JPH0729760B2 - Operating device of hydraulic control device in hydraulic working machine - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating device for a hydraulic control device in a hydraulic working machine such as a hydraulically driven aerial work vehicle.

(Prior Art) As shown in FIG. 1, a hydraulically driven aerial work vehicle 1 has a revolving base 2 mounted on a vehicle body, and a telescopic boom 3 having a work bucket 4 attached to the tip thereof so as to be movable up and down. The work bucket 4 can be set at any two-dimensional position by expanding and contracting the telescopic boom 3 by the telescopic cylinder 6 housed therein and by hoisting the hoisting cylinder 5. (Note that the work bucket 4 can be set to any three-dimensional position by turning the turning base 2 in addition to the above).

Here, as a mode of the moving operation of the work bucket 4 in a two-dimensional plane, a vertical elevating operation for vertically moving the work bucket 4 vertically along the vertical line l ₁ and a horizontal line l ₂ for the work bucket 4 are performed. There is a horizontal movement operation that horizontally moves the boom in the front-back direction.

When vertically moving or horizontally moving the work bucket 4 in this manner, it is necessary to accurately extend and retract the undulating cylinder 5 and the telescopic cylinder 6 at a predetermined ratio at the same time.
One method for automatically performing this is, for example, an invention prior to the present invention (see Japanese Patent Laid-Open No. 59-177295).

By the way, in the operating device of the invention of the prior application, for example, when the work bucket is vertically moved up and down, the operation of the boom hoisting hydraulic cylinder is driven and the operation of the boom telescopic hydraulic cylinder is driven, and the operation amount of the hoisting hydraulic cylinder ( That is, the boom expanding / contracting hydraulic cylinder is appropriately expanded / contracted in accordance with the boom hoisting speed) and the direction thereof, thereby vertically lifting the work bucket. That is, by operating the driven-side hydraulic cylinder in association with the operation of the leading-side hydraulic cylinder, the work bucket can be vertically moved or moved horizontally.

(Object of the Invention) The present invention takes the technical idea of the conventional operating device for a hydraulic working machine one step further, and provides these two hydraulic actuators by an operating lever without distinguishing them from driving and driven. Only the information on the moving speed and moving direction of the work bucket is used to expand and contract at the same time at a predetermined ratio, so that the work bucket can be moved vertically or horizontally or along a set trajectory such as horizontal movement more accurately and smoothly to improve operability. It is an object of the present invention to provide an operating device for a hydraulic control device in a hydraulic working machine that is improved.

(Means for Achieving the Object) As a means for achieving the above object, the present invention is a two-dimensional system comprising two hydraulic actuators whose driving directions and driving speeds are controlled by respective hydraulic control devices. In an operating device of each of the hydraulic control devices of a working machine having a work unit whose upper position can be arbitrarily set, the operating devices of the hydraulic control devices are respectively connected to the two hydraulic actuators and are related to a current operating position of the corresponding hydraulic actuator. First and second electric current position related electric signal generating means for generating an electric signal, a driving locus information setting unit for outputting driving locus information related to the driving locus of the working unit, and the driving locus by tilting operation of the operation lever. Operation signal generating means for generating a signal relating to the moving direction and speed of the working unit on the locus set by the information setting unit; Means for receiving the signals from the means, the first and second electric current position-related electric signal generating means, and the drive locus information setting portion, and for arithmetically outputting the electric signals for operating the respective hydraulic control devices from these signals. Computation unit: a) Computation and calculation of the ratio of the operation amount of each hydraulic control device required when the working unit is moved along the trajectory set by the drive trajectory information setting unit. B) A calculation unit configured to distribute a signal relating to the drive speed from the operation signal generating means in accordance with the calculated ratio and output the distribution result as a control signal to the corresponding hydraulic control device. It consists of, and.

(Operation) In the present invention, when the operation lever is appropriately tilted by the above means, a signal relating to the moving direction and the moving speed of the working unit on the preset locus is output accordingly. Based on the signals related to the moving direction and speed of the parts, the electric signals related to the current operating positions of the two actuators respectively controlled by the two hydraulic control devices, and the driving trajectory information of the working unit, The calculation unit calculates and calculates the ratio of the operation amounts of the respective hydraulic control devices required when the working unit moves along the set trajectory, and is related to the drive speed corresponding to the calculated ratio. A control signal is output, and the working unit is moved by the control signal along the set locus.

