JPH10245192A - Boom housing device for telescopic boom type work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically house a telescopic boom in a shorter time in a telescopic boom type work machine. SOLUTION: When an automatic housing operation means 1 is operated, and when a housing operation signal is outputted, the control output of a plurality of driving means 21 through 23 for a range permitting at least a plurality of the driving means 21 through 23 to be simultaneously driven out of the driving means 21 through 23 in order to keep a telescopic boom 33 in a housing attitude, is operated in an operation outputting means based on the detected signals from the revolving angle, the rising and falling angle, and the length detecting means 5 through 7, of the telescopic boom 33, and positional information on the housing attitude of the telescopic boom 33 from a housing position information outputting means so as to be outputted. At least a plurality of the driving means 21 through 23 out of the respective driving means 21 through 23 receive the aforesaid control output, and they are thereby simultaneously driven, the telescopic boom 33 is moved to a housing attitude from a present attitude while at least a plurality of operations out of a revolving operation, a rising and falling operation and a telescopic operation, are being simultaneously executed, and the telescopic boom 33 can be thereby formed into a housing attitude in a shorter time as compared with a case where the respective operations are carried out in order.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a boom storage device for automatically storing a telescopic boom at a predetermined storage position in a telescopic boom type working machine.

[0002]

2. Description of the Related Art In a working machine such as a crane truck or an aerial work vehicle equipped with a telescopic boom, when the work is completed, the telescopic boom is stored in a predetermined storage position, and movement between work sites and the like is performed in this storage position. It is supposed to do. Note that the retractable posture of the telescopic boom in this work machine is a posture in which the telescopic boom is folded down at a predetermined turning angle and a predetermined undulating angle in a fully contracted state.

[0003] By the way, the retracting operation of the telescopic boom from the working posture to the retracted posture requires, in principle, a turning operation, a raising / lowering operation and a telescopic operation of the telescopic boom. In this case, if the operator individually operates the turning operation, the raising / lowering operation, and the expanding / contracting operation of the telescopic boom, the operation is complicated and lacks accuracy. From the perspective of doing exactly,
Attempts have been made to provide automatic storage.

[0004]

However, the conventional automatic stowage device is provided with a rotary drive and an up / down drive for changing the position of the telescopic boom from the current position to the storage position when the automatic storage switch is operated, for example. Because it was configured to sequentially operate each hydraulic actuator for telescopic drive,
There is a problem that the work of storing the telescopic boom takes time and the workability is poor.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a telescopic boom type working machine which provides a boom storing device which can perform a storing operation by automatically storing the telescopic boom in a shorter time.

[0006]

According to the present invention, as a specific means for solving this problem, a telescopic boom 33 mounted on a base 31 is turned by a turning drive means 21 and is driven by an undulation drive means 22. The telescopic boom 33 is retracted and driven by the telescopic drive means 23, while the telescopic boom 33 is fully contracted, and is turned to a predetermined turning angle position and turned down, so that the telescopic boom 33 is set to a predetermined storage posture. In the boom storage device of the working machine, the turning angle detecting means 5 for detecting the turning angle of the telescopic boom 33
And an undulation angle detecting means 6 for detecting the undulation angle of the telescopic boom 33, a length detecting means 7 for detecting the length of the telescopic boom 33, and position information on the storage posture of the telescopic boom 33. A storage position information output unit 15, an automatic storage operation unit 1 for outputting a storage operation signal to store the telescopic boom 33, and each of the detection units 5 to 7 when a storage operation signal of the automatic storage operation unit 1 is received. At least a plurality of the driving units 21 to 23 out of the driving units 21 to 23 are simultaneously operated to set the telescopic boom 33 to the storage posture based on the detection signal from the storage position information output unit 15 and the position information from the storage position information output unit 15. It is characterized in that it comprises a calculation output means 11 for calculating and outputting the control outputs of the plurality of driving means 21 to 23 in the section to be driven.

[0007]

According to the present invention, the following effects can be obtained by adopting such a configuration. That is, when the automatic storage operation means 1 is operated and the storage operation signal is output, the arithmetic output means 11 detects the turning angle, the undulation angle and the length of the telescopic boom 33 from the respective detecting means 5 to 7. On the basis of the detection signal of the telescopic boom 33 and the position information on the storage posture of the telescopic boom 33 from the storage position information output means 15.
Of the plurality of driving units 21 to 23 in a section in which at least a plurality of the driving units 21 to 23 are simultaneously driven.
The control output of No. 3 is calculated and output. In response to the control output from the arithmetic output means 11, the driving means 21 to
By driving at least a plurality of the driving units 21 to 23 simultaneously, the telescopic boom 33 performs at least a plurality of operations among the turning operation, the undulating operation, and the telescopic operation from the current posture toward the storage posture. The posture is changed while being executed at the same time, and finally the storage posture is set.

