JP4885546B2 - Boom work vehicle control device - Google Patents

Description

  The present invention relates to a control device for a boom working vehicle that allows a boom to be operated within an allowable operation range stored in advance.

  In a boom work vehicle such as an aerial work vehicle or a crane vehicle, a desired operation can be performed by raising and lowering or extending and retracting the boom by operating a boom operation lever operated by an operator. In such a boom work vehicle, in general, an operation for operating the boom only within a pre-stored allowable operation range so that the traveling body does not fall due to a falling moment caused by the weight of the boom, a load on the work machine, or the like. A regulation device is provided.

Also, as one form of such an operation regulating device, when the boom close to the fully extended state is operated as it is from the high head as it is, when the tip of the boom tries to exceed the pre-stored allowable operating range, Rather than stopping the boom operation itself, it had a non-stop operation control function that enabled the boom to continue the collapse operation while correcting the boom so that the boom was within the allowable operation range. Are also known (see, for example, the following patent document).
Japanese Patent Publication No. 4-19159

  However, even in the case of a boom working vehicle having the non-stop operation control function, when the boom extension operation and the undulation operation are performed at the same time, the end of the boom is about to exceed the allowable operation range. The boom is stopped by the action of the operation restricting device, or the boom extending operation is stopped and only the hoisting operation is performed, and then the boom tip part enters the inside of the allowable operation range by a certain amount after that. The boom extension was resumed. For this reason, in the former case, the operator alternately repeats the operation of raising and lowering the boom and the operation of retracting the boom, and in the latter case, this alternate operation is automatically repeated. Even so, the tip of the boom would have a large zigzag movement in a sawtooth shape within the allowable operating range.

  In addition, some allowable operating ranges are provided with a lifting limit regulation line that regulates the lifting limit, but the boom was raised and lowered from the state where the tip of the boom was positioned in the vicinity of the lifting limit regulation line. In some cases (especially when a hoisting operation accompanied by an extension operation was performed), the boom was stopped by the action of the operation restricting device when the tip of the boom tried to exceed the lifting limit restriction line. Therefore, in such a case, it is necessary for the operator to perform a boom contracting operation in conjunction with the boom raising / lowering operation, and the tip of the boom also performs a large zigzag movement within the allowable operating range.

  The present invention has been made in view of such problems, and even when the boom extension operation and the undulation operation are performed simultaneously, even when the tip of the boom is about to exceed the allowable operation range. An object of the present invention is to provide a control device for a boom working vehicle that can be raised and lowered smoothly without stopping the boom.

A control device for a boom working vehicle according to the present invention includes a traveling body, a boom that is provided on the traveling body, can be undulated by an expansion / contraction operation of the undulation cylinder, and can be expanded / contracted by an expansion / contraction operation of the expansion / contraction cylinder; Boom operating means (for example, the boom operating lever 51 in the embodiment) for performing hoisting and extending and retracting operation of the boom, and boom operation control means for operating the hoisting cylinder and the telescopic cylinder in accordance with the operation of the boom operating means (for example, in the embodiment) In a control device for a boom working vehicle (for example, an aerial work vehicle 1 in the embodiment) having a boom operation control unit 61) of the controller 60, a hoisting angle detecting means (for example, in the embodiment). Undulation angle detector 71), length detection means for detecting the length of the boom (for example, length detector 72 in the embodiment), A boom tip position calculation means (for example, in the embodiment) that calculates the position of the boom tip based on the boom lifting angle detected by the lifting angle detection means and the boom length detected by the length detection means. A position calculation unit 63) of the controller 60, and storage means (for example, the storage unit 64 of the controller 60 in the embodiment) storing a predetermined allowable operation range as an area in which the tip of the boom can be moved. When the boom extension means and the undulation action are simultaneously performed by the operation of the boom operation means, the control means allows the boom tip position calculated by the boom tip position calculation means to be stored in the storage means. When attempting to exceed the operating range, the telescopic shaft corresponding to the operation of the boom operating means is set so that the position of the tip of the boom is within the allowable operating range. Perform a correction to reduce Linda's extension operation speed, and extend and retract the hoisting cylinder at an operation speed corresponding to the operation of the boom operating means while operating the boom to extend and contract at the corrected operating speed. The boom hoisting operation is continued.
In the control device having the above-described configuration, the boom operation control unit is configured to calculate the boom tip calculated by the boom tip position calculation unit when the boom extension operation and the undulation operation are performed simultaneously by operating the boom operation unit. Corresponding to the operation of the boom operation means so that the position of the tip of the boom is located on the regulation line that is the outer edge of the allowable operation range when the position of the part is about to exceed the allowable operation range stored in the storage means Make a correction to reduce the extension operating speed of the telescopic cylinder, and extend and retract the hoisting cylinder at the operating speed corresponding to the operation of the boom operating means while operating the telescopic cylinder to extend and contract at the corrected operating speed. The boom is preferably configured to continue the hoisting operation of the boom.