(Embodiment) A preferred embodiment of the present invention will be described below with reference to FIGS. 1 to 6.

FIG. 1 shows a hydraulically driven aerial work vehicle 1 equipped with an operating device according to an embodiment of the present invention. This aerial work vehicle 1
As described in the section of the prior art, the telescopic boom 3 is mounted on the swivel base 2 provided on the vehicle body so that the telescopic boom 3 can be moved up and down, and the work bucket 4 is attached to the tip of the telescopic boom 3. The telescopic boom 3 can be swung via the swivel base 2 as well as hoisted by the telescopic cylinder 5 and the telescopic cylinder 6 can be telescopically moved. The work bucket 4 can be set at any two-dimensional position by appropriately combining the telescopic motion and the undulating motion of the telescopic boom 3. Specifically, in this embodiment, the work bucket 4 and the individual operation of setting the work bucket 4 at an arbitrary two-dimensional position by independently performing the telescopic operation or the hoisting operation of the telescopic boom 3 are performed. It is possible to select three operation modes, namely, a vertical operation for vertically ascending and descending along the vertical line l ₁ and a horizontal operation for horizontally moving the work bucket 4 along the horizontal line l ₂ .

In particular, in this embodiment, the vertical operation and the horizontal operation are automatically performed by giving two pieces of information of the operation direction and the operation speed, respectively. The theoretical basis of the technique of moving the work bucket 4 vertically and horizontally based on the two pieces of information on the operation direction and the operation speed will be briefly described with reference to FIGS. 3 and 4.

(Vertical movement) Now, as shown in FIG. 3, it is assumed that the boom 100 having a length l and having a work bucket attached to its tip A is at the position of the hoisting angle θ. From this state, the boom 100 has the code 10 '
As shown by, falls down and shrinks, and point A above
Is moved to a point B on the vertical line l ₁ at a speed Vh (= ▲ ▼).

In this case, in order to move the point A to the point B in the vertical direction along the vertical line l ₁ , the boom 100 needs to contract at the speed Ve and fall at the angular speed Vθ.
Ve and the angular velocity Vθ are respectively expressed by Ve = Vh · sin θ Vθ = Vh · cos θ · 1 / l. That is, both the boom extension / contraction speed and the boom hoisting speed (angular velocity) are expressed as a function of the moving speed (vh) of the work bucket. Therefore, by giving two pieces of information, the moving direction and the moving speed of the work bucket, It is possible to automatically move the work bucket vertically along the vertical line l ₁ .

(Horizontal movement) Now, as shown in FIG. 4, it is assumed that the boom 100 having a length of l and a work bucket attached to its tip A is at the hoisting angle θ, and the boom 100 moves downward from this state. It is assumed that the point A moves to the point B along the horizontal line l ₂ in the horizontal direction to the point B at the velocity V _R (= ▲ ▼).

In this case, the expansion / contraction speed (Ve) and the hoisting speed (angular speed Vθ) of the boom 100 required to move the point A to the point B in the horizontal direction along the horizontal line l ₂ are respectively Ve = V _R · cos θ Vθ = V It is expressed by _R · sin θ · 1 / l.

That is, even in this case, both the boom telescoping speed and boom hoisting speed (angular velocity) expressed as the relationship of the moving speed of the working bucket (V _R), thus the moving direction of the working bucket two information of the moving speed By giving it, it becomes possible to automatically move the work bucket horizontally along the horizontal line l ₂ .

Hereinafter, specific configurations of the hydraulic control circuit P and the operating device Q for performing the individual operation, the vertical operation and the horizontal operation of the work bucket 4 will be described in detail with reference to FIGS. 1 and 2.

