JP2002326799A - Hydraulic oil supply device for boom work vehicle - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To reduce the flow rate of hydraulic oil discharged from a hydraulic pump to a minimum necessary flow rate with a small excess flow rate. SOLUTION: Based on a detected position of a worktable with respect to a vehicle body and a detected operation amount of operation levers 51 to 53, a hydraulic oil supply flow rate to each of hydraulic actuators 24, 31, and 23 is determined, and a total sum thereof is set to a first value. A first flow rate setting circuit 71 as a flow rate, a hydraulic oil supply flow rate to each hydraulic actuator is obtained based on the detected load acting on the boom and the detected operation amounts of the operation levers 51 to 53, and the sum thereof is calculated as a total. A second flow rate setting circuit 72 for setting two flow rates, a selection circuit 73 for setting a smaller value of the two flow rates as a main flow rate, and a total flow rate calculating circuit 7 for setting a target flow rate based on the main flow rate
5 and a target flow rate setting circuit 76, and a motor drive control circuit 77 and a motor M for controlling the rotation of the hydraulic pump P such that the flow rate of the hydraulic oil discharged from the hydraulic pump P substantially matches the target flow rate.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic oil supply device for a boom working vehicle, comprising a working device provided at a tip end of a boom that can be raised, contracted, and swiveled and provided on a vehicle body. The present invention relates to a hydraulic oil supply device that can reduce the driving power of a hydraulic pump that supplies hydraulic oil to hydraulic actuators that move a boom up, down, extend, and turn.

[0002]

2. Description of the Related Art As an example of a boom working vehicle, in addition to a generally known crane truck, a work platform for a worker to be mounted on the end of the boom so as to swing freely can be used for work at a high place. There are aerial work vehicles that can be used. Such a boom working vehicle can control the supply of hydraulic oil to each hydraulic actuator that moves the boom up and down, extend and retract, and turn, so that the working device at the end of the boom can be moved as desired. The supply of hydraulic oil to these hydraulic actuators is generally performed by driving a hydraulic pump provided in the vehicle body with an electric motor, a small engine, or the like.

[0003]

However, conventionally,
Since the hydraulic pump for supplying hydraulic oil is always driven to rotate at a constant rotational speed, discharge is performed when the hydraulic oil flow to the hydraulic actuator needs to be small, such as when moving the boom slowly. Most of the used hydraulic oil is returned to the oil tank as surplus oil, and there is a problem that the power loss of the hydraulic pump is large. There is also a problem that heat and noise generated during work greatly affect the surrounding environment.

The present invention has been made in view of such a problem, and the flow rate of hydraulic oil discharged from a hydraulic pump is
It is an object of the present invention to provide a hydraulic oil supply device for a boom working vehicle having a configuration in which a surplus flow rate is reduced to a necessary minimum flow rate and a loss of driving power of a hydraulic pump is reduced to reduce a working cost. The purpose is.

[0005]

In order to achieve such an object, a hydraulic oil supply device for a boom working vehicle according to the present invention is provided at a tip of a boom provided on a vehicle body and capable of moving up and down, extending and retracting, and pivoting. Working device (for example, working table 4 in the embodiment)
0), and the boom is moved at a speed corresponding to the operation amount of each operation means (for example, the up / down operation lever 51, the expansion / contraction operation lever 52, and the rotation operation lever 53 in the embodiment) corresponding to the up / down, expansion / contraction, and rotation operation of the boom. A hydraulic oil supply device for a boom working vehicle (for example, an aerial work vehicle 1 in the embodiment) configured to perform up-and-down, expansion and contraction, and turning operations, wherein each hydraulic actuator (for example, The up-and-down cylinder 24, the telescopic cylinder 31, and the turning motor 23 in the embodiment), the hydraulic pump that supplies hydraulic oil to each hydraulic actuator, and the operation amount detection unit that detects the operation amount of each operation unit (for example, First to third operation state detectors 81, 82, 83)
And position detecting means for detecting the position of the working device with respect to the vehicle body (for example, the undulating angle detector 85, the length detector 86, the turning angle detector 87, and the controller 6 in the embodiment).
0 position calculation circuit 62), load detection means for detecting a load acting on the boom (for example, the load detector 88 and the overturning moment calculation circuit 63 of the controller 60 in the embodiment), and work detected by the position detection means. A first flow rate setting means for obtaining a hydraulic oil supply flow rate to each hydraulic actuator based on a position of the device with respect to a vehicle body and an operation amount of each operation means detected by the operation amount detection means, and setting a sum thereof as a first flow rate; (E.g., the first flow rate setting circuit 71 of the controller 60 in the embodiment), the load acting on the boom detected by the load detection means, and the hydraulic pressure based on the operation amount of each operation means detected by the operation amount detection means. Find the hydraulic oil supply flow rate to the actuator,
The second flow rate setting means (for example, the second flow rate setting circuit 72 of the controller 60 in the embodiment) for setting the sum as the second flow rate, and the first flow rate and the second flow rate set by the first flow rate setting means. The main flow rate setting means (for example, the selection circuit 73 of the controller 60 in the embodiment) for setting the smaller value of the second flow rates set by the flow rate setting means as the main flow rate, and the main flow rate setting means for setting the main flow rate Target flow rate setting means for setting a target flow rate based on the flow rate (for example, the controller 6 in the embodiment)
0 total flow rate calculation circuit 75 and target flow rate setting circuit 76)
And hydraulic pump control means (for example, the controller 60 in the embodiment) for controlling the rotation of the hydraulic pump so that the flow rate of the hydraulic oil discharged from the hydraulic pump substantially matches the target flow rate set by the target flow rate setting means. A motor drive control circuit 77 and a motor M).

Further, another hydraulic oil supply device for a boom working vehicle according to the present invention is provided with a working device at a tip end of a boom which is provided on a vehicle body and which can move up, down, extend and turn, and is capable of raising and lowering the boom. A hydraulic oil supply device for a boom working vehicle configured to raise, lower, extend, and turn the boom at a speed corresponding to the operation amount of each operation means corresponding to the turning operation, and raise and lower, extend, and turn the boom. Each hydraulic actuator to be operated, a hydraulic pump for supplying hydraulic oil to each hydraulic actuator, an operation amount detection means for detecting an operation amount of each operation means, a position detection means for detecting a position of the working device with respect to the vehicle body, and a boom. Load detecting means for detecting a load acting on the work apparatus; a position of the working device with respect to the vehicle body detected by the position detecting means; a load acting on the boom detected by the load detecting means; A main flow rate setting means for obtaining a hydraulic oil supply flow rate to each hydraulic actuator based on an operation amount of each operation means detected by the detection means, and setting a sum thereof as a main flow rate; Target flow rate setting means for setting a target flow rate based on the flow rate,
Hydraulic pump control means for controlling the rotation of the hydraulic pump so that the flow rate of the hydraulic oil discharged from the hydraulic pump substantially matches the target flow rate set by the target flow rate setting means.

