JPS6169700A - Controller for self-travelling car with height working device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a control device for a self-propelled vehicle equipped with a high-altitude work device.

(Prior Art) Conventionally, there has been provided an aerial work device comprising a vehicle body frame, a swivel platform mounted on the vehicle body frame, and a boom having a workbench installed at the tip thereof pivotably supported to be able to raise and lower, and the vehicle body. A travel hydraulic motor that drives wheels rotatably mounted on the frame, and a hydraulic pump that is driven by the engine and supplies pressure oil to the hydraulic actuator for the aerial work equipment and the travel hydraulic motor via an electromagnetic control valve. Self-propelled vehicles equipped with high-altitude work equipment are known.

In such self-propelled vehicles, high-place work control and traveling work control have conventionally been performed using relay control, etc., resulting in large-sized control devices and insufficient reliability.

(Objective of the Invention) An object of the present invention is to provide a control device for a self-propelled vehicle equipped with an aerial work device that is more compact and has improved reliability compared to conventional control devices using relay control or the like. It is something to do.

(Disclosure of the Invention) The present invention provides, in a self-propelled vehicle equipped with the above-mentioned high-altitude work device, a first and second drive unit disposed on the workbench and the vehicle body frame, respectively, for operating the high-place work-related operation and the traveling work-related operation. a second operation section; a first detector that detects the boom angle;
a second detector for detecting boom length; and controlling the operation of the electromagnetic control valve and the engine according to various operation information from both of the operating units, boom angle information from the first detector, and the results thereof. It is characterized by being equipped with a central control device.

(Example) Embodiments of the present invention will be described below with reference to the drawings.

In FIG. 1, reference numeral 1 denotes an aerial work vehicle which is a self-propelled vehicle. A swivel base 3 is rotatably mounted on a body frame 2, and a base end of a boom 40 is pivotally attached to the swivel base 3. The boom 4 has a lifting angle controlled by a lifting cylinder (not shown) interposed between the boom 4 and the swivel base 3, and a multi-stage structure with a built-in telescopic cylinder (not shown) whose length is variable. It is formed to be telescopic, and a workbench 5 is attached to the tip of the tip boom 4a.

The workbench 5 has a connecting member 5a' rotatably attached to the end of the boom 1, and a driven-side balance cylinder 22 (see FIG. 7) between the connecting member 5d and the tip boom 4a.
is interposed, and this balance cylinder is linked to a drive-side balance cylinder 22 interposed between the boom 4 and the rotating platform 3, so that the work platform 5 is always kept horizontal in response to the up-and-down movement of the boom 4. Configured to maintain state.

In addition, the swivel table 6 and the work table 5 each have an operation section 6,
7 is provided. An engine section 8 is disposed at the rear of the swivel table 3, and a counterweight 9 is attached to the lower side of the engine section 8.

The operating section 6 on the swivel base 3 side is configured as shown in FIGS.
On the vertical surface part 10a, an emergency stop switch sw1 is installed at the upper stage.
Emergency pump switch SW2 and engine tachometer M3 are
Switch SW4 at the bottom to change the running speed between high and low speed
, the swing switch SW6 of the workbench 5, which operating section 6,
Selection switch for operating with 7 SW7.0N-OFF
A switch SW8 is provided respectively. Further, on the side surface portion 10b, a telescopic switch SW9 of the boom 4, a lifting switch 5W10 of the boom 4, and a rotation switch 5 of the boom 4 are provided.
w11 and a handle switch 5w12 for driving control are provided.

On the other hand, the operation section 7 on the workbench 5 side is configured as shown in FIGS.
1, there is an emergency stop switch 5w1 on the upper stage.
3. Emergency pump switch 5W14, engine start switch 5W17, engine stop switch swIB,
At the bottom, there is a switch 5W19 for vertical vertical movement, a switch 5w20 for horizontal movement back and forth, and a swing switch 5W2 for the workbench 5.
1. Switch 5w22 to change the running speed between high and low speed
are provided for each. Still, on the side surface part 11b,
A telescopic switch 5w23 for the boom 4, a lifting switch sw24 for the boom 4, a swing switch 5W25 for the boom 4, and a handle switch sw26 for travel control are provided.

The wheels 2a rotatably mounted on the vehicle body frame 2 are driven by a hydraulic motor 12 with a reduction gear for traveling, and the hydraulic motor 12 is hydraulically controlled as shown in FIG. It is connected to a circuit 16, so that the traveling speed can be controlled depending on the traveling conditions and the like.