As shown in FIG. 1, the hydraulic control circuit P includes a hoisting switching valve 12 composed of a center block type 4-port 3-position proportional solenoid valve, and is connected to the hoisting cylinder 5 by a first hydraulic circuit p ₁ Also, center block type 4 port 3
A second hydraulic circuit p ₂ provided with a telescopic switching valve 13 composed of a position proportional solenoid valve and connected to the telescopic cylinder 6 is connected in parallel to a hydraulic pump 19 driven by an engine 18. Is configured. This first hydraulic circuit
p ₁ and the second hydraulic circuit p ₂ are provided with shuttle valves 24 and 25, respectively, in oil passages 53A, 53B and oil passages 54A, 54B on the downstream side of the up / down switching valve 12 or the telescopic switching valve 13, respectively. Meter-in type flow control valves 21 and 22 are provided upstream of the undulation switching valve 12 and the expansion / contraction switching valve 13, respectively. And shuttle valve 24 or 25 and flow control valve 21
Alternatively, 22 are connected by pilot oil passages 55 and 56, respectively, and the up / down switching valve 12 or the expansion / contraction switching valve 13 are connected.
The operating pressure on the more downstream side is introduced into the flow control valve 21 or 22 as a pilot pressure. Therefore, when the hoisting switching valves 12 and 13 are in the operating state, the hoisting cylinder 5 and the telescopic cylinder 6 have the hoisting switching valve 12 and the telescopic cylinder 6 respectively regardless of the load on the hoisting cylinder 5 or the telescopic cylinder 6. The hydraulic oil is supplied in an amount proportional to the opening degree of the expansion / contraction switching valve 13.

In this embodiment, the up / down switching valve 12 and the expansion / contraction switching valve 13 correspond to the hydraulic control device in the claims.

On the other hand, since the up / down switching valve 12 and the expansion / contraction switching valve 13 are center block type, the relief valve 20 provided between the hydraulic pump 19 and the up / down switching valve 12 / expansion / contraction switching valve 13 is connected to the line. In the case of a relief valve of a normal structure that operates only by pressure, when the up / down switching valve 12 and the expansion / contraction switching valve 13 are inoperative (first
In the state shown in the figure), the line pressure rises to the set pressure of the relief valve, and the output loss of the engine increases. For this reason, in this embodiment, the relief valve 20 is composed of a pilot type relief valve that operates with the line pressure and the external pilot pressure introduced from each of the shuttle valves 24 and 25. When the operation switching valve 13 is in the operating state, the relief valve 20 is closed by the pilot pressure to increase the line pressure to a predetermined pressure, while the undulation switching valve 12
When both the expansion and contraction switching valve 13 are in the inoperative state, the relief valve 20 is opened to maintain the line pressure at a low pressure to prevent the output loss of the engine.

As shown in FIGS. 1 and 2, the operating device Q detects a current length dimension of the telescopic boom 3 and outputs a boom length signal S ₁ associated therewith, and a boom length detector 7. The current undulation angle of the telescopic boom 3 is detected and the undulation angle signal related thereto is detected.
The undulation angle detector 8 that outputs S ₂ , the operation mode changeover switch 9 that outputs information related to the drive trajectory of the work bucket 4, and the moving direction of the work bucket 4 by tilting the first operation lever 10. And a first potentiometer 26 for outputting a first direction / speed signal S ₄ relating to the moving speed.
And a second direction related to the moving direction and the moving speed of the work bucket 4 by the tilting operation of the second operating lever 11.
A second potentiometer 27 that outputs a speed signal S ₅ , and a computing unit that receives these signals and controls the operation of the up / down switching valve 12 and the expansion / contraction switching valve 13 of the hydraulic control circuit P.
It has 30 and. In this embodiment, the boom length detector 7 and the hoisting angle detector 8 are the first current operating position related electric signal generating means and the second current operating position related electric signal generating means in the claims. The operation mode changeover switch 9 corresponds to the drive locus information setting section in the claims. Further, the first potentiometer 26 and the second potentiometer 27 respectively correspond to the operation signal generating means in the claims.

The operation mode changeover switch 9 sets the planned driving locus of the work bucket 4 as described above and outputs the driving locus signal S ₃ related thereto. Specifically, as shown in FIG. It is composed of a relay switch having three contacts, b, c, and particularly in this embodiment, the contact configuration of the operation mode changeover switch 9 is set in the horizontal movement mode in which the operation mode changeover switch 9 is set to the contact a. The undulating cylinder 5 and the telescopic cylinder 6 are controlled so that the work bucket 4 moves horizontally, and the undulating cylinder 5 and the telescopic cylinder 6 are moved so that the work bucket 4 moves vertically during the vertical ascending / descending mode set at the contact point c. In the individual operation mode in which the contact b is controlled and set to the contact b, the undulating cylinder 5 and the telescopic cylinder 6 are set to be individually operable.