  According to the control device for a boom working vehicle according to the present invention, when the boom extension operation and the undulation operation are performed simultaneously, when the boom tip is about to exceed the allowable operation range, the boom tip is Since the operation of the boom is continued while being controlled so as to be within the allowable operation range, the tip of the boom moves smoothly within the inner region of the allowable operation range in accordance with the boom operation operation. For this reason, workability is significantly improved as compared with the prior art in which the operation of the boom itself is stopped when the tip of the boom exceeds the allowable operation range.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 2 shows an aerial work vehicle 1 including a control device according to an embodiment of the present invention. The aerial work vehicle 1 has a revolving body 20 on an upper part of a traveling body (crawler traveling body) 10, and a boom (an extendable boom) attached to the upper part of the revolving body 20 via a foot pin 23 so as to be freely raised and lowered. ) 30.

  The revolving unit 20 can be swung within a range of 360 degrees in a horizontal plane with respect to the traveling unit 10 by rotating a revolving motor (hydraulic motor) 21 provided inside the revolving unit 20, and the boom 30 can be revolved. The swinging body 20 can be raised and lowered by extending and contracting a lifting cylinder (hydraulic cylinder) 22 provided between the body 20 and the body 20. The boom 30 includes a proximal boom 30a, an intermediate boom 30b, and a distal boom 30c. The boom 30 is telescopically moved by extending and contracting a telescopic cylinder (hydraulic cylinder) 31 provided inside the boom 30. Can be made.

  A vertical post 32 is provided at the tip of the boom 30, and a work table 40 for boarding a work vehicle is rotatably attached to the vertical post 32. The work table 40 can be swung in a horizontal plane with respect to the vertical post 32 by rotating a swing motor (hydraulic motor) 41 attached to the vertical post 32. Since the vertical post 32 is always held in a vertical posture by a balancing device (not shown), as a result, the floor surface of the work table 40 is always kept in a horizontal posture.

  The work table 40 is provided with an upper operation device 50, in which an operation operation of the boom 30, that is, a boom operation lever 51 for raising and lowering, extending and retracting the boom 30, and a swinging operation of the work table 40 are performed. A work table operating lever 52 is provided (see FIG. 1). For this reason, the operator (operator) OP who has boarded the work table 40 operates the boom operation lever 51 to raise, lower, expand, and rotate the boom 30, and operates the work table operation lever 52 to move the work table 40 to the vertical post. By swinging around 32, it is possible to freely move the work table 40 on which it is placed and perform work at a desired position at a desired position.

  The traveling body 10 includes one crawler traveling device 12 on each of the left and right sides of the frame 11. Each crawler traveling device 12 includes an activation wheel 12a attached to the rear part of the frame 11, an idler wheel 12b attached to the front part of the frame 11, and a crawler belt 12c wound around the activation wheel 12a and the idler wheel 12b. It is comprised. Each starter wheel 12a of the left and right crawler travel devices 12 is driven by rotating a sprocket (not shown) by travel motors (hydraulic motors) 13 and 14 (only the left travel motor 13 is shown in FIG. 2) attached to the frame 11. The left and right traveling motors 13 and 14 can be rotated and stopped as desired by operating the traveling operation levers 53 and 54 (see FIG. 1) provided in the upper operating device 50. it can.

  As shown in FIG. 1, the hydraulic pump P provided in the traveling body 10 is driven by a power source (not shown) such as an engine or an electric motor, and the hydraulic oil discharged from the hydraulic pump P controls the operation of the hoisting cylinder 22. Undulation cylinder control valve V1 to perform, telescopic cylinder control valve V2 to control the operation of the telescopic cylinder 31, swing motor control valve V3 to control the operation of the swing motor 21, swing motor control valve V4 to control the operation of the swing motor 41 And corresponding hydraulic actuators (the hoisting cylinder 22, the telescopic cylinder 31, the turning motor 21, the swing motor 41, and the left and right traveling motors 13) via the traveling motor control valves V5 and V6 for controlling the operation of the left and right traveling motors 13 and 14. , 14).

