JPH11236200A - Control device of working vehicle having boom - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automate the complex actions of a boom in a working machine having the boom to achieve the action with redundancy. SOLUTION: A control device of a working vehicle having a boom is provided with a position calculating means 31 to calculate the present position of a control point by receiving the working condition signal from a working condition detecting means 20 to detect the present working condition of the boom, a working quantity calculating means 32 to calculate the working quantity of drive means 11-15 of a plurality of drive mean groups G1 -G6 by receiving the position signal and the target position signal from a target position input means 17, a working limit calculating means 33 to calculate the working limit of each drive means by receiving the working condition signal, and a control value output means 34 to calculate the control value of each drive means based on the working quantity signal so as to select and operate the drive means groups not including the drive means reaching its working limit as its component among each drive means groups by receiving the working quantity signal from the working quantity calculating means and the working limit signal form the working limit calculating means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

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

[0002]

2. Description of the Related Art In a conventional working machine equipped with a boom such as an aerial work vehicle, it is customary to construct the boom with a telescopic boom that expands and contracts in its axial direction. As represented by the movement or the horizontal linear movement, it is easy and easy to automate the combined operation of the driving means for moving the work table provided at the tip of the boom to an arbitrary position.

[0003]

However, the boom provided in the working machine not only expands and contracts in its axial direction,
For example, in the case of a boom having a combined extension / contraction structure that is driven also in the bending direction, the boom can take various postures with respect to the position of the work table provided at the tip of the boom, Since the operation of the work machine becomes a redundant operation, it is difficult to automate the combined operation of the plurality of driving means provided in the work machine over the entire operation area, and such automation can be realized. The technology has not been proposed yet.

Accordingly, the present invention provides a working machine with a boom, which realizes automation of a combined operation of a plurality of driving means in a working machine performing a redundant operation, thereby improving operability. The purpose is to provide a control device.

[0005]

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

In the first aspect of the present invention, the boom is attached to the base 1 so as to be swivelable and undulating, and is driven by the slewing drive means 11 while being swayed by the sway drive means 12 and has a boom length. Fixed to a fixed value or first
A first boom member 41 that is driven to expand and contract by the expansion and contraction drive unit 14, and is attached to the distal end of the first boom member 41 so as to be freely bent with respect to the first boom member 41 and bent by the bending drive unit 13. A second boom member 42 that is driven and has its boom length fixed at a fixed value or is expanded and contracted by a second expansion and contraction driving means 15. The boom 4 is provided at the distal end of the second boom member 42. In the control device for a working machine with a boom, the drive units 11 to 15 are appropriately operated so as to move the control point P to a target position indicated by a target position signal V from the target position input unit 17. 4, an operating state detecting means 20 for detecting the current operating state and outputting operating state signals φ, θ ₁ , θ ₂ , L ₁ , L ₂ ;
Position calculating means 31 for receiving the operating state signals φ, θ ₁ , θ ₂ , L ₁ , L ₂ from 0, calculating the current position of the control point P, and outputting this as a position signal A; Means 3
A plurality of drive unit groups G ₁ configured by combining the drive units 11 to 15 in response to the position signal A of the control point P from No. 1 and the target position signal V from the target position input unit 17. each driving means belonging to each ~G ₆ eleven to one
5 is operated to move the control point P to the target position, the operation amount of each of the drive units 11 to 15 is calculated, and this is output as the operation amount signals B _{1 to} B _5. And the operating state signals φ, θ ₁ , θ ₂ , L ₁ , L ₂ from the operating state detecting means 20, and calculates the operation limit of each of the driving means 11 to 15 at which the operation is restricted. Operating limit calculating means 33 for outputting the output as operating limit signals M _{1 to} M ₅ ;
Operation amount signal from the 2 B ₁ ~B ₅ and the operating limit calculation means 3
3 receives the operation limit signals M _{1 to} M ₅ from the drive means ₃ , among the drive means groups G _{1 to} G ₆ , the drive means 11 which has reached the operation limit.
15 a ~ driving means group G ₁ that does not include as a component thereof
A control value E ₁ to E ₅ of the drive means 11 to 15 belonging to the drive means group G ₁ ~G ₆ to actuate by selecting G ₆ is calculated based on the operation amount signal B ₁ .about.B ₅ This The driving means 1
And a control value output means 34 for outputting the control value to the control values 1 to 15.

According to a second aspect of the present invention, in the control device for a working machine with a boom according to the first aspect, an operation mode setting means 18 for setting an operation mode of each of the driving means groups G _{1 to} G ₆ is provided. The control value output means 34 is configured to select the drive means groups G _{1 to} G ₆ based on the operation form signal C from the operation form setting means 18 and to operate them.