The first operation lever 10 is a horizontal movement operation lever that horizontally moves the work bucket 4 by simultaneously operating the expansion and contraction and the undulation of the boom 3 when the operation mode changeover switch 9 is set to the horizontal movement mode (contact a). When the operation mode changeover switch 9 is set to the vertical ascending / descending mode (contact c), its operation is invalid, and when the operation mode changeover switch 9 is set to the individual operation mode (contact b). The telescopic boom 3 functions as a normal telescopic operating lever that operates only the telescopic operation. And this first
The operating lever 10 of the first potentiometer is linked to the operating lever 10 in the horizontal movement mode and the individual operation mode.
26, and the moving direction signal of the working bucket 4 corresponding to the tilting direction of the first operating lever 10 and the moving speed signal of the working bucket 4 corresponding to the tilting amount of the first operating lever 10 Is output to the arithmetic unit 30 side as the direction / speed signal S ₄ .

The operation of the second operation lever 11 is invalid when the operation mode changeover switch 9 is set to the horizontal movement mode, but the operation mode changeover switch 9 is set to the vertical elevating mode (contact C). Sometimes it functions as a vertical elevating operation lever for vertically elevating and lowering the work bucket 4 by simultaneously operating the elongating and elongating of the telescopic boom 3, and when the operation mode changeover switch 9 is set to the individual operation mode (contact b) It functions as a normal hoisting operation lever that operates only hoisting of the boom 3. The second operation lever 11 operates as a second potentiometer 27 linked to the second operation lever 11 to move the work bucket 4 movement direction signal corresponding to the tilting direction of the second operation lever 11 and the second operation lever signal. The moving speed signal of the work bucket 4 corresponding to the tilt amount of the operation lever 11 is output to the computing unit 30 side as the second direction / speed signal S ₅ .

That is, in this embodiment, when the operation mode changeover switch 9 is set to the horizontal movement mode, the work bucket 4 can be moved horizontally only by operating the lever of the first operation lever 10. The vertical movement of the work bucket 4 can be realized only by operating the second operation lever 11 when 9 is set in the vertical lifting mode, and when the operation mode changeover switch 9 is set in the individual operation mode. 1 operation lever
By extending and retracting the telescopic boom 3 by 10 and hoisting the telescopic boom 3 by the second operation lever 11, the work bucket 4 can be driven at any two-dimensional arbitrary position and with an arbitrary drive locus. It has become.

In this embodiment, the two operating levers of the first operating lever 10 and the second operating lever 11 are used as described above, and the first operating lever 10 is used for the individual telescopic operation of the telescopic boom 3. The lever is also used as the horizontal movement operation lever of the work bucket, and the second operation lever 11 is also used as the individual undulation operation lever of the telescopic boom 3 and the vertical movement operation lever of the work bucket 4. However, in another embodiment of the present invention, each of the above operations may be performed by, for example, one operating lever. That is, as shown in FIGS. 5 and 6, one operating lever 10 ′ can be operated in two directions orthogonal to each other, and each operating direction allows extension / contraction of the telescopic boom 3 and vertical movement of the working bucket 4. Correspond to advance and retreat. With this arrangement, for example, when the operation mode changeover switch 9 is set to the individual operation mode, the operation lever 10 'is operated in the front-back direction as shown in FIG. When the up / down operation is performed in the left / right direction, the expansion / contraction operation is performed, and when the operation mode changeover switch 9 is set in the vertical ascending / descending mode, the operation lever 10 'is operated in the front / rear direction. When the work bucket 4 is vertically moved and the operation mode changeover switch 9 is set to the horizontal movement mode, the work bucket 4 is horizontally moved (moved back and forth) by operating the operation lever 10 'in the left and right directions. Direction) is performed. So in this case,
Since there is only one operation lever, there are advantages that the structure of the operation mechanism is simplified and the operability is improved.

