JPH1045399A - Boom control device of working machine with expansion boom - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance the working efficiency of a working machine equipped with an expansion boom, with which the boom stopping frequency is lessened in its straight motions. SOLUTION: A boom control device of an altitude working vehicle equipped with a calculating device 26 to control a rising/falling cylinder 12 and an expansion/contraction cylinder 11 for moving an elongating/shrinking boom in the direction of an operational lever 34 is furnished with a boom length sensor 31 and rising/falling angle sensor 32 to sense the full contraction of the boom, and the calculating device 26 calculates the distance between the moving direction straight line by the lever 34 and the rising/falling radius locus F in the full-contracted condition, and if the results from calculation says that the straight line E passes within the rising/falling radius locus F, the extrusion amount of the locus F from the straight line E is calculated. The obtained value from calculation is compared with the specified length, and if the calculation is smaller than the specified, the cylinder 12 is controlled so that the boom moves along the locus F in the extrusive part from the straight line E.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

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

[0002]

2. Description of the Related Art In a telescopic boom type working machine such as an aerial work vehicle, a telescopic boom is linearly moved in an arbitrary direction within a working range by performing an up-and-down motion or a turning motion while expanding and contracting the telescopic boom. be able to.

[0003] In the process of such a linear movement of the telescopic boom, if the telescopic boom is at its most reduced state and is in a fully reduced state, the telescopic boom cannot be further shortened. At this point, the telescopic boom stops moving linearly.

[0004]

If the linear movement of the telescopic boom is stopped halfway, the working efficiency of the working machine is impaired.

[0005] Further, even when the telescopic boom is fully contracted, if the driving of the telescopic boom is to be continued as it is only by raising and lowering and turning other than the telescopic operation, the movement of the telescopic boom is greatly shifted from the intended straight line. Since the deviation may occur, the working efficiency may be impaired.

The present invention has been made in view of such circumstances, and in the linear movement of the telescopic boom, even if the telescopic boom is in the fully contracted state, the telescopic boom is thereafter moved from the straight line. An object of the present invention is to allow the telescopic boom to move when it does not deviate excessively, reduce the frequency of stopping the telescopic boom, and improve the working efficiency of the telescopic boom type working machine.

[0007]

SUMMARY OF THE INVENTION In order to solve this problem, an invention according to claim 1 is provided with a telescopic boom that can be raised and lowered, an operation lever for selecting a moving direction of the telescopic boom, and a drive for raising and lowering the telescopic boom. Boom control of a telescopic boom type working machine having an operating device for driving the telescopic boom and telescopic driving means, and an operating device for driving the telescopic boom to move the telescopic boom in the direction of the operating lever. In the device, a total reduction sensor that detects that the telescopic boom has been fully contracted, an undulation angle sensor that detects the undulation angle of the telescopic boom, and a detection signal of each of these sensors are input to an arithmetic device, and the arithmetic device is When the full reduction sensor detects full contraction of the telescopic boom, a straight line indicating the moving direction of the telescopic boom input by the operation lever and the telescopic boom in the full contraction state Calculate the interval between the undulation radius locus of the end and, if the straight line passes through the undulation radius locus from the result of the calculation, calculate the amount of protrusion of the undulation radius locus from the straight line. Then, the calculated value is compared with a predetermined length, and as a result of the comparison, when the calculated value is smaller than the predetermined length, the telescopic boom is added to the undulation radius locus at a portion protruding from the straight line. A boom control device for a telescopic boom type working machine, wherein a drive control of the undulation drive means is performed so as to move the work unit along the boom.