In the hydraulic oil supply device for a boom working vehicle according to the present invention, the flow rate of the hydraulic oil discharged from the hydraulic pump is the sum of the flow rates of the hydraulic oil supplied to the respective hydraulic actuators that move the boom up and down, extend and retract. Of the hydraulic pump (rotation speed or rotation speed control) is performed so as to substantially coincide with the target flow rate determined as the main flow rate. At this time, the flow rate of hydraulic oil supplied to each hydraulic actuator is controlled by operating means Is set not only depending on the operation amount, but also depending on the position of the working device with respect to the vehicle body and the load acting on the boom (the load acting on the boom tip, the overturning moment acting on the vehicle body, etc.).

For this reason, when the position of the working device is far away from the vehicle body or when the load acting on the boom is large, control for suppressing the operation speed of the boom to be smaller than the operation amount of the operation means is performed. When the operation is performed, the discharge flow rate of the hydraulic pump can be reduced accordingly, so that the difference between the hydraulic oil flow rate actually required for the operation of the boom and the hydraulic oil flow rate discharged from the hydraulic pump is reduced. Thus, the flow rate of the working oil discharged from the hydraulic pump can be set to a necessary minimum flow rate with a small surplus flow rate. As a result, the driving power loss of the hydraulic pump can be reduced to reduce the working cost, and the service life of the hydraulic pump itself and the electric motor for driving the hydraulic pump can be extended. Furthermore, since the generation of heat and noise accompanying the driving of the hydraulic pump is reduced, the influence on the surroundings during the operation can be reduced.

[0009] In addition, the valve control means (for example, the valve control circuit 61 of the controller 60 in the embodiment) controls supply and operation of the hydraulic oil discharged from the hydraulic pump to each hydraulic actuator by controlling the raising / lowering, expansion / contraction, and turning operation of the boom. It is designed to drive a control valve that shuts off.
Second target flow rate setting means for setting a second target flow rate based on the sum of the hydraulic oil supply flow rates to the respective hydraulic actuators determined in accordance with the control valve drive signal output from the valve control means (for example, The hydraulic pump drive control means controls the flow rate of the hydraulic oil discharged from the hydraulic pump to the target flow rate set by the target flow rate setting means and the second target flow rate. It is preferable that the rotation control of the hydraulic pump is performed so as to substantially coincide with the smaller flow rate of the second target flow rate set by the flow rate setting means.

In such a configuration, the flow rate of the hydraulic oil discharged from the hydraulic pump is determined based on the target flow rate (the target flow rate set in the target flow rate setting circuit) based on the operation amount of each operation means and the valve control means. The rotation control of the hydraulic pump is performed so as to coincide with the smaller one of the target flow rates (second target flow rates set in the second target flow rate setting circuit) set based on the control valve drive signal output by the control valve. The difference between the hydraulic oil flow actually required for the operation of the boom and the hydraulic oil flow discharged from the hydraulic pump can be further reduced, and the surplus flow can be further reduced. it can.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 2 shows an aerial work vehicle provided with a hydraulic oil supply device according to an embodiment of the present invention. The aerial work vehicle 1 includes a vehicle body 10 having tire wheels 11 and capable of running on a road. A swivel 20 provided at the rear of the vehicle body 10, a telescopic boom 30 connected to a support 21 extending above the swivel 20 by a foot pin 22, and a work table attached to a tip end of the boom 30. 40.

The swivel base 20 is swiveled by a hydraulic drive of a swivel motor 23 provided in the vehicle body 10, and the boom 30 is extended and contracted in the longitudinal direction by a hydraulic drive of a telescopic cylinder 31 built therein. Further, an up-and-down cylinder 24 is provided between the boom 30 and the support column 21, and the entire boom 30 moves up and down in the upper and lower surfaces by hydraulically driving the up-and-down cylinder 24.

The work table 40 is rotatably mounted on a vertical post 32 supported at the tip of the boom 30. The work table 40 is centered on the vertical post 32 by a hydraulic drive of a built-in swing motor 42. Swinging is possible.
Here, the vertical post 32 is configured to always maintain a vertical posture at the tip end of the boom 30, and therefore, the floor surface of the worktable 40 always maintains a horizontal posture regardless of the up-and-down posture of the boom 30. Is done.

Outrigger jacks 12 are provided at four front, rear, left and right sides of the vehicle body 10. These outrigger jacks 12 extend downward to support the vehicle body 10, and can be used in a state where each of the outrigger jacks 12 protrudes to the side of the vehicle body 10.

The work table 40 is provided with an upper operation device 50. The upper operation device 50 includes
1, a telescopic operation lever 52, a turning operation lever 53, and a swing operation lever 54 are provided (see FIG. 1). Each of the operation levers 51, 52, 53, 54 can be tilted from front to back or left and right from a neutral position.
By the tilting operation of 1, 52, 53, and 54, the boom 30 can be raised, contracted, and turned, or the work table 40 can be swung. Here, the ups and downs of the boom 30
The direction of extension / contraction, the turning operation, and the swinging direction of the worktable 40 can be selected by the operation directions of the corresponding operation levers 51, 52, 53, 54, respectively. It can be adjusted as desired by the amount of operation.

FIG. 1 shows these operating levers 51, 52, 5
FIG. 4 is a block diagram showing a signal transmission system in which the boom 30 is raised, contracted, turned, and turned, and the worktable 40 is turned by operations of 3, 54; Each of the operation levers 51, 52,
The operation directions and operation amounts of 53 and 54 are determined by first to fourth operation state detectors (both serving as operation direction detectors and operation amount detectors) provided at the base end of each lever. , 81, 82, 83, 84, and the detection information is input to a valve control circuit 61 of a controller 60 provided on the vehicle body 10 as an operation signal of the boom 30 or the workbench 40.

An electric motor M which operates by receiving electric power from a battery B is provided in the vehicle body 10, and a hydraulic pump P is driven by the electric motor M. The up / down cylinder 24, the telescopic cylinder 31, the turning motor 23, and the oscillating motor 42 (hereinafter, referred to as the hydraulic motor) discharged from the hydraulic pump P
Supply or shut-off of all or a part of these is collectively referred to as a hydraulic actuator) via a control valve (here, a multiple type valve) V driven (electromagnetic proportional drive) by a valve control circuit 61 of a controller 60. Is performed. The drive control of the electric motor M is performed by the hydraulic pump discharge flow rate control circuit 70 of the controller 60 (this will be described later).

The valve control circuit 61 of the controller 60
Are the first to fourth operation state detectors 81, 82, 83,
84, the operation levers 51, 52, 53, 5
4 outputs a drive signal (drive voltage) corresponding to the operation direction and the operation amount (operation signal), whereby the control valve V is electromagnetically driven to control the direction and opening of the spool corresponding to each hydraulic actuator. , Each hydraulic actuator 24,
31, 23 and 42 are operated. Therefore, the boom 30 moves up and down, expands and contracts, and turns in a direction corresponding to the operation direction of the operation levers 51, 52, and 53 at a speed corresponding to the operation amount, and the work table 40 moves in the operation direction of the swing operation lever 54. The head swings in the corresponding direction at a speed corresponding to the operation amount.

