JP2010076904A5 - - Google Patents
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- JP2010076904A5 JP2010076904A5 JP2008247753A JP2008247753A JP2010076904A5 JP 2010076904 A5 JP2010076904 A5 JP 2010076904A5 JP 2008247753 A JP2008247753 A JP 2008247753A JP 2008247753 A JP2008247753 A JP 2008247753A JP 2010076904 A5 JP2010076904 A5 JP 2010076904A5
- Authority
- JP
- Japan
- Prior art keywords
- boom
- turning
- tip
- distance
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Claims (3)
前記走行体上に旋回、起伏、伸縮作動自在に設けられたブームと、
前記ブームの作動を操作する操作装置と、
前記操作装置からの操作信号に基づいて前記ブームの作動を制御する作動制御手段と、
前記ブームの先端部の位置を検出する位置検出手段と、
前記ブームの旋回作動面内において前記ブームの先端部の高さ位置毎に定まる前記ブームの先端部の移動が禁止される領域との境界線上に若しくは前記境界線よりも内側の領域内に設けられた規制線上のデータを記憶した記憶手段と、
前記操作装置からの操作信号に基づいて前記ブームの旋回作動が行われたときから所定時間後における前記ブームの旋回位置を算出する目標位置算出手段と、
前記ブームの旋回作動面内において前記位置検出手段により検出される前記ブームの先端部の高さ位置毎に定まる前記規制線上のデータを前記記憶手段から読み出して、前記目標位置算出手段により算出される前記ブームの第1所定時間後の旋回位置における旋回中心から前記規制線までの第1距離と前記ブームの第2所定時間後の旋回位置における前記旋回中心から前記規制線までの第2距離とを比較して、前記第1距離と前記第2距離との差が予め設定された所定の閾値を超える大きさであるときに、前記操作装置からの操作信号に基づいて作動される前記ブームの旋回作動速度を減速制御させる作動速度制御手段とを備えて構成されるブーム作業車の制御装置。 A traveling body,
A boom provided on the traveling body so as to freely turn, undulate and extend;
An operating device for operating the boom;
An operation control means for controlling the operation of the boom based on an operation signal from the operation device;
Position detecting means for detecting the position of the tip of the boom;
Provided on the boundary line with the region where the movement of the tip of the boom, which is determined for each height position of the tip of the boom, is prohibited in the turning operation surface of the boom or in the region inside the boundary. Storage means for storing data on the regulation line;
Target position calculating means for calculating a turning position of the boom after a predetermined time from when the turning operation of the boom is performed based on an operation signal from the operation device;
Data on the regulation line determined for each height position of the tip of the boom detected by the position detecting means within the turning operation surface of the boom is read from the storage means and calculated by the target position calculating means. A first distance from the turning center at the turning position after the first predetermined time of the boom to the restriction line and a second distance from the turning center to the restriction line at the turning position after the second predetermined time of the boom. In comparison, when the difference between the first distance and the second distance exceeds a predetermined threshold value set in advance, the turning of the boom operated based on the operation signal from the operation device A control device for a boom working vehicle comprising operating speed control means for controlling the operating speed to decelerate.
前記ブームの旋回作動に併せて前記ブームの収縮作動が行われたときに、前記ブームを収縮作動させる収縮作動速度が前記許容作動速度設定手段に設定された前記許容収縮作動速度を超える場合に、前記ブームの旋回作動を停止もしくは前記ブームの旋回作動を減速制御させる作動規制手段とを更に備えて構成されることを特徴とする請求項1または2に記載のブーム作業車の制御装置。 An allowable operating speed setting means in which an allowable contracting operating speed is set as a limit speed at which the boom can be contracted;
When the boom contraction operation is performed in conjunction with the boom turning operation, the contraction operation speed for contracting the boom exceeds the allowable contraction operation speed set in the allowable operation speed setting means , The control apparatus for a boom working vehicle according to claim 1 or 2, further comprising operation restriction means for stopping the turning operation of the boom or decelerating and controlling the turning operation of the boom.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008247753A JP5547884B2 (en) | 2008-09-26 | 2008-09-26 | Boom work vehicle control device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008247753A JP5547884B2 (en) | 2008-09-26 | 2008-09-26 | Boom work vehicle control device |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2010076904A JP2010076904A (en) | 2010-04-08 |
JP2010076904A5 true JP2010076904A5 (en) | 2011-11-10 |
JP5547884B2 JP5547884B2 (en) | 2014-07-16 |
Family
ID=42207801
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008247753A Active JP5547884B2 (en) | 2008-09-26 | 2008-09-26 | Boom work vehicle control device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP5547884B2 (en) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102502432B (en) * | 2011-09-30 | 2014-01-15 | 中联重科股份有限公司 | Oil cylinder amplitude-variable suspension arm and linear velocity control method and device thereof |
JP5982126B2 (en) * | 2012-02-02 | 2016-08-31 | 株式会社タダノ | Work machine |
CN103241666B (en) * | 2012-02-14 | 2015-12-16 | 上海振华重工(集团)股份有限公司 | Floating crane runs intelligent monitor system |
JP2015048209A (en) * | 2013-09-02 | 2015-03-16 | 東日本旅客鉄道株式会社 | Crane device, track crane, and operation range control method of crane device |
JP6511387B2 (en) * | 2015-11-25 | 2019-05-15 | 日立建機株式会社 | Control device for construction machine |
CN106006417B (en) * | 2016-08-17 | 2019-03-19 | 徐州重型机械有限公司 | A kind of monitoring system and method that crane hook is swung |
JP2018203389A (en) * | 2017-05-30 | 2018-12-27 | 株式会社タダノ | Movement propriety determination device |
CN111874812B (en) * | 2020-07-31 | 2023-01-06 | 三一汽车起重机械有限公司 | Direction adjusting system, direction adjusting method and engineering machinery |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0328196U (en) * | 1989-07-31 | 1991-03-20 | ||
JP4388738B2 (en) * | 2002-11-29 | 2009-12-24 | 株式会社アイチコーポレーション | Boom operation control device for aerial work platforms |
JP4452048B2 (en) * | 2003-09-01 | 2010-04-21 | 株式会社アイチコーポレーション | Boom operation control device for aerial work platforms |
JP4643980B2 (en) * | 2004-12-14 | 2011-03-02 | 株式会社アイチコーポレーション | Non-stop operation control device for boom work vehicle |
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2008
- 2008-09-26 JP JP2008247753A patent/JP5547884B2/en active Active
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