In addition to this, for example, the operation lever can be tilted in all directions within a range of 360 ° around its neutral point, and the operation direction of the operation lever can be changed forward and backward as shown in FIGS. 5 and 6.・ Two right and left orthogonal directions are used as a reference, and when they are operated in an oblique direction deviating from these two orthogonal directions, the operating direction and operating speed are set by the component ratio of the operating lever in the front-rear direction and the left-right direction. You can also For example, in the individual operation mode setting, when the operation lever is operated in two directions, ie, the front-rear direction and the left-right direction, the hoisting motion and the telescopic motion of the telescopic boom are individually performed. When operated in the direction of, the hoisting motion and the telescopic motion of the telescopic boom are simultaneously performed at the same ratio.

Further, in the vertical ascending / descending mode, when the operation lever 10 'is operated in the front-rear direction, the work bucket 4 is vertically moved at a speed corresponding to the operation amount, and when operated, it is operated in the left-right direction. The bucket 4 is inoperative, and when the operation lever is operated in the oblique direction, the work bucket 4 is operated at a speed according to the operation amount of the operation lever (tilt amount in the oblique direction) and the component ratio in the front-rear direction. The bucket is moved vertically.

Further, in the horizontal movement mode, when the operation lever is operated in the left-right direction, the work bucket 4 is horizontally moved at a speed corresponding to the operation amount, and when operated in the front-rear direction, the work bucket is moved. 4 is inoperative, and when the operation lever is operated in the oblique direction, the work bucket 4 is operated at a speed corresponding to the operation amount of the operation lever (tilt amount in the oblique direction) and the component ratio in the left-right direction. Is moved horizontally.

Next, the operation mode changeover switch 9 and the first operation lever 10
The specific configuration of the arithmetic unit 30 that enables the work bucket 4 to be horizontally moved, vertically moved up and down, and freely moved on an arbitrary trajectory by selectively using the second operation lever 11 will be described. As shown in Fig. 2, control calculator for horizontal movement
32 and a vertical elevating control calculator 33.

During the horizontal movement mode, the control calculator 32 during horizontal movement includes the first direction / speed signal S ₄ from the first potentiometer 26, the boom length signal S ₁ from the boom length detector 7, and the hoisting angle detector 8 In response to the undulation signal S ₂ from the undulation angle signal S ₂ , the undulation cylinder 5 and the telescopic cylinder 6 in the case of horizontally moving the work bucket 4 in the predetermined direction at the predetermined speed with the current ground lift.
The moving direction and the moving speed of the moving cylinder are calculated, and the first horizontal operation signal l ₁ is applied to the two solenoid coils 16 and 17 of the expanding / contracting switching valve 13 on the expanding / contracting cylinder 6 side, and the undulating switching valve on the undulating cylinder 5 side. The second horizontal operation signal l ₂ is output to the 12 solenoid coils 14 and 15, respectively.

In the vertical ascending / descending mode control calculator 33, the second direction / speed signal S ₅ from the second potentiometer 27, the boom length signal S ₁ from the boom length detector 7 and the hoisting angle detector 8 in the vertical ascending / descending mode. In response to the undulation angle signal S ₂ from the above, the moving direction and moving speed of the undulating cylinder 5 and the telescopic cylinder 6 when vertically moving the work bucket 4 in a predetermined direction at a predetermined speed while maintaining the current working radius And the two solenoid coils of the expansion / conversion switch valve 13 on the expansion / contraction cylinder 6 side.
16, 17 the first vertical operation signal m ₁ and the undulating cylinder 5
The second vertical operation signal m ₂ is output to the solenoid coils 14 and 15 of the undulating switching valve 12 on the side.

Therefore, in the horizontal movement mode, if the first operation lever 10 is tilted in the predetermined direction by a predetermined amount to set the movement direction and the movement speed of the work bucket 4, the horizontal movement control calculator 32 causes the work bucket 4 to move. The moving direction and moving speed of the undulating cylinder 5 and the telescopic cylinder 6 required to move the current state from the current state to the predetermined direction at the predetermined speed are calculated. Further, the calculated undulating cylinder 5 and telescopic cylinder 6
Of the amount of hydraulic oil supplied to the undulating cylinder 5 side and the amount of hydraulic oil supplied to the telescopic cylinder 6 side in accordance with the moving speed of (1) (that is, the distribution action of the hydraulic oil amount), and based on that, the first The horizontal operation signal l ₁ and the second horizontal operation signal l ₂ are output. In response to the first horizontal operation signal l ₁ and the second horizontal operation signal l ₂ , the expansion / contraction switching valve 13 and the up / down switching valve 12 operate appropriately to realize horizontal movement of the work bucket 4. .