As shown in FIG. 2, the boom 30 is provided with an undulation angle detector 85 for detecting its own undulation angle and a length detector 86 for detecting its own length.
The swivel 2 is located near the swivel 20 in the vehicle body 10.
A turning angle detector 87 for detecting a turning angle of 0 (that is, a turning angle of the boom 30) is provided. The information detected by these detectors 85, 86, 87 is input to a position calculating circuit 62 of the controller 60 as shown in FIG. 1, where the position of the tip of the boom 30, that is, the position of the worktable 40 with respect to the vehicle body 10, is determined. Is calculated.

Further, as shown in FIG.
A load detector 88 for detecting a load (axial force) acting on the undulating cylinder 24 based on a pressure acting in the cylinder chamber of the undulating cylinder 24 is provided at a lower end of the cylinder 4.
The information detected by the load detector 88 is, as shown in FIG.
Is input to The overturning moment calculation circuit 63 calculates an overturning moment which is a load acting on the boom 30 based on the input load information, and the valve control circuit 61 outputs the overturning moment calculated by the overturning moment calculation circuit 63 to the boom. The operation command of the boom 30 such that the overturning moment exceeds the allowable moment is compared with an allowable moment determined as needed according to various conditions such as the turning position (swing angle) of the outrigger 30 and the lateral extension of each outrigger jack 12. By ignoring (or rejecting the output of the drive signal of the control valve V in response to the operation command of the boom 30), the moment limiter control for preventing the vehicle body 10 from overturning is performed.

The valve control circuit 61 incorporates a shockless module that drives the control valve V so that the operating speed of the boom 30 gradually increases or decreases in response to a sudden operation of the operation levers 51, 52, 53. ing. This shockless module operates by multiplying a drive signal of the control valve V, which is output in response to an input operation signal, by a shockless coefficient that changes stepwise (increases or decreases gradually) at each time step. It serves as a filter that causes a certain time delay until a predetermined boom operation speed corresponding to the signal is obtained.
In addition, this shockless module operates the control valve V that is output in response to the input operation signal so that the boom 30 does not stop suddenly even when the boom 30 reaches the end of the up-and-down or telescopic region. The signal is multiplied by a shockless coefficient so that the operation speed of the boom 30 is gradually reduced before the boom 30 is stopped.

As described above, the hydraulic pump discharge flow rate control circuit 70 for controlling the driving of the electric motor M is, as shown in FIG.
Flow setting circuit 71, second flow setting circuit 72, selection circuit 7
Third, a third flow rate setting circuit 74, a total flow rate calculation circuit 75, a target flow rate setting circuit 76, and a motor drive control circuit 77 are provided.

The first flow rate setting circuit 71 includes a position calculating circuit 6
2, information on the position of the workbench 40 with respect to the vehicle body 10 calculated by the first and third operation state detectors 81, 82, 8
3 based on the information on the operation direction and operation amount of each of the operation levers 51, 52, 53 detected by the control oil supply flow rate Qa, Qb,
Seeking qc, and sets the sum as a first flow rate Q _1. Further, the second flow rate setting circuit 72 provides information on the overturning moment calculated by the overturning moment calculation circuit 63 and the first
Based on the information on the operation direction and operation amount of each of the operation levers 51, 52, 53 detected by the third operation state detectors 81, 82, 83, the hydraulic actuators 24, 31,
Working oil supply flow rate Qa to 23, Qb, seek Qc, and sets the sum as a first flow rate Q _2.

In the first flow rate setting circuit 71, the first flow rate Q
_The procedure for setting ₁ will be described with reference to FIGS. In the first storage circuit 71a (see FIG. 1) of the controller 60, each operation direction of the operation levers 51, 52, 53 (that is, each operation direction of the up-and-down cylinder 24, the telescopic cylinder 31, and the turning motor 23) and the work The body 10 of the table 40
For each position with respect to, data that defines the relationship between the lever operation amount and the hydraulic oil supply flow rate to the hydraulic actuator that operates in response to the lever operation is stored in advance. As shown in FIG.
It is composed of first to fifth map groups M1, M2, M3, M4, M5 classified according to 2, 53 operation directions,
Each map group M1, M2, M3, M4, M5 is composed of a plurality of maps that define the relationship between the lever operation amount and the flow rate for each position of the worktable 40. In FIG. 3, the first and second map groups M1 and M2 are respectively up-and-down operation levers 51.
3 and 4 show map groups corresponding to the boom extension operation and the boom contraction operation of the telescopic operation lever 52, respectively. ing. The fifth map group M5 indicates a map group corresponding to the boom turning operation of the turning operation lever 53.

The first flow rate setting circuit 71 first includes first to third
Based on the detection information from the operation state detectors 81, 82, and 83, it is detected which operation lever is being operated in which direction, and a map group corresponding to this is stored in the first storage circuit 71a.
(See FIG. 11), the first to fifth map groups M1,
Select from M2, M3, M4, M5. After selecting the corresponding map group, a map corresponding to the position is selected based on the information on the position of the worktable 40 with respect to the vehicle body 10 calculated by the position calculation circuit 62. The selected map shows a relationship in which the hydraulic oil supply flow rate is substantially proportional to the lever operation amount within a range equal to or less than the upper limit value determined according to the position of the workbench 40 with respect to the vehicle body 10. The hydraulic oil supply flow rate corresponding to the lever operation amount is read, and the flow rate values are defined as Qa, Qb, and Qc.

Here, the upper limit value of the flow rate is set to be smaller as the position of the operation table 40 becomes farther from the center of the vehicle body 10 for any of the operation levers 51, 52 and 53. This means that when the boom 30 is operated at the same speed, the work table 40 acts on the work table 40 as the work table 40 is farther from the center of the vehicle body 10 (the work radius or the work table height is larger). This is because the inertia force is increased, and the posture of the worker who has boarded the worktable 40 tends to be unstable.

Also, the above-mentioned map is different for each of the hydraulic actuators 24, 31, and 23, and even for the same hydraulic actuator, for each operation direction. different maximum load pressure of the pump P (for example, boom Okoshiossha ^{90kgf / cm 2, 140kgf / cm} 2 at the boom contraction), in order to optimize the working oil discharge flow rate characteristic of the hydraulic pump P, for each maximum load pressure This is because it is preferable to set a pressure map. However, regarding the boom swing, the maximum load pressure of the hydraulic pump P is considered to be the same regardless of the operation direction of the swing operation lever 53 (the operation direction of the swing motor 23), and thus the maps are common to both.