Therefore, according to the boom storage device of the present invention, as compared with the case where the respective operations of turning, raising and lowering, and extending and retracting the telescopic boom are sequentially performed as in a conventional boom storage device, for example, The telescopic boom 33 can be stored in the storage posture in a shorter time by at least a portion of the simultaneous operation of the plurality of operations, so that the telescopic boom 33 can be quickly stored.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment FIG. 1 shows a crane truck as an example of a working machine equipped with a boom storage device according to a first embodiment of the present invention. The crane truck includes a swivel 3 which is rotatably mounted on a vehicle 31 (corresponding to a “base” in the claims).
2, a base boom 34, an intermediate boom 35, and a tip boom 36.
The telescopic boom 33 is a multi-stage telescopic boom that can be freely raised and lowered. The telescopic boom 33 is driven to turn by turning drive means 21 constituted by a hydraulic motor disposed on the turntable 32 side, while a hydraulic cylinder disposed across the turntable 32 by a hydraulic cylinder. Up-and-down driving by the up-and-down driving means 22 configured,
It is driven to expand and contract by expansion and contraction driving means 23 composed of a built-in hydraulic cylinder.

The turning angle, the undulating angle and the length of the telescopic boom 33 are detected by the turning angle detecting means 5, the undulating angle detecting means 6 and the length detecting means 7, respectively. 7, the detection signals “φt, θt, Lt” are input to the controller 10. The specific function of the controller 10 will be described later.

An operation panel 40 is provided in a driver's cab 42 provided on the swivel base 32. The operation panel 40 includes, in addition to the automatic storage operation means 1 operated when an operator desires automatic storage of the telescopic boom 33, the turning operation means 2 and the undulating operation means as individual operation means of the telescopic boom 33. An operating signal “Lφ, Lθ, LL” corresponding to the amount of operation is output from each of the operating means 2 and 3. Each of the operation signals is input to the controller 10.

By the way, this crane truck is in a working posture in which the telescopic boom 33 is appropriately turned, raised and lowered and expanded and contracted as shown in a chain line in FIG. The storage posture is as shown by the solid line. Note that the retractable posture of the telescopic boom 33 is a posture in which the telescopic boom 33 is folded down at a predetermined turning angle and a predetermined undulating angle in a fully contracted state. Automatic storage control by the automatic storage device automatically stores the telescopic boom 33 from its working posture to its stored posture. In order to perform this automatic storage, it is necessary to provide a reference point on the telescopic boom 33, and it is required that the reference point be able to cope with the telescopic displacement of the telescopic boom 33. Then, the above-mentioned telescopic boom 3
A reference point P is set at the tip of No. 3, that is, at the tip of the tip boom 36. The posture when the reference point P matches a predetermined storage position is referred to as “storage posture”. Note that this storage position is the position of the reference point P in the “storage posture” shown by a solid line in FIG. 1, and in this embodiment, this storage position is not defined by a three-dimensional position.
As will be described later, the length of the telescopic boom 33 is defined by the length “L”, the undulation angle “θ”, and the turning angle “φ”.

Next, the configuration and function of the controller 10 for automatically storing the telescopic boom 33 and the actual control form will be described.

As shown in FIG. 2, the controller 10 includes a target speed calculator 12, a control output calculator 13, an automatic storage operation amount calculator 14, and a storage position information output unit. And means 15. still,
Among these constituent elements, the target speed calculating means 12, the control output calculating means 13, and the automatic storage operation amount calculating means 14 constitute the "calculating output means 11" in the claims.

The storage position information output means 15 outputs the length information “L ₀ ” of the length of the telescopic boom 33 as the position of the reference point P in a state where the telescopic boom 33 is set in the storage posture, ie, the storage position. , The undulation angle “θ ₀ ”, and the turning angle “φ ₀ ”, which are output to the automatic storage operation amount calculation means 14 described below in the control during the storage operation.