On the other hand, in the vertical ascending / descending mode, when the second operating lever 11 is tilted in the predetermined direction by a predetermined amount to set the moving direction and the moving speed of the work bucket 4, the vertical ascending / descending control calculator is provided.
At 33, the moving direction and moving speed of the undulating cylinder 5 and the telescopic cylinder 6 necessary to move the work bucket 4 from the current state to the predetermined direction and at the predetermined speed are calculated. Further, a ratio between the amount of hydraulic oil supplied to the undulating cylinder 5 side and the amount of hydraulic oil supplied to the extensible cylinder 6 side is calculated in accordance with the calculated moving speeds of the undulating cylinder 5 and the telescopic cylinder 6, and based on the calculated ratio. The first vertical operation signal m ₁ and the second vertical operation signal m ₂ are output. This first vertical operation signal m ₁ and the second
In response to the vertical operation signal m ₂ , the expansion / contraction switching valve 13 and the up / down switching valve 12 are appropriately operated to vertically lift the work bucket 4.

Further, in the individual operation mode, the horizontal movement control calculator 32 and the vertical lifting control calculator 33 are inoperative, and the expansion and contraction switching valve 13 and the undulation switching valve 12 are respectively operated by the first operating lever 10 and the second operating valve 10. The operation corresponds to the lever operation of the operation lever 11.

In FIG. 2, reference numeral 31 is a control switching relay, 40 is a first valve operating direction switching relay, 41 is a second valve operating direction switching relay, 42 is a first valve operating direction determining device, and 43 is a
Is a second valve operation direction determiner, 44 is a widening device, 58 is a delay circuit, and 59 is a manipulated variable converter.

Further, in this embodiment, the first operating lever 10 and the second operating lever 10
The position of the work bucket 4 is feedback-controlled in order to further improve the accuracy of the horizontal movement operation and the vertical movement operation of the work bucket 4 by the lever operation of the operation lever 11. That is, as shown in FIG. 2, a ground lift calculator 34 for calculating the current ground lift of the work bucket 4 from the boom length and the boom lift angle, and a current work bucket 4 calculated from the boom length and the boom lift angle. Working radius calculator 35 for calculating the working radius of the first working circuit, a first storage circuit 48 for storing the ground lift at the start of work, a second storage circuit 49 for storing the working radius at the start of work, and a horizontal movement mode Sometimes the first boom length calculator 36 that determines the target boom length L ₁ from the ground lift at the start of work and the current boom undulation angle, and the work radius at the start of work and the current boom length at the time of vertical lifting mode Second boom length calculator 37 for obtaining the target boom length L ₂ from the boom hoisting angle
And a first angle error calculator 38 for obtaining a target boom hoisting angle θ ₁ from the current work radius and the ground lift at the start of work, and the target from the work radius at the start of work and the current ground lift. And a second angle error calculator 39 for determining the boom hoisting angle θ ₂ . Then, the deviation between the actual boom length and the target boom length L ₁ or the same L _{2 and} the deviation between the actual boom hoisting angle and the target boom hoisting angle θ ₁ or the same boom ₂ are obtained, respectively, and corresponding to this deviation, respectively. The correction value e ₁ output from the control coefficient unit 50, 50
e ₂ , f ₁ , f ₂ are the horizontal operation signals l ₁・ l ₂ output from the above-mentioned horizontal movement control arithmetic unit 32 or the vertical / vertical operation signals m ₁・ m ₂ output from the vertical elevating control arithmetic unit 33. In addition to the above, an appropriate operation amount of the expansion / contraction switching valve 13 and the undulation switching valve 12 is obtained.

In FIG. 2, reference numeral 45 is an operation start determination circuit, 46 is a ground lift memory switch, and 47 is a working radius memory switch.