According to a third aspect of the present invention, in the control device for a working machine with a boom according to the first aspect, each of the driving means 11 to 1 outputted from the operation amount calculating means 32 is provided.
5 is provided with weight setting means 19 for setting the weight for each of the actuation amount signals B _{1 to} B ₅ so as to be changeable and outputting the weight as a weight signal D, and the control value output means 34 is provided for each of the driving means 11 to 15. It is characterized in that the control values E _{1 to} E ₅ are calculated in consideration of the weight signal D.

[0009]

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

In the control device for a working machine with a boom according to the first invention of the present application, when the operation of the working machine is started, first, the position calculating means 31 first activates the operating state signals φ, θ ₁ from the operating state detecting means 20. , Θ ₂ , L ₁ , and L ₂ , calculate the current position of the control point P, and output this as the position signal A. In the operation limit calculating means 33, the operation state signals φ, θ ₁ , θ ₂ , L ₁ , L ₂ from the operation state detecting means 20 are provided.
In response to this, an operation limit (for example, a stroke end position in a case where the driving means is constituted by a hydraulic cylinder) for each of the driving means 11 to 15 is calculated, and this is calculated as an operation limit signal M _1. and outputs it as ~M _5.

When the target position input means 17 is operated and a target position signal V is output from the target position input means 17 as a target position to which the control point P is to be moved, first, the operation amount calculating means 32 Receives the position signal A of the control point P output from the position calculation means 31 and the target position signal V output from the target position input means 17, and combines the drive means 11 to 15 with each other. Each of the driving units 11 to 15 in the case of moving the control point P to the target position by operating the driving units 11 to 15 belonging to the plurality of driving unit groups G _{1 to} G ₆ configured as described above.
15 are calculated, and are calculated as the operation amount signal B _1.
And outputs it as ~B _5.

Thereafter, in the control value output means 34, the operation amount signals B _{1 to} B ₅ output from the operation amount calculation means 32 and the operation limit signals M _{1 to} M output from the operation limit calculation means 33. _In response to ₅ , each of the driving means groups G ₁
Of ~G _6, each belonging to the drive means group G ₁ ~G ₆ to actuate by selecting a drive means group G ₁ ~G ₆ without the driving means 11 to 15 has reached the operating limit as a component thereof The control values E _{1 to} E ₅ of the driving means 11 to 15 are changed to the above-mentioned operation amount signal B.
Calculated on the basis of ₁ .about.B ₅ and outputs it to the respective drive means 11 to 15.

By executing such control, the control point P on the boom 4 is controlled by an instruction from the target position input means 17 even though the working machine performs a redundant operation. based, by the operation of the drive means group G ₁ ~G ₆ containing only driving means 11 to 15 do not reach the operating limit, it will be moved reliably from the current position to the target position. That is, the movement of the control point P is automated by the combined operation of the plurality of driving means, and the operability of the working machine is improved accordingly.

According to the control device for a working machine with a boom according to the second aspect of the present invention, the following specific effects can be obtained in addition to the effects described above. That is, the present invention includes the operation mode setting unit 18 for setting the operation mode of each of the driving unit groups G _{1 to} G _6.
Is configured to select and activate the driving unit groups G _{1 to} G ₆ based on the operation mode signal C from the operation mode setting unit 18. For example, in the operation mode setting unit 18, As a mode of operation, (a) when there are a plurality of operable driving means groups G _{1 to} G ₆ (that is, the driving means which has reached the operation limit is not included in the constituent elements), the operable driving means groups among the G ₁ ~G _6, especially when the operating mode of the drive unit group G ₁ ~G ₆ close to the operator to drive in the order has been set, each drive unit group G ₁ ~G ₆ is operated in the setting order is, (b) when the operable drive means group G ₁ ~G ₆ there are a plurality, even in its operable drive means group G ₁ ~G _6, in particular the drive in the order of the required flow rate is small due to driving Operation form If it is set, the above-described driving means group G ₁ ~G ₆ is operated to set the order, (c) when the operable drive means group G ₁ ~G ₆ there are multiple, its operable drive when the operation form of operating all the means group G ₁ ~G ₆ simultaneously has been set, so that all of these operable drive means group G ₁ ~G ₆ are operated simultaneously.

As a result, the operational form of the combined operation of the driving means 11 to 15 reflects the operational preference of the operator, reflects the specification of the drive system of the work machine, or moves the control point P. It is possible to prioritize the quickness of the operation, and the operability of the working machine is further improved.

According to the control device for a working machine with a boom according to the third aspect of the present invention, the following specific effects can be obtained in addition to the effects described above. That is, according to the present invention, the weights of the driving amount signals B _{1 to} B ₅ of the driving units 11 to 15 output from the operation amount calculating unit 32 are set to be changeable and output as weight signals D. The control value output means 34;
Are configured to calculate the control values E _{1 to} E ₅ of the driving means 11 to 15 in consideration of the weight signal D.

