JP2000219490A - Slope working vehicle control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a slope working vehicle control device permitting stable working travel of a working vehicle by preventing ill conditions such as overturning and skidding on a slope. SOLUTION: This slope working vehicle control device for assisting slope travel is provided with winch holding means 30, 33, 34 for holding a wire rope 10 to specified tension to assist travel by controlling the winding drive force of a winch motor 29 relative to the slope downward traveling drive force of a working vehicle 1 to such an extent that the working vehicle is travelable downward without being lifted from a slope.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work vehicle for working on an inclined ground such as a self-propelled mower, a self-propelled transport vehicle and a self-propelled harvesting vehicle, and in particular, prevents a fall or a slide on an inclined ground. And a control device therefor.

[0002]

2. Description of the Related Art Conventionally, work vehicles such as a self-propelled mower, a self-propelled carrier and a self-propelled harvester are used for various tasks such as mowing grass, transporting equipment and the like, or transporting timber on a slope. Used. For example, according to Japanese Utility Model Laid-Open No. 9-74849, which is a prior art of a self-propelled mower, as shown in FIG.
An unmanned mowing machine 71B is provided with a mowing device 71B at the front of the self-propelled body, the forward and backward movement of the mowing device 71B is controlled by remote control, and the mowing operation is performed at the time of forward movement. It includes a remote control device for controlling forward and backward movement of the mowing device 71B and a control trolley 72 having a storage portion for the unmanned mower 71, and a storage portion 72E of the control trolley 72 is provided at a rear portion of the unmanned mower 71. The storage unit 72E includes an electric winch device that pulls out the connected pulling wire rope 73 at a feeding speed lower than the forward speed when the unmanned mower 71 advances, and winds up the unmanned mower 71 at a winding speed higher than the retreat speed when the unmanned mower 71 retreats. A slope mower device mounted therein is described.

[0003]

However, in the slope mower disclosed in Japanese Utility Model Laid-Open No. 9-74849, it is described that the rear part of the unmanned mower is advanced while being pulled by a pulling wire. However, as in the present invention, there is no disclosure of a control device that causes the winch motor to reversely rotate (unwind) and stably travel when the work vehicle travels down a slope, and the work vehicle does not necessarily fall or slide. It cannot be prevented.

An object of the present invention is to provide a control device for a work vehicle on a sloped land which can prevent a trouble such as overturning or sliding on a sloped land and perform stable work traveling by focusing on the above problems. .

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, a first invention of a control device for a work vehicle on a sloped land according to the present invention is provided. A control device for a slope work vehicle having a downhill traveling vehicle, an uphill traveling vehicle or a traverse traveling vehicle, and a control device that assists the traveling of the work vehicle via a wire rope driven by a winch. Pipe lines 28a, 2 for supplying the pressure oil to be discharged
8b, 28c and a winch motor 29, and a hydraulic closed circuit provided on a pipeline 26a connected to the hydraulic pump 26 to supply pressure oil to the hydraulic closed circuit to maintain the winch motor 29 in the hoisted state. The one end of the wire rope 10 wound or unwound on the drum 20 by the drive of the winch motor 29 is connected to the work vehicle 1.
The lifting means 2a for hooking the work vehicle 1 and the hoisting driving force of the winch motor 29 with respect to the driving force of the work vehicle 1 traveling downhill on the sloped ground can move the work vehicle 1 down to such an extent that the work vehicle 1 cannot be lifted off the sloped ground. Wire rope 10
And winch holding means 30, 33, 34 for assisting the traveling while maintaining the tension at a predetermined tension. According to the above configuration, the winch holding means 30, 33,
When the work vehicle 1 travels downhill on a slope, the winch driving force is controlled so that the work vehicle 1 cannot be pulled up from the sloped ground and can travel downhill.
This allows the work vehicle to travel downhill stably. Therefore, it is not possible to control the downward traveling speed of the work vehicle as in the related art, and troubles such as overturning and sliding on an inclined ground are eliminated, and work can be safely performed on an inclined ground.

According to a second aspect of the present invention, in the configuration of the first aspect, the winch holding means includes high-pressure relief valves 30A, 30B whose relief pressure is converted to a high pressure by external signals 50, 52, 53 such as dials, switches and levers. , 30D
Is provided. According to the above configuration, in addition to the effects of the first invention, the external signals 50, 52, 53
-Pressure relief valve 3 whose relief pressure is converted to high pressure
Since it is provided with 0A, 30B, and 30D, it is useful when it is necessary to increase the traction force for pulling the winch wire rope and quickly pull up the work vehicle that is running on the slope.

