the undulating hydraulic cylinder 10 and the turning hydraulic motor 1 are used.
In the case where the hydraulic cylinder 9 for expansion and contraction is additionally activated in a flow rate saturated state in which the oil amount restriction signal “f” is output from the oil amount restriction determination unit 33 by the parallel drive with 1, A change in the acceleration of the telescopic hydraulic cylinder 9 and the deceleration of the undulating hydraulic cylinder 10 and the turning hydraulic motor 11 which are decelerated with the activation of the telescopic hydraulic cylinder 9 in the control characteristic changing means 34. However, the control characteristics are changed so that both have gentle characteristics (that is, the control data at the time of flow rate saturation in the table 35 is adopted). Accordingly, with the activation of the telescopic hydraulic cylinder 9, the undulating hydraulic cylinder 10 and the turning hydraulic motor 11, which are already being driven, are decelerated.
The drive shock due to the deceleration is suppressed as much as possible, and as a result, the operational safety performance or the operational feeling can be improved.
【００３７】尚、ここでは、上記起伏用油圧シリンダ１
０と旋回用油圧モータ１１の並行駆動によって流量飽和
状態となっている場合において、さらに追加的に上記伸
縮用油圧シリンダ９が起動され該伸縮用油圧シリンダ９
の起動に伴う油量制限の影響を受けて既に駆動中の上記
起伏用油圧シリンダ１０と旋回用油圧モータ１１が急激
に減速されるのを緩和する場合について説明したが、こ
れとは逆の場合もあり得る。Here, the undulating hydraulic cylinder 1
In the case where the flow rate is saturated by the parallel driving of the hydraulic motor 11 for rotation and the turning hydraulic motor 11, the telescopic hydraulic cylinder 9 is additionally activated and the telescopic hydraulic cylinder 9 is additionally activated.
Of the hydraulic cylinder 10 for raising and lowering and the hydraulic motor 11 for turning, which are already being driven under the influence of the oil amount limitation accompanying the start of the above, are described as being moderated. It is possible.
【００３８】即ち、例えば、伸縮用油圧シリンダ９と上
記起伏用油圧シリンダ１０と旋回用油圧モータ１１の三
者が共に並行駆動され流量飽和状態となっている場合に
おいて、これらのうち例えば上記伸縮用油圧シリンダ９
が減速側（既に必要油量が減少する方向）に駆動変更さ
れた場合には、この伸縮用油圧シリンダ９の減少操作に
伴っていままでの油量制限が緩和され（即ち、制限比率
が低下し）、駆動中の上記起伏用油圧シリンダ１０と旋
回用油圧モータ１１の駆動速度が急激に加速される場合
であり、かかる場合においても上記合計必要油量算出手
段３２によって上記伸縮用油圧シリンダ９の減速度と上
記起伏用油圧シリンダ１０及び旋回用油圧モータ１１の
加速度とが緩やかとなるように制御特性が変更されるこ
とで、該伸縮用油圧シリンダ９の減速操作に起因する上
記起伏用油圧シリンダ１０及び旋回用油圧モータ１１に
おける駆動ショックが可及的に緩和されるものである。In other words, for example, when the three members of the telescopic hydraulic cylinder 9, the undulating hydraulic cylinder 10, and the turning hydraulic motor 11 are driven in parallel to each other and the flow rate is saturated, for example, Hydraulic cylinder 9
Is changed to the deceleration side (in the direction in which the required oil amount is already reduced), the oil amount restriction with the reduction operation of the telescopic hydraulic cylinder 9 is relaxed (that is, the restriction ratio decreases). In this case, the driving speed of the hydraulic cylinder 10 for raising and lowering and the hydraulic motor 11 for turning is rapidly accelerated. Even in such a case, the total required oil amount calculating means 32 calculates the hydraulic cylinder 9 for expansion and contraction. The control characteristics are changed such that the deceleration of the hydraulic cylinder for raising and lowering 10 and the acceleration of the hydraulic cylinder for raising and lowering 10 and the hydraulic motor for turning 11 are moderate, and the hydraulic pressure for raising and lowering caused by the deceleration operation of the hydraulic cylinder for expansion and contraction 9 is changed. The drive shock in the cylinder 10 and the turning hydraulic motor 11 is reduced as much as possible.
