JPS62203891A - Travelling motion control device for connected type working machine - Google Patents

Abstract

PURPOSE:To make it possible travelling a working machine smoothly, according to the travelling pattern, by making each of crawlers set at the front and the rear of the working machine, driven according to the travelling pattern selected by an operator. CONSTITUTION:In case of travelling a working machine straight, the angle of operating direction for front/rear vehicles 1, 2 is set at thetaf=theta, r=0 deg.. Then, operation levers 4l, 4r are operated equally for a forward travel or a backward ravel, after being selected a straight travel mode by a travelling pattern selecting means 42, to control flow control means 73l, 73r, 74l, 74r through a control device 5, as being driven each of crawler travelling bodies 11l, 11r, 21l, 21r of the front/rear vehicles 1, 2, at equal travelling speed with each other, based on the commanded travelling speed iV output according to the quantity Il, Ir of operation of the levers, and consequently, the crawlers 21l, 21r, 11l, 11r of the front/rear vehicles 1, 2 are travelled straight, at the same time. In case of deflecting the front/rear vehicles 1, 2 owing to the difference of speed between the right crawler travelling body and the left crawler travelling body, a force of action X is detected, and this detected value is fed back to the control device 5.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of application on g-beams) The present invention relates to a traveling III control device for a connected type working machine such as a super-large crane used for lifting one super-heavy object.

(Conventional technique #4) Conventionally, as a connected work machine, two vehicles (front and rear) equipped with a pair of left and right crawler running bodies are connected by a longitudinal connection frame, the front vehicle is provided with a boom and a mast, and the rear vehicle is equipped with a boom and a mast. 2. Description of the Related Art A super-large crane is known in which a counterweight is mounted on a vehicle, and the rear vehicle and the mast are connected by a connecting member.

When performing crane work using this ultra-large crane, the crawler running body of either or both of the front and rear vehicles is driven to perform straight movement, spin turns, turns, compound turns, and curved snow movements. However, since the drive systems for the front and rear vehicles are independent of each other, one operator operates the front vehicle, another operates the rear vehicle, and another operates the crane winch. Three operators were required, including one operator, and the three operators had to operate while communicating with each other. As a result, the operability is very poor, and due to the difference in ground resistance between the crawler running bodies of the front and rear vehicles, each crawler running body may not be driven according to the operation of the control lever, and the steering direction of the front and rear vehicles Moreover, there were problems such as the running speed tends to become unbalanced, poor maneuverability and safety, and very poor workability.

(Purpose of the Invention) The present invention has been made to solve these problems, and can be easily operated by a single operator, while also reducing the ground resistance applied to each crawler running body of the front and rear vehicles. Even if there is a difference, the front and rear vehicles can be accurately and smoothly driven in a linked state corresponding to the driving pattern (straight, spin turn, turn, compound turn, turn), improving operability and maneuverability. The object of the present invention is to provide a traveling control device 60 for a connected working machine that can significantly improve safety, safety, and workability.

(Structure of the Invention) The present invention provides a connected working machine in which two vehicles, front and rear, each equipped with a pair of left and right roller running bodies, are connected by a longitudinal connection frame. Hydraulic motors that individually drive the crawler running bodies, circulation control means that controls the supply direction and supply flow rate of pressure oil to each hydraulic motor, a pair of left and right travel operation levers, and detects the operation M of each travel operation lever. an operation amount detection means, a steering angle detection means for detecting each steering angle of the front vehicle and a rear vehicle with respect to the connection frame, an action force detection means for detecting the action force acting between the front and rear vehicles, and a steering angle detection means for detecting the action force acting between the front and rear vehicles; comprising a traveling speed setting means for setting the traveling speed of each of the corresponding crawler traveling bodies, and a traveling pattern selection means for selecting a traveling pattern,
Further, each of the above-mentioned flow rate control means operates based on the signals from the operation amount detection means, the running pattern selection means, each steering angle detection means, and the acting force detection means, and the set value set in the running speed setting means. The present invention is characterized in that it includes a control device that outputs a control signal corresponding to the pattern.

