JPH1053400A - Boom predetermined trajectory control device for boom type working machine - Google Patents

Abstract

(57) Abstract: In a boom predetermined trajectory control device of a boom type working machine having at least one hydraulic cylinder as boom drive means 7, hydraulic cylinders 3, 4 are controlled during the control. Prevents the control from suddenly stopping without any warning when the mechanical operation limit is reached. SOLUTION: The control is provided with an operation limit detecting means for detecting a mechanical operation limit of hydraulic cylinders 3 and 4, and an audio notifying means 15 for notifying by sound that the hydraulic cylinder has reached a mechanical operation limit. Sound notification means when the operation limit detection means detects the mechanical operation limit of the hydraulic cylinder during
15 was activated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a boom predetermined trajectory control device for a boom type working machine such as an aerial work vehicle, and more particularly to a boom provided with at least one hydraulic cylinder as boom driving means. The present invention relates to a boom predetermined trajectory control device for a working machine.

[0002]

2. Description of the Related Art A conventional boom predetermined trajectory control device for a boom type working machine has a telescopic boom configured to be able to raise and lower and expand and contract by a raising and lowering cylinder and a telescopic cylinder. FIG. 3 shows an example of a boom predetermined trajectory control device for an aerial work vehicle configured to perform a maintenance or inspection work on a wall or a bridge by automatically controlling a work table mounted on a front end of the work machine in a horizontal or vertical direction. And FIG.

In FIG. 3, reference numeral A denotes an aerial work vehicle, which includes a swivel 2 which is rotatably mounted on a rear frame 1a of a vehicle 1, and an up-and-down drive by an up-and-down cylinder 3 on the swivel 2. And a telescopic boom 5 which is mounted to be telescopically driven by a telescopic cylinder 4, and a work which is mounted on the tip of the telescopic boom 5 so that the floor surface is always horizontal regardless of the movement of the boom. And a worktable 6 for passengers. The up-and-down cylinder 3 and the telescopic cylinder 4 constitute a boom driving means 7.

In the aerial work vehicle A constructed as described above, an operator rides on the work table 6 and drives the turn table 2 to drive a turn drive motor (not shown) to turn the turn table 2. The worktable 6 is moved to a position close to the work surface by moving the telescopic boom 5 arbitrarily up and down by driving the undulating cylinder 3 and the telescopic cylinder 4, and the worker moves on the worktable 6. And perform various tasks.

[0005] This type of aerial work vehicle A is often used for maintenance and inspection work of a wall surface, a bridge, and the like because an operator can move on the work table 6 to perform various works. This type of work requires that the work table 6 be moved horizontally or vertically along a work surface such as a wall surface or a bridge while the work is performed. Must be used in combination, and the operation requires skill.

Therefore, in the recently developed aerial work vehicle A, when a worker indicates a driving direction and a driving speed, the working machine automatically calculates the driving amounts of the up-and-down cylinder 3 and the telescopic cylinder 4. A boom predetermined trajectory control device that controls the work table 6 in a horizontal or vertical direction to reduce the burden on the operator is provided.

The boom predetermined trajectory control device includes a work table 6
Operation input means 9 for inputting a driving direction and a driving speed for moving the armature to a later-described beam control means 10, and an operation signal from the operation input means 9 and an elevation angle for detecting the elevation angle of the telescopic boom 5. Each of the detection signals from the detection means 11 and the beam length detection means 12 for detecting the length of the boom of the telescopic boom 5 is received.
The up / down control valve 13 for controlling the up / down cylinder 3 based on the amount of drive of the up / down cylinder 3 and the amount of drive of the telescopic cylinder 4 required to move the tip of the cylinder in the horizontal or vertical direction is calculated. Telescopic control valve that controls 4
14 and a beam control means 10 for outputting control signals.