FIG. 4 is an example of a map constituting the first map M1 corresponding to the boom raising operation of the raising / lowering operation lever 51. The map m1 in the case where the upper limit of the flow rate is maximum and the map m1 in which the upper limit value of the flow rate are minimum And the map m2 in the case of. Here, the upper limit value of the flow rate is shown only for the maximum value and the minimum value, but for other maps, the upper limit value is set to be larger as the position of the work table 40 is closer to the vehicle body 10, and Position is body 10
The upper limit is set smaller as the distance from the center increases. here,
When the position of the work table 40 is at the position corresponding to the map m1 (when the distance of the work table 40 from the vehicle body 10 is minimum), the flow rate is smaller than the upper limit value for the operation amount a. However, when the position of the work table 40 is at the position corresponding to the map m2 (when the distance of the work table 40 from the vehicle body 10 is the maximum), the flow rate is equal to the upper limit c (c <c) for the operation amount a. b), it can be seen that the hydraulic oil supply flow rate is different if the position of the work table 40 is different even with the same operation amount.

When a plurality of operating levers 51, 52, 53 are simultaneously operated, the flow rate setting is performed for each operated lever, and the flow rate Qa (up / down cylinder 24) corresponding to the operation of the up / down operating lever 51. The hydraulic oil supply flow rate to the flow rate Qb corresponding to the operation of the telescopic operation lever 52
(The flow rate of hydraulic oil supplied to the telescopic cylinder 31) and the flow rate Qc (the flow rate of hydraulic oil supplied to the swing motor 23) are determined in accordance with the operation of the swing operation lever 53. Then, it flows Qa, Qb, the sum of Qc is calculated, which is set as a first flow rate Q _1.

Next, the procedure for setting the second flow rate Q ₂ in the second flow rate setting circuit 72 will be described with reference to FIGS. The second storage circuit 72a (see FIG. 1) of the controller 60 stores the operating directions of the operating levers 51, 52, 53 (the up-and-down cylinder 24, the telescopic cylinder 31, the turning motor 2).
3 for each of the three operation directions) and for each value of the overturning moment, data that preliminarily stores the relationship between the lever operation amount and the hydraulic oil supply flow rate to the hydraulic actuator that operates according to the lever operation is stored in advance. I have. This data is shown in FIG.
, The first to fifth map groups M11, M1 classified according to the operation directions of the operation levers 51, 52, 53.
2, M13, M14, and M15, and each map group M11, M12, M13, M14, M15
Is composed of a plurality of maps in which the relationship between the lever operation amount and the flow rate is determined for each value of the overturning moment. FIG.
In the middle, the first and second map groups M11 and M12 show map groups corresponding to the boom raising operation and the boom lowering operation of the raising and lowering operation lever 51, respectively, and the third and fourth map groups M13 and M14 respectively expand and contract. 5 shows a map group corresponding to a boom extension operation and a boom contraction operation of the operation lever 52. Further, the fifth map group M15 includes a turning operation lever 53.
2 shows a map group corresponding to the boom turning operation of FIG.

The second flow rate setting circuit 72 first includes the first to third
Based on the detection information from the operation state detectors 81, 82, and 83, it is detected which operation lever is being operated in which direction, and a map group corresponding to this is stored in the second storage circuit 72a.
First to fifth map groups M11, M12, M1 stored in
3, M14, and M15. After the corresponding map group is selected, a map corresponding to the value of the overturning moment is selected based on the information on the overturning moment calculated by the overturning moment calculation circuit 63. The selected map shows a relationship in which the hydraulic oil supply flow rate is almost proportional to the lever operation amount within a range equal to or less than the upper limit determined according to the value of the overturning moment. The corresponding flow rate is read, and the flow rate values are set as Qa, Qb, and Qc.

Here, the upper limit value of the flow rate is set to be smaller as the value of the overturning moment is larger for all of the operation levers 51, 52 and 53. This is because when the boom 30 is operated at the same speed, the larger the value of the overturning moment, the more likely the vehicle body 10 becomes unstable. Also, the above-mentioned map is different for each of the hydraulic actuators 24, 31, and 23, and even for the same hydraulic actuator, for each operation direction. As described above, the hydraulic actuators and their operation directions are different. For example, since the maximum load pressure of the hydraulic pump P is different, it is preferable to set a pressure map for each maximum load pressure in order to optimize the hydraulic oil discharge flow rate characteristic of the hydraulic pump P.

FIG. 6 is an example of a map constituting the first map M11 corresponding to the boom raising operation of the raising / lowering operation lever 51, and the map m11 when the upper limit of the flow rate is maximum.
And a map m12 in which the upper limit of the flow rate is minimized. Here, the upper limit value of the flow rate is shown only for the maximum value and the minimum value, but for other maps, the upper limit value is set larger as the value of the falling moment is smaller, and the upper value is set as the value of the falling moment is larger. The upper limit is set small.

When a plurality of operating levers 51, 52, 53 are simultaneously operated, the flow rate setting is performed for each operated lever, and the flow rate Qa (up / down cylinder 24) corresponding to the operation of the up / down operating lever 51. The hydraulic oil supply flow rate to the flow rate Qb corresponding to the operation of the telescopic operation lever 52
(The flow rate of hydraulic oil supplied to the telescopic cylinder 31) and the flow rate Qc (the flow rate of hydraulic oil supplied to the swing motor 23) are determined in accordance with the operation of the swing operation lever 53. Then, it flows Qa, Qb, the sum of Qc is calculated, which is set as the second flow rate Q _2.

The selection circuit 73 has a first flow rate Qa, Qb, and Qc set by the first flow rate setting circuit 71.
The flow rate Q _1, the set flow rate Qa in the second flow rate setting circuit 72, Qb, select the smaller of the second flow rate Q ₂ is the sum of Qc, main flow values towards which the chosen Q
Set as ₀ . The third flow rate setting circuit 74 sets the working oil supply flow rate Qd to the swing motor 42 corresponding to the operation direction and the operation amount of the swing lever 54 which is detected as an additional flow Q _3.

The total flow rate calculation circuit 75 calculates the sum of the main flow rate Q ₀ set in the selection circuit 73 and the additional flow rate Q ₃ set in the third flow rate setting circuit 74, and sets this as the total flow rate Q _4. (Q ₄ = Q ₀ + Q ₃ ). In addition, the hydraulic oil supply flow rate Q ₃₁ required for operating other hydraulic actuators,
If Q ₃₂ ,... Is required, it is also added to the additional flow rate Q ₃ (Q ₄ = Q ₀ + (Q ₃ + Q ₃₁ + Q ₃₂ + ...)).

As an example of the other hydraulic actuator, the work table 40 is attached to the mounting portion of the boom 30 (the vertical post 3).
2) A device that slides up and down, and a work table 4
There is a drive device for the attachment tool provided in the housing 0, a booster device attached to a booster outlet provided in the workbench 40, and the like. Here, instead of the lever of the type in which the flow rate of the hydraulic oil supplied to the hydraulic actuator (the swing motor 42) to be operated is determined according to the operation amount as in the case of the swing operation lever 54, the hydraulic oil is applied to the actuator. For a type of lever that issues a command to supply or not supply oil (that is, turning on / off hydraulic oil supply), it is detected whether or not the lever is being operated, and it is determined that the lever is being operated. When it is detected, a known hydraulic oil supply flow rate required for driving the actuator may be added. FIG. 1 shows ON / OFF detectors 89, 90,... For detecting the ON / OFF state of the lever.