Therefore, for example, the above-mentioned driving means groups G _{1 to} G ₆
In working with the operation mode for each sequentially operated with the required overlap operation period, preceding the prior drive means group G ₁ ~G ₆ operatively with the operation amount toward the range from near the operating limit to the operation limit while gradually reducing the weight for the signal B ₁ ~B _5, given from the operation start time for the row driving unit group G ₁ ~G ₆ after being operated following the operation of this prior drive means group G ₁ ~G ₆ over the range of operating period by gradually increasing the weight for the operation amount signal B ₁ ~B _5, the advance drive means group G ₁ ~
Trailing driving means group from the drive of the working machine based on the operation of the G ₆ G ₁
Switching driving means group to the drive of the work machine based on the operation of ~G ₆ been conducted smoothly without a large shock can be expected to further improve the operability of the working machine.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be specifically described based on preferred embodiments. FIG. 1 shows an aerial work vehicle Z provided with a control device according to an embodiment of the present invention. The aerial work vehicle Z is mounted on a crawler-type base 1 via a swivel seat 3 so as to be swivelable, and has a boom 4 mounted on a swivel base 2 which is swiveled by a swivel drive unit 11 composed of a hydraulic motor. It is configured to be mounted up and down freely.

The boom 4 is constituted by a hydraulic cylinder located at the base end thereof and driven by first telescopic drive means 14 constituted by a hydraulic cylinder and arranged between the boom 4 and the swivel 2. A first telescopic boom 41 driven up and down by the raising and lowering drive means 12;
Is bent and driven by bending drive means 13 which is connected to the rear side of the first telescopic boom 41 so as to be freely bendable and is provided with a hydraulic cylinder disposed between the front end and the first telescopic boom 41. And a second telescopic boom 42 which is driven to expand and contract by a second telescopic drive means 15 which is constituted by a hydraulic cylinder built therein. Further, a working table 5 is attached to a distal end of the second telescopic boom 42, that is, a distal end of the boom 4 via a leveling mechanism 8 and a swing mechanism 9.

Further, on the work table 5, a target position input unit 17, an operation mode setting unit 18, a weight setting unit 19, and an operation limit setting unit 26 described below are arranged.
The target position input means 17 is a joystick type operation member, and when the operator operates this, the target position of the movement of the work table 5 is output as a target position signal V. The target position input means 17 includes, for example, a horizontal operation lever for performing a horizontal linear movement, a vertical operation lever for performing a vertical linear movement, and the like, and performs a target position signal V or a vertical linear movement based on the horizontal linear movement. It is possible to output a target position signal V based on a tone or a target position signal V based on an oblique linear movement performed by simultaneously operating a horizontal operation lever and a vertical operation lever.

In this embodiment, the operation mode setting means 18 is constituted by a switch operated by the operator, and the operation mode of the aerial work vehicle Z desired by the operator by selecting the switch (ie, the boom) 4), and the selected operation mode is output as an operation mode signal C (see FIG. 2). The operation mode designated by the operation mode signal C includes, for example, a plurality of driving unit groups G ₁ described later.
To G ₆ , an operation mode in which the operation is sequentially performed from a driving unit group including a driving unit located at a position closer to the operator on the work table 5 to a driving unit group including a driving unit located far from the operator, or a plurality of operation modes. Among the driving means groups of the above, when each driving means belonging to each of the driving means groups is operated, an operation form of sequentially operating the driving means groups in which the required oil amount of the entire driving means group is small, or a plurality of driving means An operation mode in which the groups are operated simultaneously can be considered.

In this embodiment, as will be described later, an example in which the driving means groups are sequentially operated is described as an example. In this case, the end of operation of the driving means group which operates in advance is described. And the initial stage of operation of the drive means group that operates later are appropriately superimposed for an appropriate period (that is, a predetermined operation superimposition period is set (FIGS. 4 to 4).
However, in another embodiment, it is possible to adopt a configuration in which such an operation overlap period is not provided, and, unlike this embodiment, employ a configuration in which the above-mentioned driving means groups are simultaneously operated. Of course, it is possible.
Further, the operation mode setting means 18 is not limited to being constituted by switches operated by an operator as in this embodiment. In other embodiments, for example, the target position input means 17 is operated by a switch. When the operation is performed, an operation mode signal C corresponding to an operation mode set arbitrarily in advance can be automatically output without depending on the operation of the operator.

In this embodiment, the weight setting means 19 is constituted by a switch operated by an operator, and the operator sets a weight characteristic (weight coefficient setting characteristic) for the control value of each driving means by a switch operation. The weight characteristics set here are output as a weight signal D (see FIG. 2). The method of setting the weight characteristics in the weight setting means 19 will be described later.