According to a second aspect of the present invention, there is provided a telescopic boom capable of swiveling and raising and lowering, an operating lever for selecting a moving direction of the telescopic boom, and a raising and lowering drive for raising and lowering the telescopic boom, and driving the telescopic drive and turning. Boom control of a telescopic boom type working machine, comprising: a driving unit, a telescopic driving unit, a turning driving unit, and an arithmetic unit that drives and controls the raising / lowering driving unit, the telescopic driving unit, and the turning driving unit so as to move the telescopic boom toward the operating lever. In the device, a total reduction sensor that detects that the telescopic boom has been fully contracted, an undulation angle sensor that detects the undulation angle of the telescopic boom, and a detection signal of each of these sensors are input to an arithmetic device, and the arithmetic device is When the total reduction sensor detects full contraction of the telescopic boom, the moving direction of the telescopic boom input by the operation lever is projected on the undulating surface and the horizontal plane. The distance between the straight line projected on the undulating surface and the undulation radius locus of the telescopic boom tip in the fully contracted state is calculated, and the straight line passes through the undulation radius locus based on the calculation result. If it is, calculate the amount of protrusion of the undulation radius locus from the straight line, compare the calculated value with a predetermined length,
As a result of this comparison, when the calculated value is smaller than the predetermined length, the telescopic boom is moved along the undulation radius locus in the portion protruding from the straight line, and the straight line projected on the horizontal plane and the fully reduced state The distance between the turning radius locus of the tip of the telescopic boom and the turning radius locus is calculated, and if the result of the calculation indicates that the straight line passes through the turning radius locus, the protruding amount of the turning radius locus from the straight line Is calculated, and the calculated value is compared with a predetermined length. If the calculated value is smaller than the predetermined length, the telescopic boom is turned at the portion protruding from the straight line. A boom control device for a telescopic boom type working machine, wherein drive control is performed on the up-and-down driving means and the turning driving means so as to move along a radius locus.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to an embodiment in a high working vehicle as a telescopic boom type working machine. The first embodiment corresponds to claim 2 and The second embodiment corresponds to claim 1.

First, a first embodiment will be described with reference to FIGS.

In FIG. 2, reference numeral 1 denotes an aerial work vehicle;
Is a vehicle body.

A telescopic boom 4 is installed on the vehicle body 2 via a turning table (not shown). The telescopic boom 4 is driven to turn about a vertical axis O1 and is driven to move up and down about a horizontal axis O2. It has become so.

The telescopic boom 4 has a two-stage structure of a base end boom 4a and a distal end boom 4b.
It is designed to telescopically drive.

At the tip of the end boom 4b, a bucket 6 on which an operator rides and works at high places is mounted via a mounting bracket, and the bucket 6 is driven to swing around a vertical axis P. It is supposed to.

The telescopic boom 4 of the aerial work vehicle 1 as described above
Is driven by a hydraulic circuit 7 shown in FIG. 3, and the bucket 6 can be positioned at an appropriate aerial position.

In the hydraulic circuit 7 shown in FIG. 3, reference numeral 11 denotes a telescopic cylinder for driving the telescopic boom 4 to extend and retract, reference numeral 12 denotes a raising and lowering cylinder for driving the telescopic boom 4 to move up and down, and reference numeral 13 drives the swivel base to move the telescopic boom 4 to the front. A turning motor for turning.

The hydraulic circuit 7 includes a hydraulic pump 18 and a first
, A second electromagnetic flow control valve 22 and a third electromagnetic flow control valve 23. These first to third electromagnetic flow control valves 21 to 23 are Are connected in parallel with each other between a discharge side pipeline and a pipeline leading to the oil tank 24.

The first electromagnetic flow control valve 21 is installed on the telescopic cylinder 11, the second electromagnetic flow control valve 22 is installed on the undulating cylinder 12, and the third electromagnetic flow control valve 23 is installed on the swing motor 13. Each electromagnetic flow control valve controls the flow rate of the pressure oil supplied to each corresponding actuator and performs switching.

An electric circuit 17 for electrically controlling the solenoids of the first to third electromagnetic flow control valves 21 to 23 is connected thereto.