  When the boom operation lever 51 or the work table operation lever 52 is operated by the operator OP on the work table 40, an operation signal (voltage signal) corresponding to the operation direction (tilt direction) and the operation amount (tilt amount) of the lever is generated. Are output to the boom operation control unit 61 of the controller 60. The boom operation control unit 61 of the controller 60 then controls the spools (not shown) of the control valves V1, V2, V3, and V4 corresponding to the directions and amounts corresponding to the operation signals output by operating the levers 51 and 52. ) Is electromagnetically driven. Here, the drive direction of each spool of the control valves V1, V2, V3, V4 is related to the drive direction (extension or contraction or rotation direction) of the corresponding hydraulic actuator, and the drive amount of each spool is supplied to the corresponding hydraulic actuator. This is related to the flow rate of hydraulic oil (flow rate per unit time), that is, the operating speed of each hydraulic actuator. Therefore, when the drive direction of the spool of each control valve is reversed, the operation direction of the corresponding hydraulic actuator is reversed, and the operation speed of the corresponding hydraulic actuator increases as the drive amount of the spool of each control valve increases. Here, the voltage level of the operation signal output by the operation of the boom operation lever 51 or the work table operation lever 52 is substantially proportional to the operation amount, and the operator OP operates the operation amount of each operation lever 51, 52. It is possible to freely adjust the operating speed of the corresponding hydraulic actuator by adjusting.

  Further, when the left and right traveling operation levers 53 and 54 are operated by the operator OP, operation signals (voltage signals) corresponding to the operation direction (tilt direction) and the operation amount (tilt amount) are output. Input to the crawler operation control unit 62. The crawler operation control unit 62 then controls the spools (not shown) of the left and right traveling motor control valves V5 and V6 corresponding to the direction and amount corresponding to the operation signal output by operating the traveling operation levers 53 and 54. ) Is electromagnetically driven. Here, the drive directions of the spools of the control valves V5 and V6 are related to the rotation directions of the corresponding travel motors 13 and 14, and the drive amount of each spool is the flow rate of hydraulic oil supplied to the travel motors 13 and 14 ( (Flow rate per unit time), that is, the rotational speed (rotational speed) of the traveling motors 13 and 14. Therefore, when the drive direction of the spool of the control valve is reversed, the operation direction of the corresponding travel motors 13 and 14 is reversed, and the operation speed of the corresponding travel motors 13 and 14 increases as the drive amount of the spool of each control valve increases. growing.

  As shown in FIGS. 1 and 2, the aerial work vehicle 1 includes a hoisting angle detector 71 that detects the hoisting angle θ (see FIG. 3) of the boom 30, and a length L (see FIG. 3) of the boom 30. A length detector 72 to detect and a turning angle detector 73 to detect a turning angle φ (of the turning body 20) of the boom 30 are provided, and the undulation of the boom 30 detected by these detectors 71, 72, 73 is provided. Information on the angle θ, the length L, and the turning angle φ is input to the position calculation unit 63 of the controller 60 (see FIG. 1). Here, the position calculation unit 63 of the controller 60 calculates the position (θ, L, φ) of the tip of the boom 30 with respect to the traveling body 10 based on the information from the detectors 71, 72, 73, The calculated information is output to the boom operation control unit 61 of the controller 60 together with the detection information of the detectors 71, 72, 73 (see FIG. 1).

  The storage unit 64 of the controller 60 stores data of an allowable operation range S that is predetermined as an area in which the boom 30 can be operated without causing the traveling body 10 to fall. The outer edge of the allowable operation range S is an outer edge (referred to as an operation limit line) that is naturally defined from the relationship between the range in which the length of the boom 30 can be taken and the range in which the boom 30 can take up and down. However, from the viewpoint of preventing the traveling body 10 from toppling over (preventing the overturning moment from becoming excessive) or from other restrictions, the movement of the tip of the boom 30 must be prohibited. It is comprised from the outer edge (it calls a regulation line) set as a limit line.