The automatic storage operation amount calculating means 14 calculates the operation amounts of the respective driving means 21 to 23 in the case of performing the automatic storage, and calculates the operation amounts of the respective automatic storage operation amount signals "Lφ".
t "," Lθt "," LLt "
Output to 2. That is, the automatic storage operation amount calculating means 14
First, the detection signal input from each of the detection means 5 to 7, that is, information “φt, θt, Lt” relating to the current position of the reference point P, and the storage position information output means 15
Based on the position information “φ ₀ , θ ₀ , L ₀ ” relating to the storage position of the reference point P input from the above, each of the above-mentioned respective cases when the reference point P is moved from the current position to the storage position by the following arithmetic expression The margin “裕 Lφ” for each of the driving means 21 to 23,
“△ θt” and “△ Lt” are obtained (see FIG. 3).

[0017] "△ φt = φt-φ _0", "△ θt = θt-θ _0", "△ Lt = Lt-L _0" Then, this allowance "△ Lφ", "△ θt", "△ Lt" Based on the following formula, the automatic storage operation amount signal “Lφt”,
“Lθt” and “LLt” are obtained.

“Lφt = K · Kφ · △ φt = K · Kφ · (φt−φ ₀ )” “Lθt = K · Kθ · △ θt = K · Kθ · (θt−θ ₀ )” “LLt = K · KL · △ Lt = K · KL · (Lt−L ₀ ) ”Note that“ K ”is a coefficient for limiting the driving speed, and“ Kφ, Kθ, KL ”normalizes those having different dimensions. Is a coefficient for

The target speed calculating means 12 receives an operation signal "Lφ, Lθ, LL" from each of the operation means 2 to 4 or an automatic storage operation amount signal "Lφ" from the automatic storage operation amount calculation means 14.
t, Lθt, LLt ”, the physical target speed“ V ”of the turning drive unit 21, the up / down drive unit 22, and the expansion / contraction drive unit 23
φ, Vθ, VL ”and outputs them to the control output calculation means 13 described below. This target speed calculating means 1
The selection of the operation in 2 is performed depending on the presence or absence of the input of the storage operation signal “M” from the automatic storage operation means 1, and when the storage operation signal “M” is not input (that is, during the normal operation). Is the operation signal "Lφ, L
θ, LL ”, and when the storage operation signal“ M ”is input (ie, during the storage operation), the automatic storage operation amount signal“ Lφt, Lθt ”from the automatic storage operation amount calculation means 14 ,
LLt ”. At the time of normal operation, only the target speed of the driving means corresponding to the operated operating means is output, but at the time of automatic storage operation, the target speeds "Vφ, Vθ, VL" of the above three driving means 21 to 23 are in principle output. Are output simultaneously.

The control output calculating means 13 receives the respective target speeds "Vφ", "Vθ" and "VL" of turning, undulation and expansion and contraction from the target speed calculating means 12 and receives the respective target speeds "V".
φ, Vθ, and VL control output “Eφ
t ”,“ Eθt ”, and“ ELt ”, that is, the above-described driving means 21 to
Voltage values applied to an electromagnetic valve for controlling the supply and discharge of hydraulic pressure to and from each of the drive means 21
~ 23. Therefore, during the normal operation, only the operated driving means is driven, but at the time of the automatic storing operation, the respective driving means 21 to 23 are driven in the form of simultaneous progress.

As described above, when the automatic storage operation means 1 is operated, the target speed calculation means 12 outputs the automatic storage operation amount signal "Lφt, Lθt, LLt" output from the automatic storage operation amount calculation means 14. , The respective drive means 21 to 23 are operated simultaneously, and the telescopic boom 3 is operated.
Numeral 3 indicates that the reference point P is moved from the current posture to the stored posture while moving in a three-dimensional manner and is finally stored. For example, the reference point P is different from the case where the driving means 21 to 23 operate sequentially. Thus, the storing operation is completed in a shorter time.

Here, the actual movement of the telescopic boom 33 in the automatic storage control will be described with reference to FIGS. Now, the crane truck telescopic boom 33
4 is in the working posture (the position of the reference point P is “φt, θt, Lt”) shown by the solid line in FIG. 4, and is stored in the storage posture (the position of the reference point P is “φ ₀ , θ _0, L ₀ ") to change the attitude think about if you want to store it. In this case, the driving means 21 to 23 are simultaneously operated, and the posture of the telescopic boom 33 is changed while the turning operation, the up-and-down operation, and the telescopic operation are simultaneously performed. Therefore, the reference point P of the telescopic boom 33 is “φt, θt , Lt ”to“ φ ₀ , θ ₀ , L ₀ ”while moving in a three-dimensional manner. However, since this three-dimensional movement is difficult to show and understand, it is described here as a two-dimensional movement for convenience.

