JPS6054239B2 - Work vehicle control device - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a control device for a vehicle equipped with a working tool for carrying out work, and in particular, for a tractor or the like used in small to medium-sized construction work, a telescoping multi-stage boom is used. When carrying out cargo handling work by driving a work tool at the end of the workpiece, automatic devices are incorporated into these drive parts to facilitate operation, reduce worker fatigue, and improve safety and work efficiency. It can be so.

[Prior Art] Recently, in small and medium-sized construction work, cranes, shovel rotors, forklift trucks, and the like have been used in combination for cargo handling operations such as transporting and lifting construction materials.

[Problem that the invention is trying to solve]

However, in the case of these work vehicles, the work is difficult due to the irregularity of the construction site and the narrowness of the work area, and the work requires the skill of the worker. There were many problems such as inconvenience.

SUMMARY OF THE INVENTION An object of the present invention is to provide a device that can perform work in place of a crane, shovel rotor, or forklift truck by using a work tool installed at the tip of a telescoping multi-stage boom equipped on a work vehicle. The purpose of
It is an object of the present invention to provide a device that can easily carry out work even on uneven ground or in a narrow site.A further object of the invention is to reduce worker fatigue without requiring operator skill, and to improve safety and work efficiency. It is possible to provide control equipment.

[Means for solving problems]

In order to solve such problems, the present invention provides a boom length detection device for detecting the length of a telescoping multi-stage boom, and a boom length detection device for detecting the length of the telescoping multi-stage boom, in a work vehicle having a work tool at the tip of the telescoping multi-stage boom. an elevation angle detection device that detects an elevation angle of the work tool; a setting device that sets the horizontal position of the work implement;
a setting device for setting the vertical position of the working tool; a storage device for storing the height of the pivot point of the boom; a detection signal from the boom length detection device and a setting from the setting device for setting the horizontal position. A first computing unit that receives a signal, a second computing unit that receives a detection signal from the elevation angle detection device, a setting signal from the setting device that sets the vertical position, and a storage signal from the storage device. a third arithmetic unit that receives the
a first comparator that compares each operation result of the arithmetic unit and a second arithmetic unit; a second comparator that compares each operation result of the second arithmetic unit and the third arithmetic unit; A boom extension/retraction drive device connected to a first comparator and a boom elevation drive device connected to a second comparator are provided, and the first computing unit and the third computing unit are connected to each other. Communication is made on each input side, and the boom elevating and elevating drive device operates the elevating and elevating cylinder, and the boom extending and retracting drive device operates the boom extending and retracting cylinder while controlling them based on the calculation comparison results of the computing unit and the comparator. To provide a control device for moving a.

[Function] The present invention includes a first computing unit that calculates a boom length detection signal of a boom length detection device and a horizontal position setting signal of a horizontal position setting device for a work implement; A third computing unit that calculates the vertical position setting signal of the boom and the height storage signal of the boom pivot point height storage device is communicated with each other through the respective input sides, and these calculation results are transmitted to the boom. A second method for calculating the elevation angle detection signal of the elevation angle detection device of
The boom elevation drive device operates the elevation cylinder, and the boom elevation drive device operates the boom extension/retraction cylinder, while controlling the results of the comparison between the computing device and the comparator. and move the work implement.

〔Example〕

In FIG. 1, reference numeral 1 indicates a work vehicle such as a four-wheel drive construction vehicle, in which a telescoping multi-stage boom 3 is pivotally attached to a support frame 2 at the rear of the vehicle at a pivot point 8, and the frame 2 and boom The boom 3 can be raised or raised by expanding and contracting the lift hydraulic cylinder 4 passed between the boom 3 and the boom 3.

A working tool 5 such as a fork is attached to the tip of the telescoping multi-stage boom 3.
Equipped with:

When the telescopic multi-stage boom 3 is raised or raised by the operation of the lift hydraulic cylinder 4, a known horizontal holding mechanism (not shown) is provided to maintain the posture of the work tool 5.
This prevents cargo from collapsing. By the way, if the telescoping multi-stage boom 3 is made to take an elevation angle while the work implement 5 is set at the minimum retracted position A, the work implement 5 will move backward in the horizontal direction and rise above the vehicle, as shown at the B'' position. “
In order to prevent damage to the vehicle due to falling construction materials and to ensure the safety of workers, the boom 3 is raised and raised, and the boom 3 is automatically extended by the boom extension/retraction hydraulic cylinder 6 so that the work tool 5 is moved to B. You need to move it vertically to get it into position.

7 is a hydraulic cylinder for tilting the working tool 5.

On the other hand, it is necessary to advance the working tool 5 from the B position to the B'' position to facilitate loading and unloading of construction materials.

In this case, with conventional work vehicles, the above operations were performed at the discretion of the worker from the standpoint of work and safety, which not only required skill but also caused fatigue due to the complexity. It was hot.

Therefore, the working vehicle 1 according to the present invention is equipped with a control device as shown in FIG. 2 to enable automatic drive control.

This work vehicle operates under the control of the following control circuit. As shown in Fig. 2, 10 is a boom length detection device, 12 is a setting device for setting the distance X in Fig. 1, 9 is an elevation angle detection device, and 13 is a device for setting the distance Y in Fig. 1. This is a setting device for setting.

The boom length detection device 10 and setting device 12 are connected to the input side of the first computing unit 16, and the first computing unit 16 is connected to the input side of the first computing unit 16.
It is connected to the input side of the first comparator 14, and further, the output side of the first comparator 14 is connected to the boom extension/retraction drive device 15.