When the operation signal relating to the driving direction and the driving speed is inputted from the operation input means 9 to the boom control means 10 in the boom predetermined trajectory control device thus constituted,
Based on the operation input and each detection signal regarding the current state of the telescopic boom 5 input from the elevation angle detecting means 11 and the boom length detecting means 12, based on a program stored in a ROM (not shown) or the like, The amount of drive of the up / down cylinder 3 and the amount of drive of the telescopic cylinder 4 required to drive the tip of the boom 5 in the horizontal or vertical direction are calculated, and based on the drive amounts, the up / down control valve 13 and the telescopic control valve 14 are calculated. The control signal is output to the Therefore, the up-and-down cylinder 3 and the telescopic cylinder 4 are simultaneously driven based on the driving amount calculated by the boom control means 10, and the tip of the telescopic boom 5 is driven in the horizontal or vertical direction. .

[0009]

However, in this type of conventional boom predetermined trajectory control device, the hydraulic actuator to be controlled has an up-and-down cylinder 3 and a telescopic cylinder 4 whose operating range is mechanically limited. Therefore, if any one of the cylinders 3 and 4 reaches the operation limit during the predetermined boom trajectory control, the control is disabled and the control is stopped. At this time, the operator suddenly stops the control without any warning, so he can not determine at all what the cause of the stoppage of the control, misunderstanding that the work equipment has failed, and can take quick action There was no problem.

The present invention has been made in view of the above circumstances. When the hydraulic cylinder of the boom driving means reaches the operation limit during the predetermined boom trajectory control and the control is stopped, the control is stopped. An object of the present invention is to provide a boom predetermined trajectory control device of a boom type working machine which can promptly respond by notifying an operator of the cause.

[0011]

In order to achieve the above object, the present invention has the following effective means for solving the problems. That is, the boom predetermined trajectory control device for a boom type working machine according to the present invention comprises: operation input means for inputting a driving direction and a driving speed; and boom driving means for driving a boom. A plurality of hydraulic actuators each including a plurality of hydraulic cylinders, the plurality of hydraulic actuators including: a plurality of hydraulic actuators; the plurality of hydraulic actuators including: a plurality of hydraulic actuators; In a boom predetermined trajectory control device of a boom type working machine having a boom control means for outputting a drive signal to a hydraulic actuator, an operation limit detection for detecting a mechanical operation limit of the hydraulic cylinder Means, comprising a sound notification means for notifying by sound that the hydraulic cylinder has reached the mechanical operation limit,
An operation signal is inputted from the operation input means, and the voice notification means is activated when the operation limit detection means detects a mechanical operation limit of the hydraulic cylinder.

As described above, in the configuration of the predetermined boom trajectory control device of the present invention, the operation limit detection for detecting the mechanical operation limit of the hydraulic cylinder in the boom driving device during the predetermined boom trajectory control. Means and a sound notifying means for notifying by a sound that the hydraulic cylinder has reached a mechanical operation limit, so that the operation limit detecting means detects the hydraulic cylinder during the predetermined boom trajectory control by the boom control means. If the mechanical operation limit is detected, the audio notification means is activated and the control is stopped, so that it is notified by voice that the hydraulic cylinder has reached the mechanical operation limit and the control has been disabled. is there. Therefore, the operator can easily understand the cause of the stoppage of the control, and can take quick action.

[0013]

As a result of the above, according to the boom predetermined trajectory control device of the boom type working machine of the present invention, the operator can adjust the hydraulic cylinder of the boom driving device during the predetermined boom trajectory control. When the control is stopped due to a temporary operation limit, the cause of the stop can be easily grasped by voice notification, and a prompt response can be made.

[0014]

1 and 2 show an embodiment of the present invention.
It will be described based on. FIG. 1 is a block diagram of the present embodiment.
FIG. 2 is a flowchart showing a process of voice notification.