With this configuration, one operator selects a travel pattern such as straight, spin-turn, turning, compound turn, curve, etc. using the travel pattern selection means, and selects a travel pattern from each of the above-mentioned detection means and setting means by operating the travel operation lever. Based on each signal, the supply direction and supply flow of pressure oil to the hydraulic motor of each crawler traveling body are controlled, and each crawler traveling body is driven in the direction and speed corresponding to the traveling pattern, so that smooth running can be achieved. It will be done. .

(Example) First, an example of a super large crane as a connected work machine is shown in the second example.
This will be explained using figures. 1 is a front vehicle, 2 is a rear vehicle, and 3 is a connection frame that connects both heavy vehicles 1.2. The front vehicle 1 includes an upper rotating body 12 rotatably mounted on the upper part of a lower traveling body 11 having a pair of left and right crawler traveling bodies 11Q and 11r, and a boom 13. A mast 14 is provided to be able to rise and fall freely, and a main hook 16 and the like are provided via a winch device 15 and the like.

The rear vehicle 2 has a pair of left and right crawler running bodies 21g and 21r.
An upper rotating body 22 is rotatably mounted on the upper part of a lower traveling body 21 having a structure, and a counterweight 23 is mounted on the upper rotating body 22. The upper revolving bodies 12 and 22 of the front vehicle 1 and rear vehicle 2 are connected to the above-mentioned connecting frame 3.
The upper rotating body 2 of the rear vehicle 2 is detachably connected to the
2 is connected to the mass i.14 via a connecting member 24 such as a pipe, thereby constructing a super large crane (connected type working machine).

Further, the front vehicle 1 is provided with an operation v17 for mainly operating the front vehicle alone, and a driver's cab 18 for mainly operating the crane work, and the rear vehicle 2 is provided with a driver's cabin 18 for mainly operating the front vehicle alone, and for operating the rear vehicle alone. A driver's cab 25 for performing turning operations is provided.

In the above-mentioned super large crane, a control device shown in FIG. 1 is provided to control the traveling.

In Fig. 1, 4Q and 4r are left and right travel control levers,
41L 41r is the operation of each lever 4Q, 4rff1lQ
, Ir (forward direction is positive, backward direction is negative) 6 detection means, 42 is a travel pattern selection means for selecting a crane travel pattern, 43 is a manual automatic cutting stage for selecting manual or automatic. All of these are installed in the crane operation cab 18 of the front vehicle 1.The driving patterns include straight, spin-turn, and curved movements as shown in FIGS. 3(a) to (e). There are forwarding, turning, and compound turning.

The steering angle detection means 44r, 44r detect the relative angle between the connecting frame 3 and the lower traveling body 11 of the front vehicle 1, and the relative angle between the connecting frame 3 and the lower traveling body 21 of the rear vehicle 2, as shown in FIG. 3(C). The relative angles with the steering angles are detected as the respective steering angles θf, Or (clockwise rotation is positive, counterclockwise rotation is negative). As this detection means, for example, although not shown, a detection roller is installed on the upper rotating body 12. The upper rotating body 12.2
2 and the lower traveling body 11.21, the detection roller is configured to rotate around the case, and the steering angle Of, or is detected based on the amount of rotation.

The acting force detection means 45 detects whether the acting force X acting on the connecting frame 3 between the front and rear vehicles 1.degree. 2 during running is a compressive force or a tensile force. As this detection means, for example, the connecting frame 3 is used as shown in FIG.
> As shown in Fig. 3, two members 31 and 32 are fitted to form an expandable white stone, one of which is rotatably provided with a detection roller (not shown), and this roller is moved to the other member according to the expansion and contraction of the connecting frame 3. The rotation amount of this roller is used to detect changes in the distance ML between the centers of the front vehicle 1 and the rear vehicle 2, that is, the rotation centers 01 and 02 of each upper rotating body 12 and 22. , based on the change layer, connect frame 3
Detects whether the acting force X acting on is compressive force (-x) or tensile force (+X).

The control device 5 includes a first calculation means 51, a correction means 52,
It is composed of a signal generating means 53, a traveling pattern setting means 54, and a second performance means 55.