  The allowable operation range S set in the aerial work vehicle 1 is, for example, as shown in FIG. 3, and the straight line L1, the straight line L2, the curved line L3, the curved line L4, the straight line L5, and the straight line L6 (the straight lines L5 and L6 are curved lines). However, here, it is assumed to be a straight line). A straight line L1, a straight line L2, a curved line L3, and a curved line L4 shown in FIG. 3 are operation limit lines, and a straight line L5 and a straight line L6 are restriction lines. In the following, the straight line L5 is referred to as a side restriction line L5 because it is a restriction line located on the side of the allowable operation region S, and the straight line L6 defines the lift limit of the boom 30 among the outer edges of the allowable operation range S. Therefore, it will be referred to as a head limit regulation line L6.

  In FIG. 3, a straight line L2 'and a curved line L4' indicated by broken lines are virtual operation limit lines that will be formed if the side regulation line L5 is not set, and straight lines L1 'and The curve L4 ″ is a virtual operation limit line that will be formed if the lift limit control line L6 is not set. That is, the side control line L5 and the virtual operation limit lines L2 ′ and L4 ′. And the region surrounded by the lift limit regulation line L6 and the virtual operation limit lines L1 ′, L4 ″ are regions where movement of the tip of the boom 30 is prohibited, and the side regulation line L5 and the lift are restricted. The limit regulation line L6 is a boundary line with the region where the movement of the tip of the boom 30 is prohibited. Since the side regulation line L5 and the lift limit regulation line L6 are part of the outer edge of the allowable operation range S, the data is stored in the storage unit 64 of the controller 60 as part of the data of the allowable operation range S. Yes.

  As can be seen from the above description, the tip of the boom 30 cannot move beyond the operation limit lines L1, L2, L3, and L4. However, the side of the boom 30 is lateral without any restriction on the operation of the boom 30. It is possible to move beyond the regulation line L5 or the head limit regulation line L6. Therefore, the boom operation control unit 61 of the controller 60 takes in the data of both the position of the tip of the boom 30 calculated by the position calculation unit 63 and the allowable operation range S stored in the storage unit 64 and compares them. It is determined that the boom 30 is about to exceed the allowable operation range S (the side regulation line L5 or the lift limit line L6) by a simple extension operation that does not involve the raising / lowering operation (the raising operation or the overturning operation). In some cases, the drive signal of the telescopic cylinder control valve V2 is corrected (in this case, the output is stopped), and the extension operation of the extension cylinder 31 (that is, the extension operation of the boom 30) is stopped. Therefore, the tip of the boom 30 does not move beyond the allowable operation range S, and the operator OP on the work table 40 can move the work table 40 without worrying about the vehicle falling over. be able to. Note that the control for causing the boom 30 to operate only within the pre-stored allowable operation range S by the operation control unit 61 of the controller 60 is a fall moment generated by the weight of the boom 30, the load of the work table 40, or the like. Thus, the traveling body 10 functions as an operation restricting device for the boom 30 so that the traveling body 10 does not fall down.

  On the other hand, the boom operation control unit 61 of the controller 60 is calculated by the position calculation unit 63 when performing the overturning operation of the boom 30 (including the overturning operation performed simultaneously with the extension operation in addition to the simple overturning operation). By comparing the position of the tip of the boom 30 with the allowable operation range S stored in the storage unit 64, the tip of the boom 30 tried to exceed the lateral regulation line L5 that is the outer edge of the allowable operation range S. When this is detected, the operation of the boom 30 is not stopped at that time, but the tip of the boom 30 is within the allowable operation range S (here, as an example, on the side regulation line L5). The expansion operation of the boom 30 is continued while the telescopic cylinder 31 is operated. Further, the boom operation control unit 61 of the controller 60 exceeds the lift limit regulation line L6 where the tip of the boom 30 is the outer edge of the allowable operation range S when the boom 30 is extended and tilted simultaneously. When it is detected, the operation of the boom 30 is not stopped at that time, but the tip of the boom 30 is within the allowable operation range S (here, as an example, lift limit restriction). While the telescopic cylinder 31 is being operated (so as to be positioned on the line L6), the boom 30 is continuously lowered.