The electric circuit 17 is provided with an arithmetic unit 26 comprising a microcomputer and a storage unit 27. The arithmetic unit 26 has a boom length sensor 31 for detecting the length of the telescopic boom 4 and a telescopic boom 4 Electrical signals are input from an elevation angle sensor 32 for detecting a ground angle and a turning angle sensor 33 for detecting a turning angle of the telescopic boom 4.

The arithmetic unit 26 includes a bucket 6
, And a signal from an operation lever 34 for manually operating the moving direction of the tip of the bucket 6, that is, the telescopic boom 4, is input.

As shown in FIG. 4, the arithmetic unit 26
It has a protruding amount calculation device 35, a comparator 36, a target speed calculation device 37, and an output calculation device 38.

The contents of the calculation in the protrusion amount calculating device 35 are stored in the storage device 27 in advance, and are performed according to the procedure shown in FIG.

Hereinafter, the contents of the calculation will be described with reference to FIGS.

In this specification, the protruding amount is a length from the straight line in the moving direction of the bucket 6 input by the operation lever 34 to the radius locus due to the boom length in the fully reduced state. Is the size of
In the protrusion amount calculating device 35 of the first embodiment, the calculation of the protrusion amount in the horizontal plane and the calculation of the protrusion amount in the vertical plane are performed.
A radius locus on the horizontal plane (turning radius locus) and a radius locus on the undulating surface on which the telescopic boom undulates (undulating radius trajectory) are used.

First, the details of the calculation of the amount of protrusion on the horizontal plane will be described (mainly, see the upper part of FIG. 1 and FIG. 5).

In FIG. 5, a straight line A is a straight line indicating a moving direction straight line of the bucket 6 in response to an input from the operating lever 34 (horizontal plane moving direction straight line).
Shows the turning radius locus of the telescopic boom in the fully contracted state.

Since the signal from the operation lever 34 is divided into XY coordinate components and output, the output of each of these components is calculated as X and Y to calculate the following equation, whereby the horizontal plane lever direction angle ω and A horizontal lever operation amount Vh is calculated.

Horizontal lever angle ω = tan ⁻¹ (Y / X) (1) Horizontal lever operation amount Vh = (X ² + Y ² ) ^1/2 (2) Horizontal lever direction angle ω
And the swing angle ψ of the bucket 6 to calculate the horizontal plane moving direction angle by the following equation.

The horizontal plane moving direction angle = ω + ψ (3) Using the horizontal plane moving direction angle and the turning radius R obtained as described above, the distance between the turning center O1 of the telescopic boom 4 and the horizontal plane moving direction straight line A, That is, the horizontal plane distance d is calculated.

Horizontal distance d = R × sin (ω + ψ) (4) The turning radius R is the boom length L obtained by the boom length sensor 31 and the boom undulation angle θ obtained by the undulation angle sensor 32.
And the distance K between the vertical axis O1 and the horizontal axis O2 is calculated by the following equation.

Turning radius R = L × cos θ−K (5) In this embodiment, the swing angle ψ
Is used to calculate the horizontal plane moving direction angle. However, in the case of an aerial work vehicle that does not perform a swing operation, it is also possible to directly disassemble the signal from the operation lever to calculate the horizontal plane distance d. .

Thereafter, from the horizontal plane distance d and the turning radius R obtained by the above equation (4), the amount of protrusion on the horizontal plane can be obtained by the following equation.

The amount of protrusion on the horizontal plane = R−d (6) Next, the details of the calculation of the amount of protrusion on the vertical plane (the surface on which the telescopic boom undulates) will be described (mainly, the lower part of FIG. 1 and FIG. 6). ).

In FIG. 6, a straight line C is a straight line indicating a moving direction straight line of the bucket 6 in response to an input from the operation lever 34 (vertical plane moving direction straight line).
Is the locus of the undulation radius due to the telescopic boom in the fully reduced state.

Since the undulation radius is the boom length of the telescopic boom 4 in the fully contracted state on the surface where the telescopic boom 4 undulates, the boom length L from the boom length sensor 31 is used.
Can be used as it is.