The driving pattern setting means 54 stores steering angles θf, Or and changes ff of the front and rear vehicles 1 and 2 corresponding to the driving pattern.
1X, each crawler traveling body 11g, 11r, 21Q, 2
A relationship with the target traveling speed of 1r is set.

, each crawler traveling body 11L 11r, 21ρ.

Hydraulic motors 61Q, 61r, 62Q that drive 21r,
62r is a variable hydraulic pump 710.71r.

j) Oil is supplied from 72Q, 72r in a hydraulic closed circuit, and flow rate control means 73Q, 73r, 74 of each pump.

A control signal is sent from the signal generating means 54 to 74r. Traveling speed detection means 81Q, 81r
, 82Q, 82r4. L each 0-la kt"rKllN,
Actual running speed VfQ, Vf' of llr, 21Q, 21r
Detect r, Vrd, and Vrr (positive in forward direction, negative in reverse direction).

In the above configuration, when driving is controlled by automatic #J driving, the manual/automatic FJJ switching means 7I3 switches to automatic driving, and the driving pattern selection means 42 selects one of straight driving, spin turn, curved driving, turning, and compound turning. After selecting the driving pattern, the operating levers 4ρ and i4r are operated. As a result, the operations IIΩ and Ir of the respective operation levers 4Ω and 4r are detected by the operation unit detection means 412.41r, and the first calculation means 51 determines each crawler traveling body 11Q, llr, The command running speed iV of 21Q and 21r is calculated 1. At this time, each left crawler traveling body 11ρ, according to the left lever operation amount IQ,
The command traveling speed of 2112 is set by operating the right lever iii
Each right crawler traveling body 11r, 21r according to I r
The command traveling speeds of are calculated respectively.

On the other hand, the setting value set in the driving pattern setting means 54 is read by the selection signal from the driving pattern selection means 42, and the steering angle θf of the front and rear vehicles 1.2 is read by each steering angle detection means 44f, 44r. , Or is detected,
The acting force X acting on the connecting frame 3 is detected by the acting force detecting means 45, and each traveling speed detecting means 81Q, 81r, 8:11
, 82r, each crawler traveling body 11f1.11r, 2
I.Q.

Actual running speeds VfQ, Vfr, VrQ of 21r.

Vrr is detected, and these detected values are sent to the second calculation means 5.
5 will be fed back.

Next, the second calculating means 55 calculates the deviation between the set value and each detected value, and calculates the correction value ΔV of each traveling speed based on this deviation.
The means 52 travels based on the command traveling speed i■ corresponding to the lever operation amounts Iρ and Ir calculated by the first calculation means 51 and the correction value Δ■ calculated by the second calculation means 55. After the speed control amount is calculated, (Ei number generation means 5
3, the signal is converted into a flow rate control signal and sent to each flow rate control means 73.
Sent to Q, 73r, 74Q, 74r.

As a result, the famous fEl 1lIIl m means 73fi,
73r, 74Q, and 74r are activated, and each correction pump 71
Q.

71r, 72Q, 72r discharge flow rate is controlled, each hydraulic motor 61Q, 61r, 62! The supply flow (i.e., the rotational speed) for each crawler traveling body 1 and 62r is controlled.
1Q, 11r, 2IQ, 21r are the above lever operation aIQ
, Ir, and at a traveling speed corrected according to the traveling pattern, and the front and rear vehicles 1 and 2 are driven according to the predetermined traveling pattern. Since the control in this case is hydraulic control, the discharge flow rate is controlled to be small and the traveling speed is small.

Next, specific examples of the above control contents will be explained for each driving pattern.

■, go straight [see Figure 3 (a)] After setting the steering angles of the front and rear vehicles 1.2 to θf-θf-00, and selecting the straight-ahead mode by the driving pattern selection means 42, the operation lever , 4r in the forward or reverse direction, the control device 5 causes each crawler traveling body 11Q, 11r, 2LQ of the front and rear vehicles 1.2 to move forward or backward.
, 21r are the same traveling speeds (VfQ-
Vfr-VrIl-Vrr)
111, and the front and rear vehicles 1.2 simultaneously move straight (forward or backward).