The predetermined-boom trajectory control device according to the present embodiment is configured, for example, as shown in FIG. 1, and is different from the conventional boom-predetermined trajectory control device shown in FIG.
The difference is that the voice notification means 15 is added, and the voice notification processing for detecting the mechanical operation limit of the hydraulic cylinder and reporting the voice is added to the arithmetic processing by the boom control means 16.
For this reason, a description will be given of the process of voice notification added to the voice notification means 15 and the boom control means 16, and a description of parts equivalent to those of the conventional boom predetermined locus control device will be omitted.

When the up-and-down cylinder 3 becomes a mechanical operation limit and the control becomes impossible, for example, the voice notification means 15 of the present embodiment reads, “The up-and-down cylinder has reached the stroke end and the control has been stopped. Is notified by voice. Further, when the telescopic cylinder 4 becomes a mechanical operation limit and the control becomes impossible, for example, it is configured to notify by voice that "the telescopic cylinder has become a stroke end and control has been stopped." Note that the audio notification by the audio notification unit 15 of the present embodiment
The present invention is not limited to the above notification example, but may be configured to notify, for example, that "extension of the up / down cylinder has reached the stroke end and control has stopped."

The operating limit detecting means of this embodiment can detect the operating state of the undulating cylinder 3 from the detection signal of the undulating angle detecting means 11, and can detect the operating state of the telescopic cylinder 4 by the beam length detection. Utilizing the fact that it can be grasped from the detection signal of the means 12, the mechanical operation limit of the up-and-down cylinder 3 and the telescopic cylinder 4 is detected by the arithmetic processing of the boom control means 16 based on both detection signals. Make up. The detection of the mechanical operation limit position of the hydraulic cylinder by the operation limit detection means may be configured to detect the mechanical operation limit position of the hydraulic cylinder itself. It may be configured to detect a position slightly before. Further, a limit switch, a proximity switch, and the like are arranged at a mechanical operation limit position of the undulating cylinder 3 and a mechanical operation limit position of the telescopic cylinder 4, respectively, so that the operation limit position is mechanically detected. Is also good.

The beam control means 16 of the present embodiment is constituted by a microcomputer, and a ROM (not shown)
The arithmetic processing is performed based on a program stored in the storage device. In addition, the boom control means 16 is provided with a micro-load control device (not shown) which is conventionally provided in the work vehicle to prevent the work vehicle from being overloaded and falling down. You may comprise using a computer.

The beam control means 16 of the present embodiment firstly outputs a sound based on the operation signal from the operation input means 9 and the respective detection signals from the undulation angle detecting means 11 and the beam length detecting means 12. After performing the notification processing, the processing of the boom predetermined trajectory control is performed. Hereinafter, the added voice notification processing will be described with reference to the processing flowchart shown in FIG. The description of the process of the predetermined boom trajectory control is omitted.

When the voice notification process is started, first, in step 1, the boom undulation angle θ and boom of the current telescopic boom 5 are detected from the undulation angle detection means 11 and the boom length detection means 12. -Take in the length L.

Next, in step 2, the raising limit reference value θmax and the falling limit reference value θmin corresponding to the mechanical operation limit of the raising and lowering cylinder 3 stored in the ROM in advance, and the mechanical The extension limit reference value Lmax and the reduction limit reference value Lmin corresponding to the operation limit are read out.

Next, in step 3, it is determined whether or not the current boom angle θ of the telescopic boom 5 matches the elevation limit reference value θmax and whether or not it matches the lodging limit reference value θmin. When θ = θmax and θ = θmin, the process proceeds to step 4; otherwise, the process proceeds to step 5.

In step 4, θ = θmax in step 3,
And θ = θmin, that is, when it is determined that the up-and-down cylinder 3 has reached the mechanical operation limit. In this step, it is determined whether or not the driving direction of the up-and-down cylinder 3 currently output from the boom control means 16 is the driving in the operation limit direction. Proceeding, for example, is notified by voice such as "The up-and-down cylinder has reached the stroke end and control has stopped." Otherwise, the process proceeds to step 5. This step is provided so as not to output the audio notification more than necessary.