The operation limit setting means 26 is for setting the form of the operation limit of each of the driving means 11 to 15. In this embodiment, the operation limit setting means 26 is set by an input operation by the operator, and the setting form is set. A corresponding operation limit setting signal N is output. As the operation limit form set by the operation limit setting means 26, for example, a form in which the stroke end of each of the driving means 11 to 15 is set as the operation limit, and a form in which the allowable maximum height of the control point P is set as the operation limit ( Various forms may be set as necessary, such as a form including horizontal linear movement, a form in which the allowable maximum radius position of the control point P is set as an operation limit (for example, a form including vertical linear movement). it can. In this embodiment, as an example, an embodiment in which the stroke end of the driving means is set to an operation limit as described later will be described. The operation limit setting means 26 does not need to be separately installed, for example, when adopting a configuration in which a specific operation limit form is stored and held in a control unit 30 described later in advance.

On the other hand, the working vehicle Z is provided with an operating state detecting means 20 for detecting the current operating state of the boom 4 as a turning angle “φ” of the swivel 2 (ie, the boom 4). Angle detecting means 21 for detecting the "."
An undulation angle detecting means 22 for detecting the undulation angle “θ ₁ ” of the telescopic boom 41, and a bending angle detecting means 23 for detecting a bending angle “θ ₂ ” of the second telescopic boom 42 with respect to the first telescopic boom 41. First boom length detecting means 24 for detecting the length “L ₁ ” of the first telescopic boom 41, and second boom length detecting means for detecting the length “L ₂ ” of the second telescopic boom 42 Means 25 are provided.

Further, in the aerial work vehicle Z, a control point "P" to be subjected to the movement control is set at an appropriate position on the distal end side of the second telescopic boom 42 (this control point). “P” indirectly indicates the position of the worktable 5. Therefore, in another embodiment, the control point “P” can be set at an arbitrary position on the worktable 5. ).

The purpose of control in the control device for the aerial work vehicle Z according to this embodiment is to specify the control point "P" by the target position input means 17 by the combined operation of the drive means 11 to 15. In order to improve the operability of the aerial work vehicle Z by automating the combined operation of the driving means 11 to 15 when moving to the target position to be performed. The operation control is performed by the control unit 30 described below.
As shown in FIG. 2, in addition to the target position signal V from the target position input means 17, an operating state signal (φ, θ) relating to the operating state of the boom 4 is output from each of the detecting means 21 to 25.
₁ , θ ₂ , L ₁ , L ₂ ), the operation form signal C from the operation form setting means 18, the weight signal D from the weight setting means 19, and the operation limit setting signal N from the operation limit setting means 26. Are respectively input.

The control unit 30 calculates the control values E _{1 to} E ₅ for each of the driving means 11 to 15 based on these input signals, and calculates the control values E _{1 to} E ₅ for each of the driving means 11 to 15. Is output to

In the operation control by the control unit 30, as described below, the driving amount of each of the driving means 11 to 15 can be determined in a position-dependent manner from the current position of the control point "P". A plurality of driving means groups G _{1 to} G ₆ are set for each of the various combinations, and the driving means 11 to G ₆ are set.
15 so that actuating each respective drive unit group G ₁ ~G _6.

Hereinafter, the specific configuration of the control unit 30 will be described. For the sake of convenience, the basic concept of control in the control unit 30 will be described first, and then the specific configuration will be described. I will.

In the vehicle equipped with five driving means 11 to 15 such as the aerial work vehicle Z of this embodiment, three of the five driving means 11 to 15 have specific three operation amounts. Once determined, the position of the control point "P" is uniquely determined. The following six combinations of drive means capable of uniquely determining the position are as follows:
Six groups of driving means are conceivable. Therefore, the redundancy of the control point P is suppressed by operating the driving means 11 to 15 belonging to each of the driving means groups G _{1 to} G _{6 for} each of the driving means groups G _{1 to} G _6. This makes it possible to perform a controlled movement.

The driving means group is as follows. First driving unit group G ₁ : a first expansion / contraction driving unit 14, an up / down driving unit 12, and a turning driving unit 11.

Second drive means group G ₂ : a second expansion / contraction drive means 15, a bending drive means 13 and a turning drive means 11.

Third drive unit group G ₃ : a first expansion / contraction drive unit 14, a bending drive unit 13 and a turning drive unit 11.

Fourth driving means group G ₄ : a second driving means group G _{4 comprising a} second expansion / contraction driving means 15, an up / down driving means 12, and a turning driving means 11.

Fifth drive means group G ₅ : first drive means 14, second drive means 15, and turning drive means 11.

Sixth drive means group G ₆ : undulation drive means 12
And bending driving means 13 and turning driving means 11.

In this embodiment, since the five driving means are provided as described above, the above six combinations can be considered as a driving means group constituted by these five driving means. The number of driving means groups differs depending on the number of means. For example, when the second telescopic boom 42 is of a fixed length type, since the second telescopic drive means 15 does not exist, the drive means group includes the first telescopic drive means 14, the undulation drive means 12, and the turning A drive unit 11, a first telescopic drive unit 14, a bending drive unit 13 and a turning drive unit 11, and an undulation drive unit 12, a bending drive unit 13 and a turn drive unit 11. It is. When the first telescopic boom 41 is of a fixed type, the first telescopic drive means 14 does not exist. Therefore, the drive means group includes the second telescopic drive means 15, the bending drive means 13, and the turning drive. Means 11, the second telescopic drive means 15, the undulation drive means 12, and the turning drive means 11, the undulation drive means 12, the bending drive means 13, and the turn drive means 11.
Three.