When traveling straight, each crawler traveling body is 11ft.

11r, 21 (ground resistance of 2, 21r) difference, etc., there is a speed difference between the front and rear vehicles 1, 2, and the acting force x acting on the connecting frame 3 may fluctuate. Due to the speed difference, the front and rear vehicles 1°2 may veer to either the left or right.

For that purpose, proceed straight ahead in step 1 above. When controlling lJ, the acting force detection means 45 detects the acting force X acting on the connection frame 3, and this acting force X is fed back to the control device ra5,
Based on this acting force X, it is controlled as follows.

When the compressive force is applied, the crawler traveling bodies 2IQ, 2 of the rear vehicle 2
Decrease the running speeds Vr'Q and Vrr of 1r.

At the time of tensile force, the crawler traveling body 11 (1!
, 11r's traveling speeds VfQ and Vfr are reduced.

Next, the steering angles θf, θf of the front and rear vehicles 1.2 are fed back to the control device 5, and the steering angles of,
It is controlled as follows based on θr.

In the front vehicle 1, when the steering angle θf becomes θf>QO, the traveling speed Vl of the left crawler traveling body 11g
Decrease l.

When θf<QO, the right crawler traveling body 11r
The traveling speed Vfr of the vehicle is decreased.

Further, in the rear vehicle 2, the steering angle θr is θf>Q
When it becomes 0, the traveling speed VrQ of the left side 0-ra traveling body 2LQ is decreased.

When θf<QO, the right crawler traveling body 21r
The traveling speed vrr of the vehicle is decreased.

With this control, each crawler traveling body 11Q, 11r, 2
LQ and 21r are driven at the same traveling speed VLQ=Vfr-VrQ-Vrrr based on the commanded traveling speed 1■ corresponding to the lever operations ff1lQ and Ir, and then,
The traveling speed is corrected according to the acting force X acting on the connecting frame 3 and the steering angles θf and θf of the front and rear vehicles 1 and 2, and the traveling speed is controlled so that the acting force X becomes O, and the front and rear vehicles 1°2 steering angles θf and θf are both Oo, preventing each vehicle 1.2 from deflecting to the left or right, allowing the front and rear vehicles 1.2 to smoothly go straight (forward or backward). ) to be done.

(2) Spin turn [See Figure 3(b) 1 This is a preparatory work when changing the running pattern, and after selecting the spin turn mode for the rear vehicle 2 by the running pattern selection means 42, the left operating lever 4Q , and press the right operating lever 4r to operate each lever ff1-In, +I.
The left crawler traveling body 21 (II
is driven in the reverse direction at a traveling speed -VfQ, and the right crawler traveling body is controlled so that the right crawler traveling body 21r is driven in the forward direction at a traveling speed ■rr. In the stopped state, the lower running body 21 of the rear vehicle 2
The upper rotating body 22 is spin-turned counterclockwise around its own rotation center o2.

In addition, in the spin turn mode of the rear vehicle 2, when the left operating lever 4Q is pushed and the right operating lever 4r is pulled, the rear vehicle 2 is spin-turned clockwise. In addition, if the spin turn mode of the front vehicle 1 is selected by the running pattern selection means 42 and the left and right operation levers 4Ω and 4r are operated in the same manner as described above, the front 47 vehicle 1 is spin-turned counterclockwise or clockwise.

During this spin turn, the left and right crawler traveling bodies 2
1Q, 21r or 111.11r running speed Vr1.
When Vrr, VfQ, and Vfr become unbalanced,
The acting force X acting on the connecting frame 3 fluctuates. Note that this acting force X differs depending on the steering angle θr or θf.

Therefore, when controlling this spin turn, the movement of each crawler traveling body 21, 21r or 11Q, 11r depends on the acting force X on the connecting frame 3 and the steering angle θr or θf of the vehicle to be spin-turned. Speed VrQ, Vrr or Vfj2. Vfr is controlled as follows.