The target flow rate setting circuit 76 sets a flow rate obtained by multiplying the total flow rate Q ₄ calculated by the total flow rate calculation circuit 75 by the above-described shockless coefficient K as a target flow rate Qt (Qt = K × Q). ₄ ). This coefficient K is given to the total flow rate Q ₄ calculated by the total flow rate calculation circuit 75 at each time step, and is multiplied by the total flow rate Q ₄ , so that the operation finally discharged from the hydraulic pump P is performed. The oil flow rate can be reduced stepwise in accordance with the shockless control performed by the valve control circuit 61, and unnecessary supply of hydraulic oil can be avoided (excess hydraulic oil supply with respect to the spool opening of the control valve V). , It becomes surplus oil and is returned to the oil tank.)

The motor drive control circuit 77 includes a hydraulic pump P
The rotation control (rotation speed or rotation speed control) of the hydraulic pump P is performed so that the flow rate of the hydraulic oil discharged from the hydraulic pump P substantially matches the target flow rate Qt set in the target flow rate setting circuit 76. Specifically, the target flow rate Qt and the hydraulic pump P
Is stored in the third storage circuit 77a (see FIG. 1), and the target flow rate Q obtained by the target flow rate setting circuit 76 is stored.
The rotation speed of the hydraulic pump P is read by applying the value of t to the correspondence table, and the rotation of the electric motor M is controlled such that the hydraulic pump P is driven at the rotation speed (target rotation speed).

Here, if the motor M is a DC motor,
The rotation control is performed by changing the driving voltage or the magnetic flux of the field. If the motor M is an AC motor, the DC current obtained from the battery B is subjected to pulse width modulation (PWM).
To control the motor M to rotate at a speed corresponding to the duty ratio of the pulse width. When the electric motor M is an AC motor, if the hydraulic pump P has a constant rotation characteristic regardless of the load pressure, the duty ratio of the pulse width can be determined only by the target rotation speed. If the rotation characteristics change depending on the pressure, it is necessary to determine the duty ratio in consideration of not only the target rotation speed but also this load pressure (maximum load pressure).

In the aerial work vehicle 1 having such a configuration,
An operator on the work table 40 operates the operation levers 51, 52, 53 and the work table swing operation lever 54 from the work table 40, thereby raising and lowering the boom 30, extending and retracting, turning, and performing operations. The swing operation of the table 40 can be performed, and it is possible to move to a desired position and perform work by operating the lever of the table 40 itself. At this time, the controller 60
Performs the moment limiter control as described above, so that even if the overturning moment acting on the vehicle body 10 increases, the vehicle body 10 is prevented from overturning.

Further, in the hydraulic oil supply device provided in the aerial work vehicle 1, the hydraulic oil flow discharged from the hydraulic pump P changes the hydraulic actuators 24, 31 for raising, lowering, expanding and contracting, and turning the boom 30. , 23, the rotation of the hydraulic pump P is controlled so that the total sum of the flow rates of the hydraulic oil supplied to the hydraulic actuators 24, 31, and 23 is substantially equal to the target flow rate determined as the main flow rate. The hydraulic oil supply flow rate is set depending not only on the operation amounts of the operation levers 51, 52, and 53, but also on the position of the work table 40 with respect to the vehicle body 10 and the load acting on the boom 30 (in the above example, the overturning moment). It has become.

For this reason, when the position of the work table 40 is far away from the vehicle body 10 or when the load acting on the boom 30 is large, the boom is smaller than the amount of operation of the operation levers 51, 52, 53. When control for suppressing the operation speed of the boom 30 is performed, the discharge flow rate of the hydraulic pump P can be reduced accordingly, so that the hydraulic oil flow actually required for the operation of the boom 30 and the hydraulic pump P The difference between the discharged hydraulic oil flow rate and the flow rate of the hydraulic oil discharged from the hydraulic pump P can be reduced to a minimum necessary flow rate with a small excess flow rate. As a result, it is possible to reduce the driving power loss of the hydraulic pump P and to reduce the working cost, and to extend the service life of the hydraulic pump P itself and the electric motor M that drives the hydraulic pump P. Further, since the generation of heat and noise accompanying the driving of the hydraulic pump P is reduced, the influence on the surroundings during the work can be reduced.

Next, another configuration of the hydraulic oil supply device for a boom working vehicle according to the present invention will be described with reference to FIGS. Note that the boom work vehicle to which the hydraulic oil supply device according to the present embodiment is applied is the aerial work vehicle 1, and a description of its configuration is omitted here.

FIG. 7 shows a signal transmission in which the operating levers 51, 52, 53, and 54 operate the operating levers 51, 52, 53, 54 to raise and lower, extend, and turn the boom 30 and turn the worktable 40. It is a block diagram showing a system. In the device according to the present embodiment, similarly to the device according to the above-described embodiment, each of the operation levers 51, 52, 5
The first to fourth operation state detectors 8 provided at the base end of each lever indicate the operation direction and operation amount of the third and fourth levers.
1, 82, 83, and 84, and the detection information is input to the valve control circuit 61 of the controller 60 provided on the vehicle body 10 as an operation signal of the boom 30 or the workbench 40. In addition, the undulation angle detector 85 and the length detector 8
The position calculating circuit 62 calculates the position of the tip end of the boom 30 (the workbench 40) with respect to the vehicle body 10 based on the information detected by the turning angle detector 6 and the turning angle detector 87, and the information detected by the load detector 88. In the same manner as in the above-described embodiment, the overturning moment, which is a load acting on the boom 30, is calculated by the overturning moment calculation circuit 63 based on the above.

In this embodiment, the hydraulic pump discharge flow rate control circuit 70 for controlling the driving of the motor M includes a main flow rate setting circuit 271, an additional flow rate setting circuit 272, a total flow rate calculating circuit 273, a target flow rate setting circuit 276, and a motor. The configuration has a drive control circuit 277.