The horizontal plane lever operation amount Vh calculated by the above equation (2) and the horizontal plane moving direction angle ω +
Using ψ, the horizontal component Vr projected on the vertical plane is calculated by the following equation.

Horizontal component Vr = Vh × cos | ω + ψ | (7) Then, using the horizontal component Vr obtained in this way and the output Z from the raising / lowering operating lever for raising / lowering the telescopic boom 4. , The vertical plane moving direction angle δ is calculated.

Vertical plane moving direction angle δ = tan ⁻¹ (Z / Vr) (8) The vertical plane moving direction angle δ obtained in this way and the undulation radius equal to the boom length by the boom length sensor 31 L
Then, the vertical plane distance h between the boom base pin O2 and the vertical plane moving direction straight line C is calculated by the following equation using the undulation angle θ by the undulation angle sensor 32.

Vertical surface distance h = L × sin (θ + δ) (9) From the vertical surface distance h and the undulation radius L, the amount of vertical surface protrusion can be obtained by the following equation.

Vertical plane protrusion amount = Lh (10) The calculated values of the horizontal plane protrusion amount and the vertical surface protrusion amount obtained by the protrusion amount calculation unit 35 are input to the comparator 36, and are stored in the storage device. A comparison is made with an allowable protrusion amount stored in advance in 27 (a length dimension, for example, set to a length corresponding to 20 cm) (see FIG. 4).

In this case, the allowable protrusion amount is set as a common value for the horizontal surface protrusion amount and the vertical surface protrusion amount, but different numerical values may be set individually.

As a result of comparison between the calculated values of the horizontal and vertical protrusion amounts and the allowable protrusion amount in the comparator 36, if at least one of the calculated values is larger than the allowable protrusion amount, the comparator 36 is turned off. A signal for prohibiting the operation of the telescopic boom 4 is output to a target speed calculating section 37b of a target speed calculating device 37 described later. If both calculated values are equal to or less than the allowable protrusion amount, the operation of the telescopic boom 4 while maintaining the telescopic boom 4 in the fully contracted state is permitted.

The target speed calculation device 37 includes a geometric calculation unit 37
a and a target speed calculator 37b.

The geometric operation unit 37a decomposes the operation amount input by the operation lever 34 into the operation of each of the actuators of the telescopic cylinder 11, the up-and-down cylinder 12, and the turning motor 13, and the target speed operation unit 37b The target speed of each actuator is calculated according to the operation amount decomposed by the geometric calculation unit 37a.

When the operation prohibition signal is input from the comparator 36, the target speed calculator 37b sets the target speed for all actuators to zero.

If the calculated values of both the horizontal and vertical projections are less than the allowable projection, only the target speed of the telescopic cylinder 11 is set to 0, and the up / down cylinder 12 and the swing motor 13 are turned off. Is output in the same manner as moving on the straight line A or C.

The output from the target speed calculator 37b is input to an output calculator 38, which calculates the output corresponding to the final target speed to calculate the first through third electromagnetic flow control valves 21-31. 23, and the operation of the telescopic boom 4 is controlled.

In the aerial work vehicle 1 of this embodiment, the operation of the telescopic boom 4 is controlled by calculating the amount of protrusion in both the horizontal plane and the vertical plane as described above. Movement line not in vertical plane 3
Even if the telescopic boom 4 is in a fully contracted state, even if the telescopic boom 4 is in a fully contracted state, the operation of the telescopic boom 4 does not need to be stopped, thereby improving work efficiency. can do.

In the first embodiment,
The boom length sensor 31 detects that the telescopic boom 4 is in the fully contracted state, and obtains the boom length of the telescopic boom 4 in the fully contracted state. It is also possible to install a dedicated full reduction sensor for detecting that the telescopic boom is in the state, and store the boom length of the telescopic boom 4 in the fully reduced state in a storage device in advance.