■When rear vehicle 2 spins around to the left ■Rear vehicle 2
■ When the front vehicle 1 spins around the clockwise. ■ When the front vehicle 1 spins around the left. ■ When the front vehicle 1 spins around the clockwise. With this control M, either the front vehicle 1 or the rear vehicle 2 is shifted to 0. When the vehicle is stopped, the force X acting on one vehicle
By reducing the influence of other forces, the vehicle under other forces can be smoothly spin-turned around its own turning center, and the driving pattern can be changed smoothly. Note that if a target steering angle is set by the travel pattern setting means 54 during this spin turn so that automatic stopping can be performed, the spin turn can be accurately performed up to the desired steering angle.

(2) Turning [See FIG. 3(c)] For example, when the steering angle or of the rear vehicle 2 is set to 900 and the vehicle turning mode is selected by the travel pattern selection means 42, both levers 4Q are turned.

When 4r is operated in the forward direction, the control device 5
IQ for each lever operation, [r] According to
The gate is restricted to be driven by rQ-αVrr. The speed ratio α is determined by the distance viL between the centers of the front and rear vehicles 1.2 and the distance W between the left and right crawler running bodies 21Q and 21r, and is specified according to the crane model, and is 1.0 〉α〉0.

With this control, while the front vehicle 1 is stopped, the rear vehicle 2 is rotated integrally with the upper rotating body 12 around the turning center 01 of the upper rotating body 13 of the front vehicle 1 with the above-mentioned distance as a turning radius. is rotated counterclockwise.

In addition, in the turning mode of the rear vehicle 2, when the steering angle θr of the rear vehicle 2 is θr=-900, the above-mentioned traveling speed VrQ
, ■rr are controlled so that Vrr=αVrQ,
The rear vehicle 2 is turned clockwise. Also, before)! 1S
In the turning mode of the vehicle 1, the steering angle Of of the front vehicle 1 is
When θf-・900, the crawler traveling body 1 of the front vehicle 1
The running speeds VfQ and Vfr of 1Ω and 11r are VfQ=α
When the front vehicle 1 is turned counterclockwise and θf=-900, the traveling speeds VfQ and Vfr of the crawler traveling bodies 11Q and 11r are controlled to be Vfr.
=α■fQ, and the front vehicle 1 is turned clockwise.

At the time of each of the above-mentioned turns, the acting force acting on the connecting frame 3 X a3
and the steering angle Or or θ of the vehicle 2 or 1 being turned
According to f, the traveling speed VrQ, Vr of each crawler traveling body
r, VfQ, and Vfr are controlled as follows.

(2) When the rear vehicle 2 is turning at a steering angle θr-+90' and the control compression force is based on the acting force X directed toward the turning (clockwise) connecting frame 3, →vrr is reduced.

When using tensile force → Reduce VrQ.

Control based on change in steering angle Or When Or>+900 → VrQ is decreased.

When Or < + 900 → reduce yrr.

When the control compression is based on the acting force X acting on the connecting frame 3 when turning (counterclockwise) at a steering angle 0r=-900, →■rα is made smaller.

When using tensile force → Reduce Vrr by 1° Control based on changes in steering angle Or When Or>-90', -→■Reduce rQ.

When Or<-90', -→■Reduce rr.

■ When the steering angle θf of the front vehicle 1 when turning is +900 (counterclockwise rotation), when the restraint U compression force based on the acting force X that moves on the connecting frame 3 → VfΩ
Make smaller.

When using tensile force → Reduce Vfr.

Control based on change in steering angle θf When θf'>+90', VfQ is reduced.

When θf < +900, reduce V f r.

When turning (clockwise) compression force with steering angle Of'=-900 → Reduce Vfr.

At the time of tensile force → decrease vfQ.

Control based on changes in steering angle θf 0(:>-90' → Reduce VfQ.

When Of<-90' → Reduce Vfr.

By the control described in ■■ above, either the front or rear vehicle is stopped, the steering angle of the other vehicle is maintained at ±900, and the left and right single-wheel running bodies of the other vehicle are moved at a predetermined speed ratio. α, while reducing the influence of the acting force Turns smoothly in a circular or counterclockwise direction.