The main flow rate setting circuit 271 includes the position calculating circuit 6
The information on the position of the workbench 40 with respect to the vehicle body 10 calculated in 2, the information on the overturning moment calculated by the overturning moment calculation circuit 63, and the information detected by the first to third operation state detectors 81, 82, 83. Each operating lever 5
The hydraulic oil supply flow rates Qa, Qb, and Qc to the hydraulic actuators 24, 31, and 23 are obtained based on the information on the operation directions and the operation amounts of 1, 52, and 53, and the sum thereof is determined as the main flow rate Q ₂₀
Set as

In the main flow rate setting circuit 271, the main flow rate Q ₂₀
Will be described with reference to FIG. The first storage circuit 271a (see FIG. 7) of the controller 60 includes:
Each operating direction of the operating levers 51, 52, 53 (that is, each operating direction of the up-and-down cylinder 24, the telescopic cylinder 31, and the turning motor 23), and the position of the workbench 40 with respect to the vehicle body 10 and the value of the overturning moment, Data defining the relationship between the operation amount and the hydraulic oil supply flow rate to the hydraulic actuator that operates in response to the lever operation is stored in advance. This data is also shown in FIG.
First to fifth map groups M21, M22, M23, M2 classified for each operation direction of the operation levers 51, 52, 53
4, M25, and each map group M2
1, M22, M23, M24, and M25 are composed of a plurality of maps that determine the relationship between the lever operation amount and the flow rate for each position of the worktable 40 and the value of the overturning moment.
In FIG. 8, the first and second map groups M21 and M22 indicate map groups corresponding to the boom raising operation and the boom lowering operation of the raising and lowering operation lever 51, respectively, and the third and fourth map groups M23 and M24 are illustrated. A map group corresponding to the boom extension operation and the boom contraction operation of the telescopic operation lever 52 is shown. Further, a fifth map group M25 indicates a map group corresponding to the boom turning operation of the turning operation lever 53.

The main flow rate setting circuit 271 first includes the first to third
Based on the detection information from the operation state detectors 81, 82, and 83, it is detected which operation lever is being operated in which direction, and a map group corresponding to this is stored in the first storage circuit 271.
The first to fifth map groups M21, M22, M stored in a
23, M24, and M25. After selecting the corresponding map group, the overturning moment calculation circuit 63
A small map group for each load class corresponding to the overturning moment (load) calculated in is selected. In the example shown in FIG. 8, the small map group load class 1 to N ₁ for the first map group M21, load classes 1 to N ₂ for the second map group M22 is, the third map group M23 is load class 1 to N _3, load classes 1 to N ₄ is the fourth map group M24 is, load classes 1 to N ₅ are provided for the fifth map group M25.

After selecting a small map group for each load class corresponding to the overturning moment (load), information on the position of the workbench 40 with respect to the vehicle body 10 calculated by the position calculating circuit 62 is selected from the small map group. , A map corresponding to the position is selected. The selected map shows a relationship in which the hydraulic oil supply flow rate is substantially proportional to the lever operation amount within a range equal to or less than an upper limit value determined according to the position of the work table 40 with respect to the vehicle body 10 (the map is The hydraulic oil supply flow rate corresponding to the detected lever operation amount is read, and the value of the flow rate is determined as Q.
a, Qb, and Qc.

When a plurality of operation levers 51, 52, 53 are simultaneously operated, the flow rate setting is performed for each operated lever, and the flow rate Qa (up / down cylinder) corresponding to the operation of the up / down operation lever 51. 24, the flow rate Qb corresponding to the operation of the telescopic operation lever 52.
(The flow rate of hydraulic oil supplied to the telescopic cylinder 31) and the flow rate Qc (the flow rate of hydraulic oil supplied to the swing motor 23) are determined in accordance with the operation of the swing operation lever 53. Then, it flows Qa, Qb, the sum of Qc is calculated, which is set as the main flow Q _20.

The additional flow rate setting circuit 272 detects
Corresponding to the operation direction and operation amount of the swing operation lever 54
Flow rate of hydraulic oil supplied to the swinging motor 42
Quantity Q _{twenty one}Set as

The total flow rate calculating circuit 273 is a main flow rate setting circuit.
Main flow Q set in 271 ₂₀And additional flow setting times
Additional flow rate Q set in path 272_{twenty one}Find the sum with
The total flow Q_{twenty two}Set as (Q_{twenty two}= Q₂₀+ Q
_{twenty one}). Also, the operation of other hydraulic actuators (described above)
Required hydraulic oil supply flow rate Q_{twenty three}, Q_{twenty four},… Is required
Is also the additional flow rate Q_{twenty one}Is added to (Q_{twenty two}= Q₂₀+
(Q_{twenty one}+ Q_{twenty three}+ Q_{twenty four}+ ...)).

The target flow rate setting circuit 276 sets a flow rate obtained by multiplying the total flow rate Q ₂₂ calculated by the total flow rate calculation circuit 273 by the above-described shockless coefficient K as a target flow rate Qt (Qt = K × Q). ₂₂ ). The coefficient K is given for each time step to the total flow rate Q ₂₂ calculated by the total flow rate calculation circuit 273, and is multiplied by the total flow rate Q ₂₂ to finally operate the hydraulic pump P. The oil flow rate can be gradually reduced in accordance with the shockless control performed by the valve control circuit 61, and unnecessary supply of hydraulic oil can be avoided (described above).

The motor drive control circuit 277 controls the rotation (rotation) of the hydraulic pump P so that the flow rate of the hydraulic oil discharged from the hydraulic pump P substantially matches the target flow rate Qt set in the target flow rate setting circuit 276. Number or rotation speed control). Specifically, a correspondence table between the target flow rate Qt and the rotation speed of the hydraulic pump P (that is, the rotation speed of the electric motor M) is stored in the second storage circuit 277a (see FIG. 7). The obtained value of the target flow rate Qt is applied to the correspondence table to read the rotation speed of the hydraulic pump P, and the rotation of the electric motor M is controlled so that the hydraulic pump P is driven at the rotation speed (target rotation speed). The contents of the rotation control are the same as those in the above-described embodiment.

In the hydraulic oil supply device for a boom working vehicle according to another embodiment of the present invention, the position of the working table 40 is shifted from the vehicle body 10 as in the hydraulic oil supply device for a boom working vehicle according to the above-described embodiment of the present invention. When you are far away, boom 3
0 when the load applied to the operating lever 5 is large.
When the control for suppressing the operation speed of the boom 30 is made smaller than the operation amounts of 1, 52 and 53, the discharge flow rate of the hydraulic pump P can be reduced accordingly. The difference between the required hydraulic oil flow rate and the hydraulic oil flow rate discharged from the hydraulic pump P is reduced, so that the hydraulic oil flow rate discharged from the hydraulic pump P becomes
It is possible to reduce the surplus flow rate to a minimum necessary flow rate. Accordingly, the driving power loss of the hydraulic pump P can be reduced to reduce the working cost, and the service life of the hydraulic pump P itself and the electric motor M that drives the hydraulic pump P can be extended. Furthermore, since the generation of heat and noise accompanying the driving of the hydraulic pump P is reduced,
During work, the influence on the surroundings can be reduced.

Subsequently, another embodiment based on one of these two embodiments will be described. Here, an example based on the first embodiment will be described, but an embodiment based on a later embodiment can be similarly implemented.

FIG. 9 shows a configuration of a hydraulic oil supply device for a boom working vehicle according to another embodiment based on the first embodiment. As shown in this figure, in the hydraulic oil supply device according to the present embodiment, a second target flow rate setting circuit 78 is added to the hydraulic oil supply device according to the first embodiment described above. Components that are the same as those of the device according to the embodiment are denoted by the same reference numerals, and description thereof will be omitted.