First, FIG. 5 shows that the telescopic boom 33 is moved from the working posture (position “φt, θt”) to the stored posture (position “φ ₀ ” while simultaneously performing two operations of the turning operation and the telescopic operation of the telescopic boom 33. , Θ ₀ ”) when the orientation is changed and stored. As can be seen from FIG. 5, the reference point P is simultaneously turning while approaching the turning center. Therefore, for example, compared to a conventional case in which one of the turning operation and the expanding / contracting operation is performed first, and after the operation is completed, the other operation is performed and the storage posture is finally set, the storing operation is completed. It will be done more quickly.

FIG. 6 shows that the undulating operation and the expanding / contracting operation are performed simultaneously from the working posture (position “θt, Lt”) shown by the solid line in FIG. 6 to the storage posture (position “θ ₀ , L ₀ ”) shown by the dashed line. The state in which the posture of the telescopic boom 33 is changed and stored is shown. Also in this case, since the undulating operation and the expanding / contracting operation are performed simultaneously, for example, as in the related art, one of the undulating and expanding / contracting operations is performed first,
The storing operation is performed more quickly than when the other operation is performed after the completion of the operation and the storage position is finally set.

Second Embodiment FIG. 7 shows a storage operation when the telescopic boom 33 is stored by a boom storage device according to a second embodiment of the present invention. That is, in the first embodiment, each of the driving units 21 to 21 relating to the movement when the reference point P of the telescopic boom 33 is moved from the current position to the storage position.
23, the control output of each of the driving means 21 to 23 is calculated based on the allowance. In the second embodiment, however, the reference of the telescopic boom 33 is used. A margin as a space vector when the point P is moved from the current position “Xt, Yt, Zt” to the storage position “X ₀ , Y ₀ , Z ₀ ” is obtained.
To 23 drive speeds, and each drive means 21 to 23
Is calculated.

The automatic storage control according to the second embodiment will be described with reference to the flowchart shown in FIG.

After the control is started, first, in step S1,
Current position “Xt, Yt, Zt” and storage position “X ₀ , Y ₀ , Z ₀ ”
Are obtained (see FIG. 7).
Next, in step S2, the vector "Va" is decomposed into target speeds "Vφ, Vθ, VL" for each of the driving means 21 to 23.

Next, in step S3, it is determined whether the target speed "VL" of expansion / contraction is the output on the extension side or the output on the contraction side. If the output is on the extension side, an operation contrary to the storing operation is performed. Therefore, the target speed “VL” is changed to “VL =
0 (step S4), and if the output is on the contraction side, the target speed "VL" is employed as it is.

In step S5, it is determined whether or not the target speed "Vθ" of the undulation is an output that is moving away from the storage position. If the output is a movement that is moving away from the storage position, the operation is contrary to the storage operation. “Vθ” is changed to “Vθ =
0 "(step S6), and if the output is approaching, the target speed" Vθ "is employed as it is.

Further, in step S7, it is determined whether or not the target speed "Vφ" of the turn is an output which is away from the storage position. If the output is an output which is away from the storage position, the operation is contrary to the storage operation. Change “Vφ” to “Vφ =
0 "(step S8), and if the output is approaching, the target speed" Vφ "is employed as it is.

Next, in step S9, each driving means 2 is set based on the target speeds "VL", "Vθ" and "Vφ".
The control outputs “Eφt”, “Eθt”, and “ELt” for each of 1 to 23 are obtained and output. These control outputs “Eφt”, “E
θt ”and“ ELt ”, the driving means 21 to 23 simultaneously operate, and the reference point P of the telescopic boom 33 is stored from the current position“ Xt, Yt, Zt ”to the storage position“ X ₀ , Y ₀ , Z ”. Move toward " ₀ ".

Next, in step S10, whether the current position "Xt, Yt, Zt" of the reference point P of the telescopic boom 33 matches the storage position "X ₀ , Y ₀ , Z ₀ ", It is determined whether or not the operation has been completed, and “(Xt, Yt, Z
If (t) X (X ₀ , Y ₀ , Z ₀ ) ”, the storing operation is not completed, and the process returns to step S1 to repeat the above control. Then, “(Xt, Yt, Zt) = (X ₀ ,
(Y ₀ , Z ₀ ) ", it is determined that the storing operation has been completed, and the control is terminated.