In the first embodiment,
Although the telescopic boom 4 is stopped at the intersection when the protruding amount exceeds the predetermined length as described above, the protruding amount is always calculated, not only when the length of the telescopic boom 4 is completely reduced. In this case, the telescopic boom 4 is moved along the turning radius trajectory B or the undulating radius trajectory D until the protruding amount reaches a predetermined length. 4 can also be stopped.

Next, a second embodiment of the present invention will be described with reference to FIGS.

The second embodiment is different from the first embodiment only in the content of the calculation by the overflow calculating device 35. The mechanical configuration of the aerial work vehicle 1 and the hydraulic circuit 7 for driving The configuration and the like of the electric circuit 17 for electrically controlling this are the same as those of the first embodiment.

In the following description, only the points different from the first embodiment will be described.
Descriptions common to the first embodiment will not be repeated.

The contents of the operation of the protrusion calculating device 35 in the second embodiment are such that the same control as described above for the telescopic boom 4 is performed only on the undulating surface, and the contents of the calculation in the protrusion amount calculating device 35. Is stored in the storage device 27 in advance as in the first embodiment.

The calculation in the second embodiment is performed according to the procedure shown in FIG. 7. In FIG. 8, E indicates a straight line in the moving direction, and F indicates a locus of undulation radius.

First, the vertical plane moving direction angle δ is calculated using the output VX from the operating lever for performing horizontal operation of the telescopic boom 4 and the output VZ from the elevating operating lever for performing elevating operation.

Vertical plane moving direction angle δ = tan ⁻¹ (VZ / VX) (11) The vertical plane moving direction angle δ obtained in this way and the undulation radius equal to the boom length by the boom length sensor 31 L
Then, a vertical plane distance h between the boom base pin O2 and the (vertical plane) movement direction straight line E is calculated by the following equation using the undulation angle θ obtained by the undulation angle sensor 32.

Vertical plane distance h = L × sin (θ + δ) (12) Then, the vertical plane protrusion amount can be obtained from the vertical plane distance h and the undulation radius L by the following equation.

Vertical plane protruding amount = Lh (13) The vertical plane protruding amount thus calculated is input to the comparator 36 and stored in the same manner as in the first embodiment. A comparison is made with a permissible protruding amount stored in the device 27 in advance.

If the result of the comparison by the comparator 36 is that the calculated value is larger than the allowable protruding amount, the comparator 36 sets a target speed calculator 37b of a target speed calculator 37 to be described later.
And outputs a signal for prohibiting the operation of the telescopic boom 4 to the user. If the calculated value is equal to or less than the allowable protrusion amount, the telescopic boom 4
The undulating operation while maintaining in the fully reduced state is allowed.

It should be noted that the present invention is not limited to an aerial work vehicle,
In addition, the present invention can be applied to a telescopic boom type working machine such as a crane truck.

[0063]

As described above, according to the first aspect of the present invention, in the linear movement of the telescopic boom within the undulating surface, even if the telescopic boom is fully contracted, When the movement of the boom does not excessively deviate from the straight line, the movement of the telescopic boom is allowed, so the stop frequency of the telescopic boom is reduced, and the working efficiency of the telescopic boom type working machine can be improved. .

According to the second aspect of the present invention, when the moving straight line of the telescopic boom by the operation lever is not limited to the inside of the undulating surface but intersects with the undulating surface and is inclined, the telescopic boom is fully contracted. Even in the case where the subsequent movement of the telescopic boom does not excessively deviate from the straight line, the telescopic boom is allowed to move, so the stop frequency of the telescopic boom in various linear movements is reduced. The work efficiency of the telescopic boom type working machine is remarkably improved.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a calculation procedure in a protrusion amount calculation unit.

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

FIG. 3 is a circuit diagram for driving a telescopic boom.

FIG. 4 is a block diagram of an arithmetic unit.

FIG. 5 is an explanatory diagram of a protruding amount on a horizontal plane.