■, Compound turning [see Figure 3 (d)] Set the steering angle θ' of the front vehicle 1 to 900 or -900 or -900 or -900 to the steering angle θr of the rear vehicle 2, and select the driving pattern. When the levers 4Q and 4r are operated in the forward or reverse direction with the compound turning mode selected by the means 42, the control device 5 causes the control device 5 to control the crawler traveling body on the outside of the compound turning according to the steering angle θf, Or. The inner crawler traveling body is controlled to be driven at a predetermined speed ratio β.

That is, when the steering angle θf, Or is θf = 90't- and Or = -900, Vfr
=Vrr=βVfu-βvri1θr=-9oo and θr=900, VfQ=Vrj2=βVfr-β
Vrr.

It is controlled so that The speed ratio β is determined by the distance between the centers of the front and rear vehicles 1.2 and the distance W between the left and right crawler running bodies 21 bases and 21r, and is specified according to the crane model. .0〉β〉0 and smaller than the speed ratio α during turning in (■) above (β〈α
).

As a result, the front and rear vehicles 1 and 2 are simultaneously moved forward (the same goes backwards) with opposite steering angles, and both vehicles 1.2
, the above turning center (h , 0
The two cranes are simultaneously turned with a turning radius of 1/2 of the distance between them, that is, they are made a compound turn, and the entire crane is spin-turned.

During this compound turning, the control is performed as follows in accordance with the acting force X acting on the connecting frame 3 and the steering angle θf, Or, as in the case of turning (2) above.

■ The steering angle is θf=900. Compound turning (counterclockwise rotation) of θr = -90' When the control compression force is based on the acting force X acting on the connecting frame 3 → VfR and VrQ are reduced.

For tensile force → Reduce Vfr and Vrr.

Based on changes in steering angle θf, Or <fi control θf>
When it reaches +900, reduce VfQ.

When θf <+90', reduce Vfr.

When Or > -900 → Decrease Vrl.

When Or <-90'→■Reduce rr■
The steering angle is θr=-900. Compound rotation of θr-90° (clockwise rotation) When υNil compressive force is based on the acting force X acting on the connecting frame 3 →
Reduce vfr and vrr.

When using tensile force → Reduce VfQ and VrQ.

Control based on changes in steering angle θf, Or θf > −9
When it becomes 0', -→■ Decrease fQ.

When θf < -90' → Reduce Vfr.

When or>+900, -→■Reduce rQ.

When Or<+900 → yrr is reduced By the above control, the front and rear vehicles 1.2 are steered in opposite directions to each other while maintaining the steering angle Of and θr at 900 or -9QO. The left and right crawler traveling bodies are driven to run at a predetermined speed ratio β, and both inner cities 1.2 are moved forward (or backward) at the same time, while reducing the acting force X We8, and the front and rear vehicles 1.2. While preventing deflection of the crane and fluctuation of the turning center 03 of this compound turning, the compound turning is performed smoothly, and the spin turn of the entire crane is smoothly performed.

■0 turn [see Figure 3 (e)] The front and rear vehicles 1.2 are turned in opposite directions, and the steering angle is 10
By setting fl=lθr1 and operating the operating lever 40.4r equally in the forward or reverse direction with the driving pattern selection means 42 selecting the turning mode, the front and rear vehicles 1 and 2 can be changed. The speed ratio γ between the inner crawler and the outer crawler is the second according to the steering angle θf, Or.
is calculated by the calculating means 55 of each crawler traveling body 11.
Q, 11r, 2IQ, 21r are the lever operation amount I, ■
The commanded traveling speed 1 based on r is driven at a speed corrected to the speed ratio γ according to the steering angle, and the front and rear vehicles 1.2 move in a predetermined direction while maintaining the commanded steering angle. ,
That is, the entire crane is pivoted clockwise or counterclockwise.

During this curve, the above
The vehicle is controlled as follows in the same way as when traveling straight.

Control based on the acting force X acting on the connecting frame 3 At the time of compressive force → ■ Reduce rQ, Vrr.

When using tensile force → Reduce VriVfr.

Control based on steering angle of, θr When of becomes large → Vfρ is made small.

When θf becomes small → Vfr is made small.

When θf becomes unpopular, decrease VrΩ. .