On the other hand, in this embodiment, as an example of the operation mode set by the operation mode setting unit 18, the plurality of drive unit groups G _{1 to} G ₆ An operation mode is adopted in which operation is sequentially performed from a driving unit group including a driving unit located far from a driving unit group including a driving unit located far from the driving unit. The switching of the drive means group G ₁ ~G ₆ (i.e., the switching operation of the drive means a group of trailing actuated from a drive means group preceding operation), as shown in FIG. 4, the preceding operation to the drive means When the operation of any one of the plurality of driving means belonging to the group is restricted by the stroke end, the operation of the driving means group to be operated later is started, and in this case, each of the driving means groups G _{1 to} G ₆
From the viewpoint of mitigation of shock at the time of switching, the end of operation of the driving means group that operates in advance and the initial operation of the driving means group that operates in the following operation are appropriately overlapped for an appropriate period, and each of the driving means during this operation polymerization period is overlapped. 11-
The fifteen control values E _{1 to} E ₅ are obtained by weighting the operation amount signals B _{1 to} B ₅ as required.

The specific method of weighting is as follows.

Here, as shown in FIG. 4, the first driving means group G ₁ (that is, the turning driving means 11 relating to the turning position signal φ and the first telescopic driving means 14 relating to the boom length signal L _1). The driving means group constituted by the driving means 12 and the undulation driving means 12 relating to the undulation angle signal θ ₁ operates in advance, followed by the second driving means group G ₂ (ie, the turning position signal φ).
Operations such as rotation drive means 11 and the boom length signal L ₂ according to the second telescopic drive means 15 and the bending angle signal θ drive means group comprised of the bending drive means 13 according to ₂₎ is operated according to the An example in which the form is adopted will be described.

First, the first driving means group G ₁ which operates in advance operates until the control point P reaches the operating position Mb (that is, the driving means 11, ₁ belonging to the first driving means group G ₁ ).
2 and 14, one of the undulation drive means 12 and the first telescopic drive means 14 having a stroke end is driven until the stroke end is reached. In this case, the operating position corresponding to the stroke end The weighting factor between the operating position Ma and the operating position Ma which has a margin by a predetermined amount is set to “1”. In the range from the operating position Ma to the operating position Mb, the weighting factor is linearly changed from “1” to “0”. It is made to decrease gradually.

On the other hand, the second driving means group G _{2 which} operates in the following direction
The operation is started from the time when the control point P reaches the operation position Ma. In this case, the first driving means is operated from the operation position Ma which is the driving start position to the operation position Mb. in response to a change in the weight coefficient of the group G ₁ side,
The weighting coefficient increases linearly from “0” to “1”,
After reaching the operating position Mb, the weight coefficient “1” is maintained as it is.

Here, the first driving means group G which operates in advance
₁ and a second method of switching the drive means group G ₂ to the trailing operation can be considered two methods described below, for example.

One of them is an up-and-down driving means 12 and a first telescopic driving means 1 belonging to a _first driving means group G ₁ which operates in advance.
4 is a method (first switching method) when it is possible to determine which one reaches the stroke end first,
If you can not other one such determination, i.e., one of the first and undulation driving means 12 belonging to the drive means group G ₁ first flexible drive means 14 for the preceding operation, one is either previously reached the stroke end This is a method in the case where it cannot be determined (second switching method).

The first switching method is as follows.

In the first switching method, the weighting characteristic indicated by the solid line in FIG.
_{The up / down} driving means 12 or the first telescopic driving means 14
Weights and weight characteristics set individually for each, also in FIG. 4 the weight characteristics shown by the broken line, the said first said corresponding to the weight characteristic of the drive unit group G ₁ of the second drive means group G ₂ of Characteristics.

[0048] Then, in the first driving means group G _1, which within the undulations drive means 12 of the first telescopic driving means 14 belonging, the weighting characteristics are applied in preference to those previously reached the stroke end You. For example, prior to the first drive means group G ₁ that operates the relief drive means 12 and the first elastic drive means 1 belonging to the first drive means group G ₁
4, the undulation drive means 12 is the first telescopic drive means 1
When reaching the stroke end before the 4, the first operating limit of the drive means group G ₁ by the state of the relief drive means 12 is defined, contoured drive means towards the first flexible drive means 14 to reverse when reaching the earlier operating limit than 12, the first operating limit of the drive means group G ₁ is defined by the state of the first elastic drive means 14. So, for example,
In the former case, undulating driving means 12 until it reaches the operating position Ma is operated by a control value E ₂ calculated based on the operation amount signal B ₂ itself, an operation stop position from the operating position Ma actuation In the range up to the position Mb, the operation is performed based on the control value E ₂ calculated by adding the weighting coefficient that changes according to the operation position to the operation amount signal B ₂ , and the operation speed of the undulating drive means 12 gradually increases. It will be slowed down.