  The boom operation control unit 61 of the controller 60 stores the position of the tip of the boom 30 calculated by the position calculation unit 63 and the storage unit 64 when the extension operation and the raising operation of the boom 30 are performed simultaneously. When it is detected that the tip of the boom 30 is about to exceed the lateral regulation line L5, which is the outer edge of the allowable operation range S, by comparing with the allowable operation range S, the operation of the boom 30 is performed at that time. Instead of stopping itself, while operating the telescopic cylinder 31 so that the tip of the boom 30 is within the allowable operating range S (here, as an example, it is positioned on the side regulation line L5). The raising operation of the boom 30 is continued. Furthermore, when the boom operation control unit 61 of the controller 60 performs the lifting operation of the boom 30 (including a simple lifting operation and a lifting operation performed simultaneously with the extension operation), the tip of the boom 30 is When it is detected that the lift limit regulation line L6, which is the outer edge of the allowable operation range S, is detected, the operation of the boom 30 is not stopped at that time, but the tip of the boom 30 is not in the allowable operation range. The hoisting operation of the boom 30 is continued while operating the telescopic cylinder 31 so as to be within S (here, as an example, so as to be positioned on the lift limit regulation line L6).

  As described above, the control for operating the boom 30 so that the tip of the boom 30 is positioned on the restriction line (the side restriction line L5 or the lift limit restriction line L6) is performed by the expansion / contraction operation amount of the expansion / contraction cylinder 31 (the expansion / contraction cylinder). This is done by correcting the drive signal of the control valve V2. Specifically, when the tip of the boom 30 is about to exceed the regulation line, a correction for reducing the extension operation speed of the extension cylinder 31 (or a correction for stopping the extension operation of the extension cylinder 31 or the extension cylinder 31 is contracted). Correction), when the tip of the boom 30 is positioned inside the regulation line, the correction for increasing the extension operation speed of the telescopic cylinder 31 (or the correction for extending the telescopic cylinder 31 or the contraction operation of the telescopic cylinder 31 is stopped. Correction) is performed to bring the tip of the boom 30 closer to the regulation line. The above-described control performed by the operation control unit 61 of the controller 60 does not stop the operation of the boom 30 when the tip of the boom 30 exceeds the allowable operation range S. This corresponds to a non-stop operation control function that allows the boom 30 to continue the inclining operation while correcting the boom 30 so that the boom 30 falls within the allowable operation range S.

Figure 4 is when the tip of the boom 30 is performing a decompression operation of the boom 30 from a state in the position P ₁₁ lodging operating at the same time, the tip of the boom 30 is about to exceed the lateral regulation line L5 ( This is an example of when In this case, after the tip of the boom 30 reaches the side regulation line L5, the lowering operation of the boom 30 is continued while being controlled to be positioned on the side regulation line L5. It will move down smoothly along the side regulation line L5. Here, P ₁₂ shown in the figure indicates a position where the tip of the boom 30 has reached the side regulation line L5, P ₁₃ represents the position in the movement along the side regulation line L5. When the boom 30 is operated to contract by the boom operation lever 51 while the tip of the boom 30 is moving along the side regulation line L5, the boom operation control unit 61 of the controller 60 is Since the control for operating the boom 30 is performed according to the operation input of the boom operation lever 51, the tip of the boom 30 moves downward while entering the region inside the side regulation line L5.

Further, FIG. 5 shows that the boom 30 is lifted when the boom 30 is extended and laid down at the same time from the position P ₂₁ near the lift limit regulation line L6. An example in the case where the limit regulation line L6 is about to be reached (reached) is shown. In this case, after the boom 30 has been controlled to be positioned on the lift limit restriction line L6 after reaching the lift limit restriction line L6, the boom 30 is continuously lowered, so that the tip of the boom 30 is It moves smoothly (in the direction away from the traveling body 10) along the lift limit regulation line L6. Here, P ₂₂ shown in the figure indicates a position that has reached the lift limit restriction line L6, and P ₂₃ indicates a position that is moving along the lift limit restriction line L6. In addition, while the front-end | tip part of the boom 30 was moving along the lift limit restriction line L6, the boom operation lever 51 was operated to stop the extension operation of the boom 30, or the boom 30 was operated to contract. In this case, the boom operation control unit 61 of the controller 60 performs control to operate the boom 30 in accordance with the operation input of the boom operation lever 51, so that the tip portion of the boom 30 is located in an area inside the lift limit restriction line L6. It will move down while entering.