【００３９】その他 （１） 上記実施形態においては、上記テーブル３５
に、通常時の制御データと流量飽和時の制御データとを
備え、これを油量制限の有無に応じて選択使用するよう
にしているが、この場合、上記通常時及び流量飽和時の
各制御データはこれを固定的なものとしておく必要は必
ずしもなく、例えば、油量の変更に要する時間「Ｔ」
（図３を参照）を作業機の作業状態等に応じて任意に変
更設定できるようにしても良い。 Others (1) In the above embodiment, the table 35
The control data at the normal time and the control data at the time of the flow rate saturation are provided, and these are selectively used according to the presence or absence of the oil amount restriction. The data does not necessarily have to be fixed, for example, the time “T” required for changing the oil amount.
(See FIG. 3) may be arbitrarily changed and set according to the working state of the working machine.
【００４０】（２） 上記実施形態においては、上記各
油量制限手段３６〜３８は上記制御特性変更手段３４か
ら上記各駆動制御手段４２〜４４に出力される各制限操
作信号「ａ2」，「ｂ2」，「ｃ2」を制御することで油
量制限を行うもの、として説明したが、本発明はかかる
構成に限定されるものではなく、例えばこれら各油量制
限手段３６〜３８を上記各駆動制御手段４２〜４４と各
油圧アクチュエータ９，１０，１１の間に配置して該各
駆動制御手段４２〜４４から各油圧アクチュエータ９，
１０，１１へ供給される油量そのものを制限するように
構成することもできるものである。(2) In the above embodiment, each of the oil amount restricting means 36 to 38 controls each of the limiting operation signals “a 2 ” output from the control characteristic changing means 34 to each of the drive control means 42 to 44. Although it has been described that the amount of oil is limited by controlling “b 2 ” and “c 2 ”, the present invention is not limited to such a configuration. The drive control means 42 to 44 are arranged between the hydraulic actuators 9, 10, and 11, and the drive control means 42 to 44 receive the hydraulic actuators 9,
It is also possible to configure so as to limit the amount of oil supplied to 10, 10 itself.
【００４１】（３） 上記実施形態においては、本発明
の制御装置が備えられる作業機として高所作業車１を例
示したが、本発明はこれに限定されるものではなく、例
えばクレーン車、穴掘建柱車等の作業機にも適用できる
ものである。(3) In the above embodiment, the aerial work vehicle 1 is exemplified as the work machine provided with the control device of the present invention. However, the present invention is not limited to this. It can also be applied to work machines such as digging pole cars.
【００４２】（４） 上記実施形態においては、油量制
限の基準となる油圧源４１の供給油量を、油圧ポンプの
最大吐出容量として説明したが、本発明はかかるものに
限定されるものではなく、例えば上記油圧源４１の供給
油量を上記油圧ポンプの最大吐出容量以下の値に設定す
ることもできる。例えば、上記油圧ポンプの最大吐出容
量の９０％をもって上記「供給油量」とし、この供給油
量に基づいて油量制限を行うようにすることもできるも
のである。(4) In the above embodiment, the amount of oil supplied from the hydraulic power source 41, which is a reference for limiting the amount of oil, has been described as the maximum discharge capacity of the hydraulic pump. However, the present invention is not limited to this. Instead, for example, the supply oil amount of the hydraulic power source 41 can be set to a value equal to or less than the maximum discharge capacity of the hydraulic pump. For example, 90% of the maximum discharge capacity of the hydraulic pump may be set as the "supply oil amount", and the oil amount may be limited based on the supply oil amount.
【図１】本発明の制限装置を備えた高所作業車の全体図
である。FIG. 1 is an overall view of an aerial work vehicle equipped with a restriction device of the present invention.
【図２】本発明の実施形態にかかる作業機の制御装置の
制御ブロック図である。FIG. 2 is a control block diagram of a control device of the working machine according to the embodiment of the present invention.
【図３】本発明の制限装置による油量制限特性図であ
る。FIG. 3 is an oil amount restriction characteristic diagram by the restriction device of the present invention.
【図４】従来の油量制限特性図である。FIG. 4 is a conventional oil amount limiting characteristic diagram.