In this way, the horizontal movement / vertical elevation control system and these feedback control systems operate in cooperation with each other, so that the horizontal movement and vertical elevation of the work bucket 4 can be performed more accurately and accurately along the assumed trajectory. Become. Further, in this case, when the tilt amounts of the operation levers 10 and 11 are maintained in the same state, the work bucket 4 horizontally moves or vertically moves up and down at a constant speed.

On the other hand, as described above, when the work bucket 4 is horizontally moved and vertically moved up and down, the undulating cylinder 5 and the telescopic cylinder 6 are simultaneously operated. Depending on the amount, it is expected that the amount of hydraulic oil supplied from the hydraulic pump will be insufficient. When the amount of hydraulic oil is insufficient in this way, it is impossible to realize horizontal movement and vertical lifting of the work bucket 4 as described above by leaving it as it is.

Therefore, in this embodiment, the hoisting cylinder 5 is controlled by the horizontal movement control calculator 32 or the vertical lift control calculator 33.
When calculating and calculating the ratio of the amount of hydraulic oil supplied to the expansion cylinder 6 and the expansion cylinder 6, the actual required hydraulic oil amount Q ₁ and the hydraulic pump
19 is compared with the supplied amount of hydraulic oil Q _0, and if Q ₁ > Q _0, that is, if the amount of hydraulic oil is insufficient, the amount of hydraulic oil supplied to both should be reduced relative to the above ratio. ing. That is, for example, when the hydraulic oil is supplied to the undulating cylinder 5 and the telescopic cylinder 6 by one hydraulic pump 19 (in the case of the illustrated embodiment), the hydraulic oil is supplied to the undulating cylinder 5 side obtained by calculation, for example. the amount Q ₅ and stretching is greater than the sum Q = Q ₅ + Q ₆ is supplied hydraulic oil amount Q ₀ of the hydraulic oil supply amount Q ₆ to the cylinder 6 side _{((Q 5 + Q 6)} > Q 0), undulation The actual amount of hydraulic oil supplied to the cylinder 5 side Q ₅ ′ is Q ₅ ′ = {Q ₀ / (Q ₅ + Q ₆ )} × Q _5, and the actual amount of hydraulic oil supplied to the telescopic cylinder 6 side Q ₆ ′ To
Q ₆ ′ = {Q ₀ / (Q ₅ + Q ₆ )} × Q ₆ and Q ₅ ′ + Q ₆ ′ as a whole
= Q ₀ is set.

On the other hand, in the case of the two-pump type that includes two hydraulic pumps and supplies hydraulic oil to the undulating cylinder 5 side and the telescopic cylinder 6 side separately, the above-mentioned hydraulic pumps on the side where the hydraulic oil supply amount is insufficient The same control as the case is performed. For example, demand hydraulic oil amount Q ₅ undulations cylinder 5 side, required amount of hydraulic oil of the telescopic cylinder 6 side Q _6, and the hydraulic oil supply amount Q ₀₁ of each hydraulic pump.

In this case, the required hydraulic oil amount Q ₆ on the telescopic cylinder 6 side
And is related that Q _6> Q ₅ between the required hydraulic oil amount Q ₅ undulations cylinder 5 side, and when the Q _6> Q ₀₁ is a telescopic cylinder 6 side as a reference, the telescopic cylinder 6 The amount of hydraulic oil Q ₆ ′ actually supplied to the side is set as Q ₆ ′ = Q ₀₁
While suppressing the shortage of the working amount on the side, at the same time, the actual working oil supply amount Q ₅ ′ to the undulating cylinder 5 side is set to Q ₅ ′ = Q ₀₁ × Q ₅ / Q ₆ .

On the other hand, when Q ₅ > Q ₆ , the actual amount of hydraulic oil supplied to the undulating cylinder 5 side is Q ₅ ′ with reference to the undulating cylinder 5 side.
Q ₅ ′ = Q ₀₁ , and at the same time, the actual amount of working oil Q ₆ ′ supplied to the telescopic cylinder 6 side is Q ₆ ′ = Q ₀₁ × Q ₆ / Q ₅ .

