Pivotal movement control device for boom-equipped working machine
First Claim
1. A pivotal movement control device for a boom-equipped working machine comprising (1) a control lever which is movable between inclined positions on either side of a neutral region, (2) pivotal movement instructing means for controlling a pivotal movement of a boom in response to an inclined position of said control lever and (3) position detecting means for detecting the pivotal position of the boom in a lateral direction, wherein the improvement comprises:
- switch means for changing between an automatic mode and a manual mode;
automatic target stop position control means for (a) storing a target stop signal from said position detecting means when said switch means is changed from the manual mode to the automatic mode, said target stop signal being representative of a target stop position of the boom, (b) controlling a pivotal movement of the boom so as to move the boom to the target stop position and stop the boom at the target stop when (b1) the boom is positioned away from the target stop position and (b2) said control lever is moved away from the neutral region in a direction opposite to the direction in which the boom is positioned away from the target stop position and (c) reading a positional signal from said position detecting means during movement of the boom to the target stop position;
manual control means for controlling a pivotal movement of the boom in response to a signal from said pivotal movement instructing means while said switch means is in the manual mode or while said control lever is operated other than as specified in (b1) and (b2) above; and
means for changing from the automatic mode to the manual mode when the boom is positioned away from the target stop position and said control lever is moved away from the neutral region in a direction which corresponds to the direction in which the boom is positioned away from the target stop position.
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Accused Products
Abstract
Disclosed is a pivotal movement control device for a boom-equipped working machine provided with a pivotal movement control responsive to the inclined angle of a control lever and a position detector for detecting the moved position of a boom in a lateral direction. The device includes a changeover switch for changing between an automatic mode and a manual mode, an automatic target position stop control for storing a signal from the position detector as a target stop position when the changeover switch is changed from the manual mode to the automatic mode and pivotally moving the boom to the target stop position and stopping it there while reading a positional signal from the position, when the boom is at a position other than the target stop position and the control lever is operated to the side of the target stop position. The device also includes a manual control for controlling the boom according to a signal from the pivotal movement control when the control lever is operated in another manner and when the changeover switch is in the manual mode.
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Citations
18 Claims
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1. A pivotal movement control device for a boom-equipped working machine comprising (1) a control lever which is movable between inclined positions on either side of a neutral region, (2) pivotal movement instructing means for controlling a pivotal movement of a boom in response to an inclined position of said control lever and (3) position detecting means for detecting the pivotal position of the boom in a lateral direction, wherein the improvement comprises:
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switch means for changing between an automatic mode and a manual mode; automatic target stop position control means for (a) storing a target stop signal from said position detecting means when said switch means is changed from the manual mode to the automatic mode, said target stop signal being representative of a target stop position of the boom, (b) controlling a pivotal movement of the boom so as to move the boom to the target stop position and stop the boom at the target stop when (b1) the boom is positioned away from the target stop position and (b2) said control lever is moved away from the neutral region in a direction opposite to the direction in which the boom is positioned away from the target stop position and (c) reading a positional signal from said position detecting means during movement of the boom to the target stop position; manual control means for controlling a pivotal movement of the boom in response to a signal from said pivotal movement instructing means while said switch means is in the manual mode or while said control lever is operated other than as specified in (b1) and (b2) above; and means for changing from the automatic mode to the manual mode when the boom is positioned away from the target stop position and said control lever is moved away from the neutral region in a direction which corresponds to the direction in which the boom is positioned away from the target stop position. - View Dependent Claims (2, 3, 4, 5, 6, 17, 18)
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7. A pivotal movement control device for a boom-equipped working machine comprising (1) a control lever which is movable between inclined positions on either side of a neutral region, (2) pivotal movement instructing means for controlling a pivotal movement of a boom in response to an inclined position of said control lever and (3) position detecting means for detecting the pivotal position of the boom in a lateral direction, wherein the improvement comprises:
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speed reducing region discriminating means for determining, based on a signal from said position detecting means, whether said boom is positioned in speed reducing regions in the vicinity of lateral terminus points of boom movement as the boom is moved to the lateral terminus points; and speed instruction means for generating a speed reducing instruction when a pivotally moving speed of the boom is greater than an instructed speed reducing speed. - View Dependent Claims (8, 9, 10, 11)
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12. A pivotal movement control device for a boom-equipped working machine comprising (1) a pivotal base for supporting a boom, said pivotal base being movable in a lateral direction, (2) a position detecting means, including a detecting lever, for detecting a moved position of said pivotal base, and (3) control means for (a) storing a target stop position signal from said position detecting means, (b) stopping pivotal movement of said pivotal base at a target stop position and (c) reading a signal from said position detecting means to detect the position of said pivotal base during pivotal movement, wherein the improvement comprises:
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said position detecting means disposed on one of said pivotal base and a fixed member; a control lever disposed on the other of said pivotal base and the fixed member for operating said detecting lever of said position detecting means; and a spring urging said detecting lever and said control lever into engagement at all times. - View Dependent Claims (13, 14, 15, 16)
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Specification