１は高所作業車、２は車両、３は旋回台、４は伸縮ブー
ム、５は基端ブーム、６は中間ブーム、７は先端ブー
ム、８はデッキ、９は伸縮用油圧シリンダ、１０は起伏
用油圧シリンダ、１１は旋回用油圧モータ、２０は操作
盤、２１は伸縮操作レバー、２２は起伏操作レバー、２
３は旋回操作レバー、３は制御ユニット、３１は供給油
量算出手段、３２は合計必要油量算出手段、３３は油量
制限判別手段、３４は制御特性変更手段、３５はテーブ
ル、３６は伸縮油量制限手段、３７は起伏油量制限手
段、３８は旋回油量制限手段、４０は油圧ユニット、４
１は油圧源、４２は伸縮駆動制御手段、４３は起伏駆動
制御手段、４４は旋回駆動制御手段である。1 is an aerial work vehicle, 2 is a vehicle, 3 is a turntable, 4 is a telescopic boom, 5 is a base end boom, 6 is an intermediate boom, 7 is a distal end boom, 8 is a deck, 9 is a telescopic hydraulic cylinder, 10 is Hydraulic cylinder for raising and lowering, 11 is a hydraulic motor for turning, 20 is an operation panel, 21 is a telescopic operating lever, 22 is an undulating operating lever, 2
Reference numeral 3 denotes a turning operation lever, 3 denotes a control unit, 31 denotes a supplied oil amount calculating unit, 32 denotes a total required oil amount calculating unit, 33 denotes an oil amount restriction determining unit, 34 denotes a control characteristic changing unit, 35 denotes a table, and 36 denotes expansion and contraction. Oil amount limiting means, 37 is an undulating oil amount limiting means, 38 is a turning oil amount limiting means, 40 is a hydraulic unit,
1 is a hydraulic power source, 42 is a telescopic drive control means, 43 is an up-and-down drive control means, and 44 is a turning drive control means.
Claims (1)
動する複数の油圧アクチュエータと、 該複数の油圧アクチュエータを駆動するために該各油圧
アクチュエータにそれぞれ対応して設けられた複数の駆
動制御手段と、 該各駆動制御手段のそれぞれに操作信号を出力する複数
の操作レバーと、 上記各油圧アクチュエータのそれぞれに供給される油量
を制限する複数の油量制限手段と、 上記各操作レバーの操作に基づき上記各駆動制御手段か
ら上記各油圧アクチュエータに供給されるべき油量の合
計を合計要求油量として算出する合計必要油量算出手段
と、 上記油圧源の供給油量を算出する供給油量算出手段と、 上記合計要求油量と供給油量とを比較して該合計要求油
量が上記供給油量以下である場合には上記油量制限手段
による上記各油圧アクチュエータへの供給油量の制限を
行わない一方、上記合計要求油量が上記供給油量以上で
ある場合には該合計要求油量が上記供給油量以下となる
ように上記油量制限手段により上記各油圧アクチュエー
タへの供給油量を制限するように該油量制限手段に油量
制限信号を出力する油量制限判別手段とを備えてなる作
業機の制御装置であって、 上記油量制限判別手段から油量制限信号が出力されてい
る状態においては、上記操作レバーの操作量の変更に対
応して駆動速度が変更される一方の油圧アクチュエータ
の駆動速度の変更と、該一方の油圧アクチュエータの駆
動速度の変更に伴ってその駆動速度が変更される他方の
油圧アクチュエータの駆動速度の変更とを徐々に行うよ
うにその制御特性を変更する制御特性変更手段を備えた
ことを特徴とする作業機の制御装置。1. A plurality of hydraulic actuators for receiving a supply oil from a hydraulic source to drive a working machine, and a plurality of drives provided for each of the hydraulic actuators for driving the plurality of hydraulic actuators. Control means; a plurality of operation levers for outputting operation signals to each of the drive control means; a plurality of oil amount restriction means for restricting an amount of oil supplied to each of the hydraulic actuators; and each of the operation levers Total required oil amount calculating means for calculating the total amount of oil to be supplied from the drive control means to each of the hydraulic actuators based on the above operation as a total required oil amount, and supply for calculating the supply oil amount of the hydraulic power source Comparing the total required oil amount with the supplied oil amount, and if the total required oil amount is equal to or less than the supplied oil amount, each of the oils by the oil amount restricting means; While the amount of oil supplied to the pressure actuator is not limited, when the total required oil amount is equal to or more than the above supplied oil amount, the oil amount restricting means is controlled so that the total required oil amount is equal to or less than the above supplied oil amount. A control device for a working machine, comprising: an oil amount limit determining unit that outputs an oil amount limit signal to the oil amount limiting unit so as to limit an oil amount supplied to each of the hydraulic actuators. In a state where the oil amount restriction signal is output from the restriction determination unit, a change in the drive speed of one hydraulic actuator whose drive speed is changed in response to the change in the operation amount of the operation lever, It is provided with control characteristic changing means for changing its control characteristic so as to gradually change the drive speed of the other hydraulic actuator whose drive speed is changed with the change of the drive speed of the actuator. Characteristic work equipment control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP03382197A JP4107694B2 (en) | 1997-02-18 | 1997-02-18 | Control device for work equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP03382197A JP4107694B2 (en) | 1997-02-18 | 1997-02-18 | Control device for work equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH10226498A true JPH10226498A (en) | 1998-08-25 |
| JP4107694B2 JP4107694B2 (en) | 2008-06-25 |