(Effects of the Invention) The present invention includes a working unit that can arbitrarily set a two-dimensional position by using two hydraulic actuators whose driving directions and driving speeds are controlled by respective hydraulic control devices. In the operating device of each of the hydraulic control devices of the work machine, first and second current operating positions that are respectively connected to the two hydraulic actuators and generate electric signals related to the current operating positions of the corresponding hydraulic actuators. Related electric signal generating means, drive locus information setting section for outputting drive locus information related to the driving locus of the working section, movement of the working section on the locus set by the driving locus information setting section by tilting operation lever Operation signal generating means for generating signals related to direction and speed, said operation signal generating means and first and second current operating position related electric signal generation A computing unit for receiving signals from the step and the drive locus information setting unit and computing and outputting an electrical signal for operating each of the hydraulic control devices from these signals: a) driving the working unit When moving along the locus set by the locus information setting unit, the ratio of the operation amount of each of the hydraulic control devices required is calculated and calculated, and b) the operation signal is calculated according to the calculated ratio. And a calculation unit configured to distribute a signal related to the drive speed from the generating means and output the distribution result to each corresponding hydraulic control device as a control signal.

Therefore, according to the operating device of the hydraulic control device in the hydraulic working machine of the present invention, only the information relating to the moving direction and the moving speed of the working portion is given by tilting the operating lever.
Since the two hydraulic actuators operate in the direction required for the working unit to move along the preset trajectory and by the required amount of operation, the working unit can move accurately and smoothly along the set trajectory. The effect that the property is improved is obtained.

[Brief description of drawings]

FIG. 1 is a control system diagram of a hydraulic drive type aerial work vehicle equipped with an operating device according to an embodiment of the present invention, and FIG. 2 is a detailed explanatory diagram of a calculation unit shown in FIG. 1, FIG. 3 and FIG. FIG. 4 is an operation state explanatory view of the telescopic boom during vertical movement and horizontal movement, and FIGS. 5 and 6 are operation state explanatory views of the operation lever in another embodiment of the present invention. 1 ... Aerial work vehicle (working machine) 3 ... Telescopic boom 4 ... Work bucket (working part) 5 ... Lifting cylinder (hydraulic actuator) 6 ... Telescopic cylinder (hydraulic actuator) 7 ... Boom length Detector (first current operating position-related electric signal generating means) 8 ... undulation angle detector (second current operating position-related electric signal generating means) 9 ... operation mode changeover switch (drive locus information setting section) 10 , 11 …… Operating lever 12 …… Release switching valve (hydraulic control device) 13 …… Extension switching valve (hydraulic control device) 14 ～ 17 …… Solenoid coil 18 …… Engine 20 …… Relief valve 21,22… … Float control valve 24,25 …… Shuttle valve 26,27 …… Potentiometer (operation signal generating means) 30 …… Calculator

Claims (1)

[Claims] 1. A two-dimensional position is defined by two hydraulic actuators (5), (6) whose driving direction and driving speed are controlled by respective hydraulic control devices (12), (13). An operating device for the respective hydraulic control devices (12), (13) of a work machine (1) having a work unit (4) that can be set arbitrarily, the two hydraulic actuators (5), (6) being provided. First and second current operating position-related electrical signal generating means (7), (8) that are respectively connected to each other and generate an electrical signal related to the current operating position of the corresponding hydraulic actuator (5), (6). ), A driving locus information setting unit (9) for outputting driving locus information related to the driving locus of the working unit (4), and the driving locus information setting unit (9) by tilting the operation levers (10, 11). The movement direction of the working unit (4) on the set trajectory and Operation signal generating means (26), (27) for generating a speed-related signal, the operation signal generating means (26), (27) and the first and second
Receiving signals from the current operating position related electric signal generating means (7) and (8) and the drive locus information setting unit (9), and operating the respective hydraulic control devices (12) and (13) from these signals. Calculation unit for calculating and outputting electrical signals for (30)
A) When moving the working unit (4) along the locus set by the drive locus information setting unit (9), the ratio of the operation amounts of the respective hydraulic control devices required is set. Along with the calculation and calculation, b) The signals related to the drive speed from the operation signal generating means (26) and (27) are distributed in accordance with the calculated ratio, and the distribution results are respectively corresponding hydraulic control devices. (1
2) An operating device for a hydraulic control device in a hydraulic working machine, comprising: an arithmetic unit (30) configured to output a control signal to (13).