6 when the tip of the boom 30 is performed from the state at a position P ₃₁ and the extending action and Okoshiossha operation of the boom 30 at the same time, the tip of the boom 30 is about to exceed the lateral regulation line L5 An example of the case of (reached) is shown. In this case, after the boom 30 is controlled so as to be positioned on the side regulation line L5 after reaching the side regulation line L5, the boom 30 is continuously raised and raised. Smoothly moves upward along the side regulation line L5. Here, P ₃₂ shown in the figure indicates a position reaching to the side regulation line L5, P ₃₃ represents the position in the movement along the side regulation line L5. In addition, while the front-end | tip part of the boom 30 was moving along the side regulation line L5, stop operation | movement of extension operation | movement of the boom 30 by the boom operation lever 51 was performed, or contraction operation operation of the boom 30 was made. In this case, the boom operation control unit 61 of the controller 60 performs control for operating the boom 30 in accordance with the operation input of the boom operation lever 51, so that the distal end portion of the boom 30 is in an area inside the side regulation line L5. Ascend and move up.

Further, when 7 are carried out simultaneously the extending action and Okoshiossha operation of the boom 30 from a state in the position P ₄₁ in the vicinity of the tip lift limit regulation line L6 of the boom 30, the tip of the boom 30 An example of a case where the head limit regulation line L6 is about to be reached (reached) is shown. In this case, since the tip of the boom 30 is controlled to be positioned on the lift limit restriction line L6 after reaching the lift limit restriction line L6, the raising operation of the boom 30 is continued. Moves smoothly (in a direction approaching the traveling body 10) along the lift limit regulation line L6. Here, P ₄₂ shown in the figure shows the position reached lift limit regulating line L6 initially, P ₄₃ represents the position in the movement along the lift limit regulation line L6. When the boom 30 is operated to be contracted by the boom operation lever 51 while the tip of the boom 30 is moving along the lift limit regulation line L6, the boom operation control unit 61 of the controller 60 is Since the control for operating the boom 30 is performed according to the operation input of the boom operation lever 51, the tip of the boom 30 moves in a state of entering the area inside the lift limit restriction line L6.

  As described above, according to the control device for an aerial work vehicle 1 shown in the present embodiment, when the extension operation and the undulation operation of the boom 30 are performed simultaneously, the distal end portion of the boom 30 is within the allowable operation range S. (The side restriction line L5 or the lift limit restriction line L6) is set so that the tip of the boom 30 is within the allowable operating range S (here, the side restriction line L5 or the lift limit restriction line L6). Since the boom 30 is continued to be lifted while being controlled (so that it is positioned above), the tip of the boom 30 is not moved unless the operation input for contracting the boom 30 is performed together with the operation input for raising and lowering the boom 30. It moves smoothly along the restriction line (side restriction line L5 or lift limit restriction line L6). For this reason, workability is significantly improved as compared with the conventional case where the operation of the boom 30 is stopped when the end of the boom 30 exceeds the allowable operation range S.

  The preferred embodiments of the present invention have been described so far, but the scope of the present invention is not limited to those shown in the above-described embodiments. For example, the shape of the allowable operation range S shown in the above-described embodiment is merely an example, and may have other shapes. Moreover, in the above-mentioned embodiment, after the front-end | tip part of the boom 30 reaches the regulation line (the side regulation line L5 or the lift limit regulation line L6), the front-end | tip part of the boom 30 moves along the regulation line. However, it is only necessary that the tip of the boom 30 moves within the allowable operation range S, and the boom 30 moves along a line parallel to the restriction line provided within the allowable operation range S. It is good.

  Further, in the above-described embodiment, the control for operating the boom 30 so that the tip end portion of the boom 30 is within the allowable operation range S (located on the regulation line L5 or L6) is performed by the expansion / contraction operation amount ( However, instead of correcting the expansion / contraction operation amount of the expansion / contraction cylinder 31, or correcting the expansion / contraction operation amount of the expansion / contraction cylinder 31. At the same time, by correcting the amount of expansion / contraction operation of the hoisting cylinder 22 (the hoisting cylinder control valve V1) (specifically, correction for increasing the operating speed of the hoisting cylinder 22), the tip of the boom 30 is within the allowable operating range S. You may make it fit. That is, in the present invention, the boom operation control unit 61 of the controller 60 performs the boom 30 calculated by the position calculation unit 63 when the boom 30 is operated by the operation of the boom operation lever 51 to simultaneously perform the extension operation and the undulation operation of the boom 30. At least one of the telescopic cylinder 31 and the hoisting cylinder 22 is arranged so that the position of the tip of the boom 30 is within the allowable operating range S when the position of the leading end exceeds the allowable operating range S stored in the storage unit 64. It is only necessary that the operation of the boom 30 is continued by correcting one of the operation amounts.