As described above, the respective driving means 21 to 23 are simultaneously operated during the storage operation, and the posture of the telescopic boom 33 is changed from the working posture to the storage posture.
For example, the telescopic boom 33 can be stored in a shorter time and more quickly than in a conventional case where the driving means 21 to 23 are sequentially operated to change the posture of the telescopic boom 33. It is.

Others (1) In the above embodiments, it has been described that the driving means 21 to 23 operate simultaneously at the time of automatic storage. However, these driving means 21 to 23 operate simultaneously throughout the entire section of the storing operation. This is not always necessary, and there is a section in which only two specific driving units among the respective driving units 21 to 23 operate simultaneously.
There may be periods when only one of the three driving means operates. The present invention is directed to control in a case where at least two of the driving units 21 to 23 operate simultaneously during automatic storage, and at least a plurality of driving units operate simultaneously during automatic storage. It can be applied to all the sections where there are sections to be executed. (2) In each of the above embodiments, the crane truck has been described as an example of a working machine. However, the present invention may be any working machine having a telescopic boom, and for example, a fixed type having a telescopic boom on a fixed base. The present invention can also be applied to automatic storage control of a type crane or a telescopic boom type aerial work vehicle.
In the aerial work vehicle, not only the operating means 2 to 3 individually operated as the operating means as in the above embodiment but also the horizontal end of the boom according to the operating direction and the operating amount. The present invention can also be applied to a device provided with horizontal or vertical linear operation means for moving or vertical linear movement.

[Brief description of the drawings]

FIG. 1 is an overall view of a working machine including a boom storage device according to a first embodiment of the present invention.

FIG. 2 is a control block diagram of the boom storage device according to the first embodiment of the present invention.

FIG. 3 is an explanatory diagram of a calculation method in storage control.

FIG. 4 is an explanatory diagram of a storage operation of the work implement.

FIG. 5 is an explanatory diagram of a storage operation of the work implement.

FIG. 6 is an explanatory diagram of a storage operation of the work implement.

FIG. 7 is an explanatory diagram of a storage operation in a boom storage device according to a second embodiment of the present invention.

FIG. 8 is a control flowchart of a boom storage device according to a second embodiment of the present invention.

[Explanation of symbols]

1 is an automatic storing operation means, 2 is a turning operation means, 3 is an undulating operation means, 4 is a telescopic operation means, 5 is a turning angle detecting means, 6 is an undulating angle detecting means, 7 is a length detecting means, and 10 is a controller. , 1
1 is a calculation output means, 12 is a target speed calculation means, 13 is a control output calculation means, 14 is an automatic storage operation amount calculation means, 15
Is storage position information output means, 21 is turning drive means, 22 is undulation drive means, 23 is telescopic drive means, 31 is a vehicle, 32
Is a swivel base, 33 is a telescopic boom, 34 is a base boom, 35 is an intermediate boom, 36 is a tip boom, 40 is an operation panel, 41 is a boom support, 42 is an operator's cab, and P is a reference point.

Claims (1)

[Claims] An extensible boom (33) mounted on a base (31) is swiveled by a swivel drive means (21),
While raising and lowering is driven by the raising and lowering driving means (22) and driven to expand and contract by the expansion and contraction driving means (23), the telescopic boom (3) is driven.
3) The telescopic boom storage device of the telescopic boom type working machine, in which the telescopic boom (33) is brought into a predetermined storage posture by completely reducing the telescopic boom (33) and turning and falling down to a predetermined turning angle position. Turning angle detecting means (5) for detecting the turning angle of the telescopic boom, undulating angle detecting means (6) for detecting the undulating angle of the telescopic boom (33), and length for detecting the length of the telescopic boom (33) Detection means (7); storage position information output means (15) for outputting position information on the storage posture of the telescopic boom (33); and automatic storage signal output for storing the telescopic boom (33). A storage operation means (1), a detection signal from each of the detection means (5) to (7) when receiving a storage operation signal from the automatic storage operation means (1), and a storage position information output means (15). Location information and The plurality of driving units in a section in which at least a plurality of driving units (21) to (23) among the driving units (21) to (23) are simultaneously driven so that the telescopic boom (33) is in the retracted posture based on the plurality of driving units. A boom storage device for a telescopic boom type working machine, comprising a calculation output means (11) for calculating and outputting control outputs of the means (21) to (23).