On the other hand, the second driving means group G ₂
In the above, the bending driving means 13 belonging to this and the second
Either or both of the expansion / contraction driving means 15 starts operating at a weight characteristic (characteristic indicated by a broken line in FIG. 4) set corresponding to the weight characteristic of the _first driving means group G1, and the operation speed is gradually increased. Is accelerated. Note that after the second drive unit group G ₂ has started operating, within a period that the weighting coefficient changes increases, for example, the bending drive means 13 belonging to the drive means group G ₂ of the second second elasticized If one of the drive means 15 is such as to reach the stroke end, considering both of the first and second weighting coefficients of the driving means group G ₂ of the drive means group G ₁ at that time The deceleration stop control of the driving means reaching the stroke end is performed by the weight coefficient.

The second switching method is as follows.

In this second switching method, FIG.
Weighting characteristic shown by the solid line, the first undulation driving means 12 belonging to the drive means group G ₁ and the first elastic drive means for leading hydraulic 1
4 together both considered one of the drive means, the weighting characteristics applied to this one drive means and the weighting characteristic shown by the broken line in FIG. 4, the second drive means group G ₂ to the trailing operating The bending drive means 13 and the second expansion / contraction drive means 15 belonging to the first drive means group G ₁ are weight characteristics applied to the one drive means, which are considered as one drive means.
Corresponding to the weight characteristics of

Then, the first driving means group G which operates in advance
₁ , the combination of the up / down drive unit 12 and the first telescopic drive unit 14 regardless of which of the up / down drive unit 12 and the first telescopic drive unit 14 reaches the stroke end. The weight characteristic indicated by the solid line is applied to the whole. Further, in the second driving means group G _2, weight characteristics as indicated by a broken line, are applied for the entire which the folding driving means 13 belonging thereto of the combination of the second telescopic drive means 15.

Therefore, if the second switching method is adopted, for example, during the period in which the weight characteristic changes, the state in which the weight characteristic is applied to the operation of the undulation driving means 12 is changed to the first expansion / contraction driving means. Even in the case where the weight characteristic is applied to the operation of No. 14,
It does not cause any trouble.

[0054] Thus, employing any of the first switching method and the second switching method, the first and actuating end of the drive unit group G ₁ second actuation initial drive means group G ₂ And the weight during this operation superimposition period is set so as to gradually decrease in the _first driving means group G1 which operates in advance and gradually increase in the _second driving means group G2 which operates in the following operation. Due to the basic effect of the “weighting” control, the driving of the aerial work vehicle Z based on the operation of the first driving means group G _{1 is changed to} the operation of the second driving means group G ₂ which operates in the following direction. The switching of the driving mode to the driving of the aerial work vehicle Z based on this is performed smoothly without a large shock, and as a result, the operability of the aerial work vehicle Z is further improved. .

As a method of setting the weight characteristics, in addition to the weight characteristics shown in FIG. 4, the following setting method can be adopted in another embodiment of the present invention.

That is, as shown in FIG. 5, the maximum value of the weight for the operation amount signals B _{1 to} B ₅ of the driving means 11 to 15 belonging to the first driving means group G ₁ which operates in advance is determined by the subsequent operation. each of the second drive means belonging to the drive unit group G ₂ to 11 to 15
It is also possible to have a difference in these two set larger than the maximum value the weight for the operation amount signal B ₁ .about.B ₅ of.

[0057] Such By adopting weighting characteristics, each drive means belonging to the first drive means group G ₁ preceding operation 12
Second driving means group G _{2 that} operates later than the operating speed of
The operating speed of each of the driving means 13 and 15 belonging to the above can be set low. As a result, for example, in the case of setting the first and weight for the drive means group G ₁ and a second weight for the driving means group G ₂ the same, for example in a length longer viewed or side view of the boom 4 When the up / down operation of the boom 4 is performed in a state where the position of the control point P is far from the base end of the boom 4, the peripheral speed of the control point P due to the up / down operation causes the length of the boom 4 to be short. As described above, the weight of the second driving means group G ₂ (that is, the driving means group which operates in a state where the boom length is short) is larger than the weight of the second driving means group G ₁ (that is, the driving means group which operates with a short boom length). By setting the weight of the driving means group operating in a state where the boom length is large, the change in the peripheral speed of the control point P due to the magnitude of the boom length can be minimized. Become.

Further, as shown in FIG. 6, the variable characteristic of the weight can be arbitrarily set, for example, a characteristic that changes in a curved line based on the operational preference of the operator. For example, the rate of change of the weight during the stop operation period may be changed between the initial period and the end period, and the deceleration may be increased at the beginning of the stop operation and decreased at the end.