The hydraulic control circuit 16 includes a first hydraulic pump 15 and a second hydraulic pump 16 that are rotationally driven by the engine 14, and the first hydraulic pump 15 controls the hydraulic pressure for traveling via a first electromagnetic switching valve group The motor 12, the telescopic cylinder 18 of the boom 4, the luffing cylinder 19, and the swivel motor 20 of the swivel base 3
is linked to. On the other hand, the second hydraulic pump 16 is linked via a second electromagnetic switching valve group 21 to a pair of balance cylinders 22, 22 that keep the work table 5 in a horizontal state and to a swing cylinder 23 of the work table 5. Note that the first hydraulic pump 15
Although the pump is configured to have a variable discharge amount so that the traveling speed can be controlled, it is also possible to combine a tandem pump and an electromagnetic switching valve to provide the same function.

Discharge amount of the first hydraulic pump 15 and both electromagnetic switching valve groups 1
72) is controlled by the central control device 61 based on operation signals from the operation sections 6 and 7.

As shown in FIG. 5, the central control device 61 includes a workbench 5-side operating section 7, a swivel platform 6-side operating section 6, a boom angle detector 62 (potentiometer) as a first detector, and a second detector. It is electrically linked to a boom length detector 33 (potentiometer) as a device, an electromagnetic control valve 64 for high-altitude work, an electromagnetic control valve 35 for traveling work, and a pulse motor 36 for engine control. , various operation information from both operation parts 6.7, boom angle information from the boom angle detector 32, and boom length information from the boom length detector 33. Solenoid control valve 3
4.35 and a pulse motor 66.

As shown in FIG. 4, the central control unit 61 basically includes a CPU 41, a memory 42 that stores predetermined programs, and parallel interfaces 43, 44, . , analog-to-digital conversion interface 45, digital-to-analog conversion interface 46, direct operation circuit for activation in case of CPU system failure 47, CPU abnormality and voltage abnormality detector 4
8 and CI' U system failure activation selector switch 49,5
It is equipped with 0°51. Of the various operating information from both operating units 6 and 7, digital information is input to the parallel interface 46, but analog information is input to the parallel interface 46 along with boom angle information and boom length information from the rain detectors 32 and 33. It is adapted to be input to a digital conversion interface 45. In other words, the Haralel interface 44 is connected to the electromagnetic control valve 64 for high-altitude work, the electromagnetic control valve 65 for traveling work, and the pulse motor 66 via the changeover switches 49 and 50, and the digital-analog conversion interface 46 is connected to the changeover switch 51. , is outputted to the electromagnetic control valve 34 for high-place work and the electromagnetic control valve 35 for traveling work.

Next, the processing flow of the device 31 will be explained with reference to FIG. 7.

First, in block P1, from the operation section 7 on the workbench 5 side,
In block P2, various types of operation information are inputted from the operation unit 6 on the swivel base 6 side.

Next, in block P3, it is determined which of the following 1) to 1) the various operation information described above corresponds to (
operation information determination means).

l) If a single operation related to work at height is required, such as a neck vibration operation of the work platform 5, an extension/retraction operation of the boom 4, a rotation operation of the boom 4 (swivel platform 3), or a raising and lowering operation of the boom 4, 11 111) When the vertical movement of the work platform 5 or the horizontal movement back and forth is requested; iV) When the operation information is traveling information or steering information. In the case of I) above, block P4 calculates pulp information for performing a predetermined high-place work-related operation, and block P5 calculates the electromagnetic control valve 64 corresponding to the above-described predetermined high-place work-related operation.
(electromagnetic control valve control means) to perform predetermined operations.

In the case of 11) above, in block P6, above block P4
In addition to controlling the electromagnetic control valve 64 in block P5 (electromagnetic control valve control means) by calculating in the same manner as above, it is necessary to increase the output by performing multiple operations, so the required flow rate is calculated and the corresponding flow rate is calculated. In block P7, the pulse motor 36 is controlled (engine control means) so that the engine rotation speed becomes the required rotation speed.

111), the boom angle detector 3 is detected in block P8.
2, the boom angle information is obtained from the boom length detector 33 in block P9, and the boom length information is obtained from the boom length detector 33 in block P9.
1o calculates the current position of the workbench 5 based on the image information (boom position calculation means), and in block P11 valve information is calculated so that the workbench 5 moves vertically up and down and horizontally back and forth based on the current position. Then, block P5. P7
to control the electromagnetic control valve 64 and pulse motor 66 (electromagnetic control valve control means, engine control means).