The second target flow rate setting circuit 78 applies the drive signal of the control valve V output from the valve control circuit 61 of the controller 60 (this drive signal has already been filtered by the shock module as described above). The flow rate obtained based on the hydraulic oil supply flow rate to each of the corresponding hydraulic actuators (the up / down cylinder 24, the telescopic cylinder 31, and the turning motor 23) is set as the second target flow rate Qt '.

The fourth storage circuit 78a of the controller 60
9 (see FIG. 9), the lever operation is performed for each operation direction of the up / down operation lever 51, the expansion / contraction operation lever 52, and the turning operation lever 53 (that is, for each operation direction of the up / down cylinder 24, the expansion / contraction cylinder 31, and the turning motor 23). Data defining the relationship between the output drive signal (drive voltage) of the control valve V and the flow rate of hydraulic oil supplied to the hydraulic actuator that operates in response to the lever operation is stored in advance.
This data is, as shown in FIG.
1st to 5th classified for each of the 1, 52, and 53 operation directions
The map is composed of maps M31, M32, M33, M34, and M35. In FIG. 10, the first and second maps M31,
M32 indicates maps corresponding to the boom raising operation and the boom lowering operation of the raising / lowering operation lever 51, respectively.
And the fourth maps M33 and M34 show maps corresponding to the boom extension operation and the boom contraction operation of the telescopic operation lever 52, respectively. A fifth map M35 shows a map corresponding to the boom turning operation of the turning operation lever 53.

The second target flow rate setting circuit 78 is provided with the hydraulic actuators 24, 3 output from the valve control circuit 61.
Based on the drive signals of 1, 23, the corresponding map is
The first to fifth maps M31 stored in the storage circuit 78a,
Select from M32, M33, M34, M35. The selected map shows a relationship in which the hydraulic oil supply flow rate is substantially proportional to the drive signal (drive voltage) of the control valve V. By reading the hydraulic oil supply flow rate corresponding to the drive signal (drive voltage), The flow rates are defined as Qa, Qb, and Qc. Here, the graph selected on the map is the control valve V
Is specified so that the flow rate increases substantially in proportion to the drive signal (drive voltage). It should be noted that the map is different for each of the hydraulic actuators 24, 31, and 23, and even for the same hydraulic actuator, for each operation direction. As described above, if the hydraulic actuator and its operation direction are different, the hydraulic pump P This is because the maximum load pressure is different, and in order to optimize the hydraulic oil discharge flow rate characteristic of the hydraulic pump P, it is preferable to set a pressure map for each maximum load pressure. FIG. 11 shows a map m31 corresponding to the boom raising operation of the up / down operation lever 51 as an example of such a map.

Here, when a plurality of operating levers 51, 52, 53 are operated simultaneously, the flow rate setting is performed for each operated lever, and the flow rate Qa (up / down cylinder 24, the flow rate Qb corresponding to the operation of the telescopic operation lever 52.
(The flow rate of hydraulic oil supplied to the telescopic cylinder 31) and the flow rate Qc (the flow rate of hydraulic oil supplied to the swing motor 23) are determined in accordance with the operation of the swing operation lever 53. Then, the sum of these flow rates Qa, Qb, and Qc is calculated, and the flow rate obtained by adding the additional flow rate (the flow rate Q ₃ set in the third flow rate setting circuit 74) to the second target flow rate Q
It is set as t '.

The motor drive control circuit 77 in this embodiment is the smaller of the target flow rate Qt set in the target flow rate setting circuit 76 and the second target flow rate Qt 'set in the second target flow rate setting circuit 78. And set this as the true target flow rate. Then, the rotation control of the hydraulic pump P is performed so that the flow rate of the working oil discharged from the hydraulic pressure pump P substantially matches the true target flow rate. The specific method of this control is the same as that shown in the above-described embodiment.

As described above, in the hydraulic oil supply device shown in this embodiment, the target flow rate of the hydraulic oil discharged from the hydraulic pump P is set based on the operation amounts of the operation levers 51, 52, 53. The target flow rate Qt (the target flow rate set in the target flow rate setting circuit 77) and the target flow rate set based on the drive signal for actually driving the control valve V (the second flow rate set in the second target flow rate setting circuit 78) Of the hydraulic pump P, so that the rotation control of the hydraulic pump P is performed so as to coincide with the smaller one of the target flow rates) Qt ′. The difference from the flow rate of the discharged working oil can be further reduced, and the surplus flow rate can be further reduced.

Although the preferred embodiment of the present invention has been described, the scope of the present invention is not limited to the above. For example, in the above embodiment, the power source for driving the hydraulic pump P is the electric motor M, but this is a prime mover (for example, a small engine for driving the hydraulic pump P provided separately from the engine for driving the vehicle). There may be.

In the above embodiment, the boom 3
Although the overturning moment is treated as the load acting on zero, this may be the load on the workbench 40. In this case, in addition to the method of detecting the axial force of the undulating cylinder 24 as described in the above embodiment, the boom 30
A method of directly detecting the load of the work table 40 acting on the tip of the work table can also be adopted.

The operating means for inputting the operation of the hydraulic actuators (the raising / lowering cylinder 24, the telescopic cylinder 31, and the turning motor 23) for raising / lowering, extending / retracting and turning the boom 30 is provided by a lever (operation / operation) as shown in the above embodiment. The present invention is not limited to the levers 51, 52, and 53), and may be a knob or a switch.

Further, in the above-described embodiment, the operating means is constituted by three independent operating levers, ie, the up / down operating lever 51, the telescopic operating lever 52, and the turning operating lever 53, but two of these three levers are provided. A joystick lever having one or all three functions in one lever can also be used. According to such a joystick lever, for example, the front-back direction operation is assigned to the up / down operation of the boom 30, the left / right operation is assigned to the extension / retraction operation of the boom 30, and the operation of the boom 30 is simultaneously performed by the diagonal operation. However, in this case, the operation in the oblique direction is not regarded as an operation in a certain oblique direction, but the operation in the front-back direction and the operation in the left-right direction are performed simultaneously, That is, it is necessary to apply the present invention as if the raising / lowering operation lever 51 and the expansion / contraction operation lever 52 in the above-described embodiment were operated simultaneously.

In the above embodiment, the present invention is applied to an aerial work vehicle having a work table at the end of a boom, but the present invention is not limited to such an aerial work vehicle. Also, the present invention can be applied to a crane truck having a lifting device at the tip of a boom.