Next, the specific configuration of the control unit 30 will be described. The control unit 30 includes a position calculating means 31 and an operation amount calculating means 3 which will be described below.
2, an operation limit calculating means 33 and a control value output means 34.

The position calculating means 31 receives the operating state signals φ, θ ₁ , θ ₂ , L ₁ , L ₂ output from the detecting means 21 to 25 belonging to the operating state detecting means 20, The current position of the control point P on the rectangular coordinates is calculated and output as a position signal A.

The actuation amount calculation means 32 receives the position signal A output from the position calculation means 31 and the target position signal V output from the target position input means 17, and
When the control point P is moved from the current position to the target position, the operation amount of each of the driving units 11 to 15 is calculated for each of the driving unit groups G _{1 to} G _6, and the calculated operation amount signals B _{1 to} B 6. _Five
Is output.

The operating limit calculating means 33 calculates the operating state signals φ, θ ₁ , θ ₂ , L ₁ , L ₂ output from the detecting means 21 to 25 belonging to the operating state detecting means 20, and
In response to the operation limit setting signal N from the operation limit setting means 26, each of the driving means 11 to 15 has its operation limit (i.e., the operation margin until the stroke end is reached. Means 11 determines that there is no stroke end since it is constituted by a hydraulic motor and is therefore excluded from the calculation here),
And outputs it as operation limit signal M ₁ ~M _5.

The control value output means 34 outputs the operation amount signals B _{1 to} B ₅ output from the operation amount calculation means 32 and the operation limit signal M ₁ output from the operation limit calculation means 33.
And ~M _5, receives the weight signal D outputted from the weight setting section 19, from among the respective drive means group G ₁ ~G _6,
Only the driving means group which does not include the driving means which has reached the operation limit as its constituent element is selected, and the control values E ₁ to E 15 of the driving means 11 to 15 belonging to each of the selected driving means groups G _{1 to} G _6. the E _5, and calculates in consideration of the weighting factor to the operation amount signal B ₁ .about.B _5, a control value E ₁ to E ₅ of the drive means 11 to 15 for the calculated, the operation mode setting means Based on the operation mode signal C output from the driving unit 18, the driving units 11 to 15 sequentially corresponding to the operation mode
And output them to operate them.

Next, the control in the control unit 30 will be specifically described with reference to FIG.

When the power supply to the control system is turned on, first, in step S1, the operating state signals (φ, θ ₁ , θ ₂ ,
L ₁ , L ₂ ), the operation form signal C from the operation form setting means 18, the weight signal D from the weight setting means 19, and the operation limit setting signal N from the operation limit setting means 26 are respectively read.

Next, in step S2, the current position of the control point P is calculated based on the operation state signals (φ, θ ₁ , θ ₂ , L ₁ , L ₂ ), and this is output as a position signal A. (The processing in step S2 corresponds to the processing in the position calculating means 31). In step S3, the operation state signals (φ, θ ₁ , θ ₂ , L ₁ ,
Each drive means 11 to 15 on the basis of L _2), the operating limit of the stroke end as a reference is calculated, which is the process of the the (step S3 outputted as operation limit signal M ₁ ~M ₅ is the working This corresponds to the processing by the limit calculating means 33).

Thereafter, at step S4, it is determined whether or not the target position has been input (ie, whether or not the target position input means 17 has been operated). If it is determined that the target position has been input, then at step S5 Based on the operation state signals (φ, θ ₁ , θ ₂ , L ₁ , L ₂ ) and the target position signal V, an operation amount is calculated for each of the driving means 11 to 15, and this is calculated as an operation amount signal B ₁ to processing of the is (step S5 outputted as B ₅ is the operation quantity calculating unit 32
).

Next, in step S6, among the respective drive means group G ₁ ~G _6, to select on the basis of driving means group to which the drive is permitted to the operation limit signal M ₁ ~M _5, this selection Driving means 11 belonging to the selected driving means groups G _{1 to} G ₆
The control values E _{1 to} E ₅ are calculated by adding the weighting coefficients to the operation amount signals B _{1 to} B ₅ . Further, step S
7, the control values E _{1 to} E ₅ calculated in consideration of the weighting factors are output to the corresponding drive units 11 to 15 based on the operation mode signal C (steps S 6 and S 7). The processing is performed by the control value output means 3
4).

By repeatedly performing the above control,
The aerial work vehicle Z includes five drive units 11 to 15,
Despite the configuration in which the movement of the control point P to the target position is a movement with redundancy, a quick and accurate movement with redundancy eliminated is realized. That is, the movement of the control point P is automated by the combined operation of the plurality of driving means 11 to 15, and the operability of the aerial work vehicle Z is improved accordingly.