When θf becomes small → Vrr is made small.

With this control, each crawler traveling body 11g, 11r, 2
19.21r is driven with a speed ratio γ corresponding to the lever operation IQ, 1r and the commanded steering angle, the front and rear vehicles 1.2 are moved in a predetermined direction, and the entire crane is rotated clockwise or Smoothly rotates counterclockwise.

By controlling IV above, the front and rear vehicles 1.2 are smoothly driven according to the travel pattern selected by the travel pattern selection means 42.

By the way, in the above embodiment, the variable hydraulic pumps 71Q, 7
By controlling the discharge outflow of 1r, 72Q, and 72r, each hydraulic mokuro LQ, 61r.

6212.62r to control the supply flow and rotation speed of pressure oil to each crawler running body 11Ω, 11r.

21Q, 21r running speed VfQ, Vfr, Vrρ, V
rr is controlled from each hydraulic pump to each hydraulic motor 61Q using a flow control valve.

The above traveling speeds VfQ, Vfr, VrQ are achieved by controlling the supply flow rate of pressure oil to 61r, 62!1.62r.

Vrr may be set to υItm.

Furthermore, the present invention is not limited to the above-mentioned ultra-large crane, but can also be used to control the traveling of connected work machines such as heavy vehicles used for transporting long objects such as lumber. .

(Effects of the Invention) As described above, in the present invention, one operator can select a driving pattern such as straight, spin turn, turning, compound turning, curved, etc. using the driving pattern selection means and operate the driving operation lever. Therefore, each crawler traveling body of the front and rear vehicles can be driven in a direction and speed corresponding to the traveling pattern, and operability and workability can be greatly improved. Moreover, during each run, the influence of the acting force acting on the connecting frame of the front and rear vehicles can be reduced, and deflection of the run can be prevented.
F, and can run accurately and smoothly.
It can improve mobility and friendliness.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a control system that includes an embodiment of the present invention;
FIG. 2 is an overall side view showing an example of a super large crane as a connected working machine, and FIGS. 3(a) to 3(e) are explanatory diagrams of traveling patterns. DESCRIPTION OF SYMBOLS 1...Front vehicle, 2...Rear vehicle, 3...Connection frame, 4Q, 4r...Operation lever, 5...Control load, 1
1, 21... lower running body, 11Q, 11r, 21Q,
21r... Crawler traveling body, 12.22... Upper revolving body, 41Q, 41r... Operation amount detection means, 51...
- First calculation means, 52... Correction means, 53... Signal generation means, 54... Running pattern setting means, 55.
...Second calculation means, 61Q, 61 r, 62Q, 62
r...Hydraulic motor, 71Q, 71 r, 72Q, 72
r...Hydraulic pump, 81 Q, 81 r, 82Q, 8
2r... Traveling speed detection means. Patent applicant: Kobe Steel, Ltd. Agent
Patent Attorney Etsushi Kotani Patent Attorney Chief 1
) Masanori Patent Attorney Yasuo Itaya Figure 1 Figure 3 (e)

Claims (1)

[Claims] 1. In a connected work machine in which two vehicles, front and rear, equipped with a pair of left and right crawler vehicles are connected by a longitudinal connection frame, hydraulic pressure is used to drive each crawler vehicle in the front and rear vehicles individually. A motor, a flow rate control means for controlling the supply direction and supply flow rate of pressure oil to each hydraulic motor, a pair of left and right travel operation levers, an operation amount detection means for detecting the operation amount of each travel operation lever, and a Steering angle detection means for detecting each steering angle of the front vehicle and the rear vehicle; acting force detection means for detecting the acting force acting between the front and rear vehicles; and running of each of the above-mentioned crawler running bodies corresponding to the running pattern. comprising a traveling speed setting means for setting a speed and a traveling pattern selection means for selecting a traveling pattern, and
Based on the signals from the operation amount detection means, the travel pattern selection means, each steering angle detection means, and the acting force detection means, and the set value set in the travel speed setting means, each of the flow rate control means selects a travel pattern. A travel control device for a coupled work machine, characterized in that it is equipped with a control device that outputs a corresponding control signal.