Family
ID=12397157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP03382197A Expired - Lifetime JP4107694B2 (en) | 1997-02-18 | 1997-02-18 | Control device for work equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4107694B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003106307A (en) * | 2001-09-28 | 2003-04-09 | Tadano Ltd | Driving control device of oil-hydraulic work machine |
| JP2007032788A (en) * | 2005-07-29 | 2007-02-08 | Shin Caterpillar Mitsubishi Ltd | Fluid pressure controller for traveling working machine and fluid pressure control method for traveling working machine |
| JP2013531201A (en) * | 2010-06-24 | 2013-08-01 | ボルボ コンストラクション イクイップメント アーベー | Hydraulic pump control system for construction machinery |
| JP2014502710A (en) * | 2010-12-28 | 2014-02-03 | ボルボ コンストラクション イクイップメント アーベー | Flow control method for variable displacement hydraulic pump for construction machinery |
-
1997
- 1997-02-18 JP JP03382197A patent/JP4107694B2/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003106307A (en) * | 2001-09-28 | 2003-04-09 | Tadano Ltd | Driving control device of oil-hydraulic work machine |
| JP2007032788A (en) * | 2005-07-29 | 2007-02-08 | Shin Caterpillar Mitsubishi Ltd | Fluid pressure controller for traveling working machine and fluid pressure control method for traveling working machine |
| JP2013531201A (en) * | 2010-06-24 | 2013-08-01 | ボルボ コンストラクション イクイップメント アーベー | Hydraulic pump control system for construction machinery |
| US9194382B2 (en) | 2010-06-24 | 2015-11-24 | Volvo Contruction Equipment Ab | Hydraulic pump control system for construction machinery |
| JP2014502710A (en) * | 2010-12-28 | 2014-02-03 | ボルボ コンストラクション イクイップメント アーベー | Flow control method for variable displacement hydraulic pump for construction machinery |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4107694B2 (en) | 2008-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6336518B1 (en) | Travel assisting hydraulic circuit for hydraulic drive type working vehicle | |
| JP3893857B2 (en) | Control device for hydraulic drive winch | |
| KR20060075702A (en) | An apparatus for controlling the hydraulic pump of a wheel loader | |
| JPH10226498A (en) | Working machine controller | |
| JPH0624688A (en) | Turning control device for crane | |
| JP2000351585A (en) | Brake device for winch | |
| JP4282119B2 (en) | Hydraulic drive control device for work equipment | |
| JP4136488B2 (en) | Vehicle speed control apparatus and control method for hydraulic drive vehicle | |
| JPH1089306A (en) | Limiting device for working machine | |
| JP3965932B2 (en) | Hydraulic control circuit of excavator | |
| JP2721383B2 (en) | Hydraulic circuit of work machine | |
| JP3876294B2 (en) | Boom control device for boom type work vehicle | |
| KR200308829Y1 (en) | A hydraulic system for crane | |
| JP2012052581A (en) | Hydraulic travel driving device | |
| JPH01170730A (en) | Hydraulic pump controlling method for construction equipment | |
| JP2019007586A (en) | Hydraulic drive system | |
| JP2871871B2 (en) | Hydraulic drive for construction machinery | |
| JP2006097855A (en) | Travel control device for construction machine | |
| JP7157579B2 (en) | running vehicle | |
| JPH07139509A (en) | Hydraulic transmission of hydraulic working machine | |
| JP3241062B2 (en) | Work machine pump flow control device | |
| JP2548497Y2 (en) | Hydraulic flow control device | |
| JP3237336B2 (en) | Aerial work vehicle | |
| JP3073150B2 (en) | Crane hydraulic control device | |
| JPH092781A (en) | Controller for boom extending and contracting hydraulic cylinder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20040116 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20060426 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20070130 |
|
| A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20070330 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20071016 |
|
| A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20071212 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20080325 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20080401 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110411 Year of fee payment: 3 |
|
| R150 | Certificate of patent or registration of utility model |
Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120411 Year of fee payment: 4 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130411 Year of fee payment: 5 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140411 Year of fee payment: 6 |
|
| EXPY | Cancellation because of completion of term |