In addition, in each of the above embodiments, the boom 4 is configured such that the second boom member 42 at the distal end thereof can be bent so as to be folded back to the back side of the first boom member 41 at the proximal end. Although the boom 4 according to the present invention is not limited to such a structure, the boom 4 according to the present invention is described as an example.
For example, contrary to the above-described embodiments, a structure in which the second boom member 42 can be bent so as to be folded back toward the abdominal surface of the first boom member 41 is also applicable. It is.

[Brief description of the drawings]

FIG. 1 is an overall view of an aerial work vehicle equipped with a control device according to an embodiment of the present invention.

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

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

FIG. 4 is an explanatory diagram of a weight setting method in the control device.

FIG. 5 is an explanatory diagram of a weight setting technique in the control device.

FIG. 6 is an explanatory diagram of a weight setting method in the control device.

[Explanation of symbols]

1 is a base, 2 is a swivel base, 3 is a swivel seat, 4 is a boom, 5 is a workbench, 6 is an up-and-down axis, 7 is a bending axis, 11 is a turning drive means, 12 is an up-and-down drive means, and 13 is a bend. Driving means, 14 is a first telescopic driving means, 15 is a second telescopic driving means, 17 is a target position inputting means, 18 is an operation mode setting means, 19 is a weight setting means, 20 is a boom state detecting means, and 21 is a turning angle. Detecting means, 22 an undulation angle detecting means, 23 a bending angle detecting means, 24 a first boom length detecting means, 25 a second boom length detecting means, 30 a control unit, 31 a position calculating means, 32 Is an operation amount calculation means, 33 is an operation limit calculation means, 34 is a control value output means, 41 is a first telescopic boom, 42 is a second telescopic boom, and Z is an aerial work vehicle.

Claims (3)

[Claims] 1. A swing drive means (11) is attached to a base (1) side so as to be swivelable and undulating, and is swiveled by a swing drive means (11), and is driven up and down by an up and down drive means (12) and has a boom length. A first boom member (41) fixed to a fixed value or driven to expand and contract by first expansion and contraction drive means (14), and a tip end of the first boom member (41) with respect to the first boom member (41). A second boom member (4) that is attached to bend freely, is driven to bend by bending drive means (13), and has its boom length fixed at a fixed value or driven to expand and contract by a second expansion / contraction drive means (15).
2) The control point (P) set on the tip side of the second boom member (42) is designated by the target position signal (V) from the target position input means (17). A control device for a working machine with a boom, wherein said driving means (11 to 15) is appropriately operated to move said boom (4) to a target position. Operating state detecting means (20) for outputting signals (φ, θ ₁ , θ ₂ , L ₁ , L ₂ ); and operating state signals (φ, θ ₁ , θ ₂ , L ₁ , L ₂ ) and the control point (P)
Position calculating means (31) for calculating a current position of the control point (P) and outputting the same as a position signal (A); a position signal (A) of the control point (P) from the position calculating means (31); Upon receiving the target position signal (V) from the position input means (17), each of the driving means (11)
Each driving means belonging to each of the 15) a plurality of drive means group comprised by combining (G ₁ ~G ₆₎ (11~1
5) actuates the by the control point (P) as the operation amount signal (B ₁ .about.B ₅₎ it calculates the operation amount of each of the drive means (11 to 15) when moved to the target position Each of the driving means (11 to 15) receives an output of the operation amount calculating means (32) and the operating state signals (φ, θ ₁ , θ ₂ , L ₁ , L ₂ ) from the operating state detecting means (20). ) Is calculated for each of the above, and this is calculated as an operation limit signal (M _{1 to} M ₅ ).
And an operation amount signal (B ₁ -B) output from the operation amount calculation unit (32).
B ₅ ) and the operation limit signals (M _{1 to} M ₅ ) from the operation limit calculation means (33), the respective drive means groups (G ₁
To G ₆ ), the driving means (11 to 1) having reached the operation limit
5) does not contain as its components driving means group (G ₁ ~
To actuate by selecting G ₆₎ the drive means group (G ₁ ~G
₆ ) The control values (E ₁ to E ₁ ) of the driving means (11 to 15) belonging to
The E _5), characterized in that a said operation amount signal (B ₁ .about.B ₅₎ to calculate on the basis of the control value output means for outputting it to the respective drive means (11 to 15) (34) Control device for working machine with boom. 2. The method of claim 1, comprising the respective drive means group operation mode setting means for setting an operation mode of (G ₁ ~G ₆₎ (18), the control value output means (34) the above operation mode based on the set operation mode signal from the means (18) (C) of the boom with the working machine, characterized in that it is configured to actuate it to select the drive means group (G ₁ ~G ₆₎ Control device. 3. The weight of each of the driving amount signals (B _{1 to} B ₅ ) of each of the driving means (11 to 15) output from the operation amount calculating means (32) can be changed. Weight setting means (19) for setting and outputting this as a weight signal (D), wherein the control value output means (34)
Control value 15) (E ₁ ~E ₅₎ a control device for a boom with working machine and calculating in consideration of the weight signal (D).