[0070]

As described above, according to the hydraulic oil supply device for a boom working vehicle according to the present invention, when the working device is located far away from the vehicle body or when the load acting on the boom is large. As described above, when the control for suppressing the operation speed of the boom is made smaller than the operation amount of the operation means, the discharge flow rate of the hydraulic pump can be reduced accordingly. The difference between the hydraulic oil flow rate and the hydraulic oil flow rate discharged from the hydraulic pump is reduced so that the hydraulic oil flow rate discharged from the hydraulic pump becomes the minimum necessary flow rate with a small excess flow rate. it can. As a result, the driving power loss of the hydraulic pump can be reduced to reduce the working cost, and the service life of the hydraulic pump itself and the electric motor for driving the hydraulic pump can be extended. Furthermore, since the generation of heat and noise accompanying the driving of the hydraulic pump is reduced, the influence on the surroundings during the operation can be reduced.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a signal transmission system of an aerial work vehicle equipped with a hydraulic oil supply control device according to the present invention.

FIG. 2 is a side view of the aerial work vehicle.

FIG. 3 is a block diagram illustrating a part of a controller constituting the hydraulic oil supply device.

FIG. 4 is a diagram illustrating an example of a map stored in a first storage circuit.

FIG. 5 is a block diagram showing a part of a controller constituting the hydraulic oil supply device.

FIG. 6 is a diagram illustrating an example of a map stored in a second storage circuit.

FIG. 7 is a block diagram showing a signal transmission system of an aerial work vehicle provided with another hydraulic oil supply device according to the present invention.

FIG. 8 is a block diagram showing a part of a controller constituting the hydraulic oil supply device according to another embodiment of the present invention.

FIG. 9 is a block diagram showing a signal transmission system of an aerial work vehicle equipped with a hydraulic oil supply control device according to another embodiment based on the first embodiment.

FIG. 10 is a block diagram showing a part of a controller constituting a hydraulic oil supply device according to another embodiment based on the first embodiment.

FIG. 11 is a diagram showing an example of a map stored in a fourth storage circuit.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Aerial work vehicle (boom work vehicle) 10 Body 20 Swivel table 23 Swivel motor (hydraulic actuator) 24 Elevating cylinder (hydraulic actuator) 30 Boom 31 Telescopic cylinder (hydraulic actuator) 40 Workbench (working device) 51 Elevating operation lever ( Operating means) 52 Telescopic operating lever (operating means) 53 Rotating operating lever (operating means) 60 Controller 61 Valve control circuit (Valve control means) 62 Position calculating circuit (Position detecting means) 63 Overturning moment calculating circuit (Load detecting means) 70 Hydraulic pump discharge flow rate control circuit 71 First flow rate setting circuit (first flow rate setting means) 72 Second flow rate setting circuit (second flow rate setting means) 73 Selection circuit (main flow rate setting means) 74 Third flow rate setting circuit ( Target flow rate setting means) 75 Total flow setting circuit (Target flow setting means) 76 Standard flow rate setting circuit (target flow rate setting means) 77 Motor drive control circuit (hydraulic pump control means) 81 to 83 First to third operation state detectors (operation amount detecting means) 85 Undulating angle detector (position detecting means) 86 Length detector (position detecting means) 87 Turning angle detector (position detecting means) 88 Load detector (load detecting means) M Electric motor (hydraulic pump controlling means) P Hydraulic pump

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shunichi Nakazawa 41-1, Higashimine Sugawa, Aiji Corp. 414-1 F Term in Aichi Corporation Shinji Works (Reference) 3F333 AA08 AB04 DB07 FA22 FA32 FB04 FD08 FE04 FE09 3H089 AA44 AA46 AA81 BB01 CC01 CC12 DA02 DA14 EE35 FF02 FF03 FF08 FF10 GG02 JJ01 JJ08

Claims (3)

[Claims] 1. A working device is provided at the tip of a boom that can be raised, contracted, and swiveled on a vehicle body, and a speed corresponding to the amount of operation of each operating means corresponding to the up, down, extension, and turning operations of the boom. A hydraulic oil supply device for a boom working vehicle configured to raise and lower, extend and retract the boom, and perform hydraulic operations on the hydraulic actuators for raising and lowering, expanding and contracting and rotating the boom. A hydraulic pump to be supplied, an operation amount detection unit that detects an operation amount of each of the operation units, a position detection unit that detects a position of the working device with respect to the vehicle body, and a load detection unit that detects a load acting on the boom. Based on the position of the working device with respect to the vehicle body detected by the position detection unit and the operation amounts of the respective operation units detected by the operation amount detection unit. The hydraulic oil supply flow rate to each of the hydraulic actuators is determined, and the sum thereof is calculated as
First flow rate setting means for setting a flow rate, and the hydraulic actuators based on a load acting on the boom detected by the load detection means and an operation amount of each operation means detected by the operation amount detection means A second flow rate setting means for determining a hydraulic oil supply flow rate to the first flow rate, and setting a sum thereof as a second flow rate; and wherein the first flow rate and the second flow rate setting means set in the first flow rate setting means. A main flow rate setting means for setting a smaller value among the set second flow rates as a main flow rate; and a target flow rate setting means for setting a target flow rate based on the main flow rate set in the main flow rate setting means. Rotation of the hydraulic pump so that the flow rate of the hydraulic oil discharged from the hydraulic pump substantially matches the target flow rate set by the target flow rate setting means. A hydraulic oil supply device for a boom working vehicle, comprising: hydraulic pump control means for performing control. 2. A working device is provided at the tip of a boom that can be raised, contracted, and swiveled on a vehicle body, and a speed corresponding to the amount of operation of each operating means corresponding to the up, down, elongation, and turning operations of the boom. A hydraulic oil supply device for a boom working vehicle configured to raise and lower, extend and retract the boom, and perform hydraulic operations on the hydraulic actuators for raising and lowering, expanding and contracting and rotating the boom. A hydraulic pump to be supplied, an operation amount detection unit that detects an operation amount of each of the operation units, a position detection unit that detects a position of the working device with respect to the vehicle body, and a load detection unit that detects a load acting on the boom. A position of the working device with respect to the vehicle body detected by the position detecting means, a load acting on the boom detected by the load detecting means, and the operation A main flow rate setting means for obtaining a hydraulic oil supply flow rate to each of the hydraulic actuators based on an operation amount of each of the operation means detected by the quantity detection means, and setting a sum thereof as a main flow rate; Target flow rate setting means for setting a target flow rate based on the set main flow rate, and a flow rate of hydraulic oil discharged from the hydraulic pump is substantially equal to the target flow rate set by the target flow rate setting means. And a hydraulic pump control means for controlling the rotation of the hydraulic pump. 3. The control of the boom up / down, expansion / contraction, and turning operation is performed by valve control means driving a control valve that supplies and shuts off hydraulic oil discharged from the hydraulic pump to each of the hydraulic actuators. A second target flow rate is set based on a sum of hydraulic oil supply flow rates to the hydraulic actuators determined in response to the control valve drive signal output from the valve control means. The hydraulic pump drive control means, wherein the flow rate of the hydraulic oil discharged from the hydraulic pump is the target flow rate set by the target flow rate setting means and the second target flow rate setting means. Wherein the rotation control of the hydraulic pump is performed so as to substantially coincide with the smaller flow rate of the second target flow rate set in the above. That claim 1
3. The hydraulic oil supply device for a boom working vehicle according to 2.