Next, at step 5, it is determined whether or not the current boom length L of the telescopic boom 5 matches the extension limit reference value Lmax and whether or not it matches the reduction limit reference value Lmin. When L = Lmax and L = Lmin, the process proceeds to step 6, otherwise, a series of processes is terminated.

In step 6, L = Lmax in step 5,
And L = Lmin, that is, when it is determined that the telescopic cylinder 4 has reached the mechanical operation limit. In this step, it is determined whether or not the drive direction of the telescopic cylinder 4 currently output from the boom control means 16 is in the operation limit direction. Proceeding, for example, is notified by voice such as "The telescopic cylinder has reached the stroke end and control has stopped." In other cases, the series of processing ends. This step is provided in order to prevent the voice notification from being output more than necessary, similarly to the step 4.

Step 7 is a step for performing voice notification as described in steps 4 and 6 above. The voice data corresponding to the content of the voice notification is selected, and the voice data is transmitted to the voice notification means 15. Instructs the start of notification. Then, the completion of the voice notification by the voice notification means 15 is detected, and the series of processing ends.

Voice notification is performed by the above series of processing.

Further, the beam driving device of the present embodiment
Although it is composed of two hydraulic cylinders, ie, the up-and-down cylinder 3 and the telescopic cylinder 4, it is also possible to use a slewing drive motor (not shown) for slewing the swivel 2 and the up-and-down cylinder 3. Further, it is also possible to comprise a turning drive motor (not shown), an up-and-down cylinder 3 and a telescopic cylinder 4. In this case, since the turning drive motor has no mechanical operation limit mechanically, it is sufficient to detect the mechanical operation limit only for the up-and-down cylinder 3 and the telescopic cylinder 4.

In the predetermined trajectory control device for the boom according to the present embodiment, the hydraulic cylinder in the boom drive device is set to a mechanical operation limit during the predetermined trajectory control of the boom. When the operation becomes impossible, the operation limit detection means detects the mechanical operation limit of the hydraulic cylinder,
Based on the result of the detection, the voice notifying means gives a voice notification that the cause of the control stop is the mechanical operation limit of the hydraulic cylinder, so that the operator can easily understand the cause of the control stop. You can do it. Therefore, the operator can take prompt action based on the cause notified by the voice notification.

[Brief description of the drawings]

FIG. 1 is a block diagram of a boom predetermined trajectory control device according to an embodiment of the present invention.

FIG. 2 is a processing flowchart of the boom predetermined trajectory control device according to the embodiment of the present invention.

FIG. 3 is a side view of an aerial work vehicle equipped with a conventional boom predetermined trajectory control device.

FIG. 4 is a block diagram of a conventional boom predetermined trajectory control device.

[Explanation of symbols]

 Reference Signs List A Aerial work vehicle 1 Vehicle 1a Vehicle frame 2 Revolving base 3 Raising / lowering cylinder 4 Telescoping cylinder 5 Telescoping boom 6 Work bench 7 Boom driving means 9 Operation input means 11 Hoisting angle detecting means 12 Boom length Detecting means 13 Up / down control valve 14 Telescopic control valve 15 Voice notification means 16 Boom control means

Claims (1)

[Claims] An operation input means for inputting a driving direction and a driving speed, and a boom driving means for driving a boom, comprising a plurality of hydraulic actuators including at least one hydraulic cylinder. Boom drive means, boom control means for outputting drive signals to the plurality of hydraulic actuators based on an input signal from the operation input means, so that the tip of the boom moves along a predetermined trajectory; In the boom predetermined trajectory control device for a boom type working machine, the operating limit detecting means for detecting a mechanical operating limit of the hydraulic cylinder, and the hydraulic cylinder has reached a mechanical operating limit. Voice notification means for notifying by voice, when the operation signal is input from the operation input means, the operation limit detection means activates the voice notification means when the mechanical limit of the hydraulic cylinder is detected Bed and characterized by being configured so as to - beam type working machine of the probe - arm predetermined locus control system.