The boom extension/retraction drive device 15 is a variable displacement hydraulic pump driven by a pulse motor or the like operated by a pulse signal, and this is used to drive the boom extension/retraction hydraulic cylinder 6. It is designed to be operated. The elevation angle detection device 9 is connected to the input side of a second arithmetic unit 17, and the output side of the second arithmetic unit 17 is connected to each input side of the comparator 14 and the second comparator 20. There is.

The setting device 13 is connected to the input side of a third arithmetic unit 19, and this third arithmetic unit 19 is connected to the input side of the second comparator 20.

The output side of the second comparator 20 is connected to a drive device 21 for raising and lowering the boom. A variable displacement hydraulic pump driven by a pulse motor or the like is used as the drive device 21 for raising and lowering the boom, and is adapted to operate the lift cylinder 4 for raising and lowering the boom. A storage device 18 for storing the height H of the pivot point 8 in FIG. 1 is connected to the input side of the third arithmetic unit 19.

Further, the input side of the third computing unit 19 is connected to the middle of the connection circuit between the first computing unit 16 and the boom length detection device 10. That is, the elevation angle α is detected by the elevation angle detection device 9 using the pivot point 8 between the support frame 2 and the telescopic multi-stage boom 3 as a reference point.

On the other hand, the boom length L is detected by the boom length detection device 10 from the extension/retraction stroke of the boom extension/retraction hydraulic cylinder 6 . The height of the pivot point 8 of the telescopic multi-stage boom 3 from the ground is H.
and the elevation angle when the work tool 5 is in the working posture is ±α,
Let x be the horizontal distance between the support shaft 11 on which the work tool 5 is pivoted to the boom 3 and the pivot point 8, let Y be the vertical distance from the ground to the support shaft 11, and let the pivot point 8 be the origin. Considering the X-Y coordinates, the following relationship holds true. 12 is an X distance setting device, and 13 is a Y distance setting device.

By activating the distance contact device 12 of x, the work tool 5 can be horizontally moved by a distance of w to have a reach function. When controlling the elevation of the telescopic multi-stage boom 3,
The output terminal of the comparator 14 is connected to the drive device 15 of the boom telescoping hydraulic cylinder 6, and while the X distance setting device 12 is set to a predetermined distance x, the Y distance setting device 13 is used to change the distance Y. Operate to.

The height Y (or h
), the third calculator 19 calculates the storage signal from the storage device 18 that stores the height H of the pivot point 8, the Y setting signal, and the L detection signal, and calculates 2. Arithmetic unit 17
The second comparator 20 compares the calculated signals with the two signals, and if either of the two signals is larger, a difference signal between the two signals is sent to the drive device 21 of the lift hydraulic cylinder 4 so as to change the elevation angle. and stops when both signals become equal.

At the same time, the detection signal from the boom length detection device 10 and
The setting signal from the distance setting unit 12 is the first computing unit 16.
Calculated signal calculated by ! 11 5J(1'S) The first comparator 14 compares the calculation signals from the second calculation unit 17 that calculates the detection signal of the elevation angle.

If one of the two signals is larger, the difference signal between the two signals is sent to the drive device 15 of the boom telescoping hydraulic cylinder 6 to drive it, and when both signals become equal, it is stopped. Similarly, if you want to have a reach function, Y distance setting device 1
While setting the predetermined height Y in step 3, press the x distance setter 12.
When operated to change the distance The drive device 15 of the boom telescoping hydraulic cylinder 6 and the drive device 21 of the lift hydraulic cylinder 4 are driven so that this becomes equal to O, and the reach movement can be performed.

Further, the working tool 5 can be positioned at a predetermined distance X and height Y using the x and Y distance setters 12 and 13, respectively, along an efficient route.

〔effect〕

As is clear from the above explanation, by implementing the control according to the present invention, a work vehicle can be given the functions of a conventional crane, shovel loader, or forklift truck,
It reduces worker fatigue and allows work to be done safely and efficiently.

[Brief explanation of drawings]

j Fig. 1 is an elevational view of the working vehicle, and Fig. 2 is a circuit diagram of the control device. In the figure, 1 is a work vehicle, 3 is a telescopic multi-stage boom, 4 is a hydraulic cylinder for lift, 5 is a work tool, 6 is a hydraulic cylinder for boom extension and contraction, 9 is an elevation angle detection device, 10 is a boom length detection device, 12, 13 are distance setting devices, 14, 20 are comparators, 16, 17, 19 are computing units, 15, 21 are drive devices,
18 is a storage device that stores the height of the pivot point of the boom.

Claims (1)

[Claims] 1. In a work vehicle that has a work tool at the tip of a telescopic multi-stage boom that can be raised and raised, a boom length detection device that detects the length of the telescopic multi-stage boom, and an elevation angle detection device that detects the elevation angle of the boom; a setting device for setting the horizontal position of the working tool, a setting device for setting the vertical position of the working tool, a storage device for storing the height of a pivot point of the boom, and detection from the boom length detection device. a first computing unit that receives a signal and a setting signal from a setting device that sets the horizontal position;
a second computing unit that receives a detection signal from the elevation angle detection device; a third computing unit that receives a setting signal from the setting device that sets the vertical position; and a storage signal from the storage device; a first comparator that compares each calculation result of the first calculation unit and a second calculation unit; a second comparator that compares each calculation result of the second calculation unit and the third calculation unit; , comprising a boom extension/retraction drive device connected to the first comparator and a boom elevation drive device connected to the second comparator;
The computing unit and the third computing unit are connected to each other at their respective input sides, and the boom elevation drive device controls the elevation cylinder, and the boom extension/contraction drive device controls the boom extension/contraction cylinder, and compares them with the computing unit. A control device that moves a work tool while controlling it based on the results of calculation and comparison.