  In the above-described embodiment, the object to which the present invention is applied is an aerial work vehicle whose traveling body is a crawler type, but the traveling body may not necessarily be a crawler type. Further, the object to which the present invention is applied is not necessarily an aerial work vehicle, and any other vehicle (if it is a boom work vehicle having a boom provided on a traveling body so that it can be raised and lowered and telescopically movable. For example, a crane car or a digging pillar car may be used.

It is a block diagram which shows the operating system of the boom of an aerial work vehicle provided with the control apparatus which concerns on one Embodiment of this invention. It is a side view of the aerial work vehicle. It is a figure which shows an example of the allowable operation | movement range set to the said aerial work vehicle. It is a figure which shows the example in case the front-end | tip part of a boom reaches the side regulation line L5, when performing the expansion | extension operation | movement of a boom and the fall operation | movement simultaneously. It is a figure which shows the example in case the front-end | tip part of a boom reaches the lift limit control line L6, when performing the expansion | extension operation | movement of a boom and the fall operation | movement simultaneously. It is a figure which shows the example when the front-end | tip part of a boom reaches the side regulation line L5 when performing the expansion | extension operation | movement and raising operation | movement of a boom simultaneously. It is a figure which shows the example when the expansion | extension operation | movement of a boom and raising operation | movement are performed simultaneously, and the front-end | tip part of a boom reaches the lift limit control line L6.

Explanation of symbols

1 High-altitude work vehicle (boom work vehicle)
DESCRIPTION OF SYMBOLS 10 Traveling body 22 Hoisting cylinder 30 Boom 31 Telescopic cylinder 51 Boom operation lever (boom operation means)
60 controller 61 boom operation control section (boom operation control means)
63 Position calculation section (boom tip position calculation means)
64 storage unit (storage means)
71 Relief angle detector (relief angle detection means)
72 Length detector (length detection means)
S Allowable operating range L5 Restriction line L6 Lift limit restriction line

Claims (2)

A traveling body, a boom that is provided on the traveling body and can be undulated by the expansion and contraction operation of the undulation cylinder and can be expanded and contracted by the expansion and contraction operation of the expansion cylinder, and a boom operation that performs the undulation and expansion and contraction operation of the boom A boom working vehicle control apparatus comprising: a means for operating the hoisting cylinder and the telescopic cylinder at an operating speed corresponding to the operation of the boom operating means;
Undulation angle detection means for detecting the undulation angle of the boom;
Length detection means for detecting the length of the boom;
A boom tip position calculating means for calculating the position of the tip of the boom based on the boom raising and lowering angle detected by the hoisting angle detecting means and the length of the boom detected by the length detecting means;
Storage means for storing a predetermined allowable operating range as a region where the tip of the boom can be moved,
When the boom operation control means performs the boom extension operation and the undulation operation simultaneously by operating the boom operation means, the position of the tip of the boom calculated by the boom tip position calculation means is determined. Extension of the telescopic cylinder corresponding to the operation of the boom operating means so that the position of the tip of the boom is within the allowable operating range when the allowable operating range stored in the storage means is about to be exceeded. Correction is performed to reduce the operating speed, the telescopic cylinder is expanded and contracted at the corrected operating speed to extend and retract the boom, and the hoisting cylinder is expanded and contracted at an operating speed corresponding to the operation of the boom operating means. boom work vehicle control device, characterized in that to continue relief operation of the boom Te. When the boom operation control means performs the boom extension operation and the undulation operation simultaneously by operating the boom operation means, the position of the tip of the boom calculated by the boom tip position calculation means is determined. Corresponding to the operation of the boom operation means so that the position of the tip of the boom is located on the regulation line that is the outer edge of the allowable operation range when the allowable operation range stored in the storage means is about to be exceeded Performing a correction to reduce the extension operating speed of the telescopic cylinder, and extending and retracting the boom by operating the telescopic cylinder at the corrected operating speed, while operating the boom at the operating speed corresponding to the operation of the boom operating means. The boom working vehicle control device according to claim 1, wherein the hoisting operation of the boom is continued by extending and lowering the hoisting cylinder.

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