FIG. 6 is an explanatory diagram of the amount of vertical surface protrusion.

FIG. 7 is a block diagram illustrating a calculation procedure in a protrusion amount calculation unit according to a second embodiment.

FIG. 8 is an explanatory diagram of the amount of protrusion from a vertical plane according to the second embodiment.

[Explanation of symbols]

 A horizontal plane moving direction straight line B turning radius trajectory C vertical plane moving direction straight line D undulating radius trajectory E moving direction straight line F undulating radius trajectory R turning radius L undulating radius 1 aerial work platform 4 telescopic boom 11 telescopic cylinder (telescopic driving means) 12 Up / down cylinder (up / down driving means) 13 Swing motor (turning drive means) 26 Computing device 31 Boom length sensor (full reduction sensor) 32 Up / down angle sensor 33 Swing angle sensor 34 Operation lever

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[Procedure amendment]

[Submission date] August 9, 1996

[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] All figures

[Correction method] Change

[Correction contents]

FIG. 2

FIG. 4

FIG.

FIG. 3

FIG. 5

FIG. 6

FIG. 7

FIG. 8

Claims (2)

[Claims] An operating lever for selecting a moving direction of the telescopic boom; a raising and lowering driving means for raising and lowering the telescopic boom; and a telescopic driving means for driving the telescopic boom. A boom control device for a telescopic boom type working machine having an arithmetic device for drivingly controlling the raising / lowering drive means and the telescopic drive means so as to move the telescopic boom; An elevation angle sensor for detecting the elevation angle of the sensor, and a detection signal of each of these sensors is input to an arithmetic unit. The arithmetic unit is operated by an operation lever when the full reduction sensor detects full reduction of the telescopic boom. The distance between the straight line indicating the moving direction of the telescopic boom and the trajectory of the top and bottom of the telescopic boom in the fully contracted state is calculated, and the calculation result is obtained. If the straight line passes through the undulating radius locus from, the amount of protrusion of the undulating radius locus from the straight line is calculated, and the calculated value is compared with a predetermined length, and this comparison is performed. As a result, when the calculated value is smaller than a predetermined length, the drive of the up / down driving means is controlled so as to move the telescopic boom along the up / down radius trajectory at a portion protruding from the straight line. Boom control device for telescopic boom type working machine. An operating lever for selecting a moving direction of the telescopic boom; a raising and lowering drive means for raising and lowering the telescopic boom; a telescopic drive; and a telescopic drive means. Means, and a boom control device of a telescopic boom type working machine having a computing device for driving and controlling the raising / lowering drive means, the telescopic drive means, and the turning drive means so as to move the telescopic boom in the direction of the operation lever. And an elevation angle sensor for detecting the elevation angle of the telescopic boom, and a detection signal of each of these sensors is input to an arithmetic device. When full reduction is detected, the direction of movement of the telescopic boom input by the operation lever is decomposed into straight lines projected on the undulating surface and on the horizontal plane, and Shall calculating the distance between the shadow straight line and undulating radial trajectory of the telescopic boom tip in all collapsed state,
If the result of the calculation indicates that the straight line passes through the undulating radius locus, the amount of protrusion of the undulating radius locus from the straight line is calculated, and the calculated value is compared with a predetermined length. As a result of this comparison, when the calculated value is smaller than the predetermined length, the telescopic boom is moved along the undulation radius locus in a portion protruding from the straight line, and the straight line projected on the horizontal plane and the total reduction The distance between the turning radius locus of the telescopic boom tip portion in the state and the turning radius locus is calculated. If the result of the calculation indicates that the straight line passes through the turning radius locus, the turning radius locus protrudes from the straight line. Calculate the amount and compare the calculated value with a predetermined length, and if the result of this comparison is that the calculated value is smaller than the predetermined length, In the boom control device for a telescopic boom type working machine, the driving control of the up-and-down driving means and the turning driving means is performed so as to move the telescopic boom along the turning radius locus.