In the case of iV), based on the current position calculated in block P1o, it is determined in block P12 whether the mode is high speed mode or low speed mode. The electromagnetic control valve 65 and the pulse motor 66 are controlled in block P5 in the case of low speed mode, and only the electromagnetic control valve 65 is controlled.

(Effects of the Invention) Since the present invention is constructed as described above, it can be made more compact and more reliable than a conventional control device using relay control or the like.

[Brief explanation of drawings]

The drawings illustrate an embodiment of the present invention, and FIG. 1 is a side view of the aerial work vehicle, FIG. C1 is an explanatory diagram of the operation section on the workbench side, Fig. 7 is a hydraulic control circuit diagram, Fig. 5 is an explanatory diagram of input and output of the central control unit, Fig. 4 is a configuration diagram of the central control unit 9, and Fig. 7 is a block diagram showing the flow of processing. 1... Aerial work vehicle, 2... Vehicle body frame, 3...: Swivel base, 4... boom, 5
......Workbench, 6,7゛...Operation section, 1
2...Hydraulic motor, 15, 16...Hydraulic pump, 61...Central control unit, 62...
...Boom angle detector, 66...Boom length detector, 34...Solenoid switching valve for high place work, 65.
...Solenoid switching valve for traveling work, 66...Pulse motor for engine control

Claims (7)

[Claims] (1) A high-altitude work device comprising a vehicle body frame, a swivel platform mounted on the vehicle body frame, and a boom having a work platform attached to the tip of the swivel platform pivotably supported to be able to raise and lower, and the vehicle body frame to rotate. a hydraulic motor for traveling that drives wheels that are mounted on the vehicle; and a hydraulic pump that is driven by an engine and supplies pressure oil to the hydraulic actuator for the aerial work equipment and the hydraulic motor for traveling through an electromagnetic control valve. In the self-propelled vehicle, first and second operation parts that are respectively disposed on the workbench and the vehicle body frame and operate operations related to work at height and operations related to traveling work, and a first detector that detects a boom angle; A second detector for detecting the boom length, various operation information from both of the operating sections, boom angle information from the first detector, and boom length information from the second detector are processed, and the A control device for a self-propelled vehicle equipped with an elevated work device, characterized in that a central control device is provided to control the electromagnetic control valve and the engine according to the results. (2) A control device for a self-propelled vehicle equipped with a high-altitude working device according to claim 1, wherein the first detector is a potentiometer, an encoder, or another detector. (3) A control device for a self-propelled vehicle equipped with a high-altitude working device according to claim 1, wherein the second detector is a potentiometer, an encoder, or another detector. (4) The central control device includes an operation information discriminating means for determining whether the operation information is a single piece of high-place work information or multiple pieces of high-place work information, and an electromagnetic device for high-place work that corresponds to the operation information. A high place according to claim 1, comprising an electromagnetic control valve control means for operating a control valve, and an engine control means for changing the engine rotation speed to a required rotation speed in the case of a plurality of pieces of high place work information. Control device for self-propelled vehicles equipped with working equipment. (5) The central control device includes an operation information determining means for determining whether the operation information is travel work information, and an electromagnetic control valve control means for operating a travel work electromagnetic control valve corresponding to the travel work information; 2. A control device for a self-propelled vehicle equipped with an equipment for working at high altitudes as set forth in claim 1, further comprising an engine control means for changing the engine speed to a required speed in accordance with traveling work information. (6) The central control device includes a boom position calculation means that calculates the current position of the boom based on boom angle information and boom length information, and an engine control means that calculates the current position of the boom based on the boom angle information and boom length information, and an engine control means that calculates the current position of the boom based on the boom angle information and the boom length information, and an engine control means that calculates the current position of the boom based on the boom angle information and the boom length information, and an engine control means that calculates the current position of the boom based on the boom angle information and the boom length information, and an engine control means that calculates the current position of the boom based on the boom angle information and the boom length information. 2. A control device for a self-propelled vehicle equipped with an apparatus for working at high places as set forth in claim 1, further comprising an electromagnetic control valve control means for operating an electromagnetic control valve for traveling work corresponding to the above. (7) The central control device includes an operation information determining means for determining whether the operation information is a horizontal movement operation of the work platform or a vertical movement operation, and a boom current position based on boom angle information and boom length information. boom position calculation means for calculating the boom position; electromagnetic control valve control means for operating the corresponding electromagnetic control valve for high-altitude work based on the boom current position calculated by the boom position calculation means; A control device for a self-propelled vehicle equipped with an aerial work device according to claim 1, further comprising an engine control means for changing the rotation speed to a required rotation speed.