According to a third aspect of the present invention, in the configuration of the first aspect, the winch holding means is provided with a low-pressure relief valve 34 which can be switched in conjunction with a high-pressure relief valve 30. According to the above configuration, since the relief valves 30 and 34 that can be switched to two stages of high pressure and low pressure are provided, when the work vehicle 1 travels downhill on a slope, the low pressure relief valve 3 is provided.
4 can be assisted in traveling downhill on a sloped ground while holding the wire rope 10 at a predetermined tension so that the work vehicle 1 is not pulled up by operating the vehicle 4. Further, by stopping the operation of the low-pressure relief valve 34 and increasing the pressure in the winch circuit by the high-pressure relief valve 30, the traction force for pulling the wire rope of the winch can be increased.
This is useful when the work vehicle 1 running on a slope is being pulled up in a hurry.

According to a fourth aspect of the present invention, in the configuration of the third aspect, the low-pressure relief valve 34 is configured so that the relief pressure can be varied by an external signal. According to the above configuration, since the set pressure of the low-pressure relief valve 34 is variable, the tension of the wire rope 10 wound by the winch can be changed. Therefore, it is possible to assist the traveling with the tension of the wire rope not to be pulled up on the sloping ground according to the work vehicle from small to large, or according to the inclination angle of the work vehicle 1, so that the stable work on the sloping ground can be achieved. it can.

According to a fifth aspect of the present invention, in the configuration of the fourth aspect, the low pressure relief is provided by a set pressure variable means 34a upon receiving an external signal such as a dial, a switch or a lever according to the angle of the slope where the work vehicle 1 travels down. The relief pressure of the valve 34 is variable. According to the above configuration, the set pressure of the low-pressure relief valve 34 is easily changed by the external signal, and the set pressure of the low-pressure relief valve 34 is not raised on the slope according to the work vehicle from small to large, or according to the inclination angle of the work vehicle 1. Since the traveling can be assisted by the tension of the wire rope, it is possible to work safely on a slope.

A sixth aspect of the invention is the configuration according to any one of the third to fifth aspects of the invention, further comprising a stopping means 33 for stopping the function of the low-pressure relief valve 34. According to the above configuration, when the work vehicle is lifted off the slope, the function of the low-pressure relief valve 34 is stopped, and the winch circuit can be set to a high pressure to increase the driving force of the winch. Can be increased, which is useful when the work vehicle 1 that is performing work traveling on a slope is suddenly pulled up.

A seventh aspect of the present invention is the back pressure check valve according to any one of the first to sixth aspects, wherein the return oil from the winch motor 29 is disposed on the pipeline 28b when the winch is wound up. When the winch is unwound, oil can be supplied to the winch motor 29 via the unwinding switching solenoid valve 32 connected to the conduit 28b or the check valve 31a. .
In the above configuration, the oil discharged from the winch motor drains to the tank via the back pressure check valve. As a result, a back pressure always acts on the winch motor and overrun is prevented, so that the wire rope driven by the winch can be unwound at a predetermined speed, and the work vehicle can stably travel down the slope. it can.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A work vehicle control device according to the present invention will be described below with reference to FIGS. still,
A working vehicle will be described as an example of a self-propelled mower as an embodiment of the present invention, but the present invention is also applied to various other working vehicles such as a vehicle for transporting equipment and the like or a vehicle for transporting lumber. In particular, a control device that assists the traveling of the work vehicle when traveling downhill on a slope is described in detail in the following embodiments. The control device is mounted on a control vehicle (such as a construction vehicle) that assists the traveling of the work vehicle, but may be mounted on a stationary control table. As shown in FIG. 1, a self-propelled mower 1 (hereinafter, referred to as a work vehicle 1) includes a starting wheel 3a.
And a traveling device including a crawler belt 3 around which the idler wheel 3b is wound,
And a mowing machine 4 having a hammer knife type cutter (not shown) disposed at the front of the vehicle body 2. A hooking means 2a for a wire rope 10 is fixed to the vehicle body 2. The receiving antenna 5 is attached to the upper part of the vehicle body of the work vehicle 1. FIG. 1 shows a work vehicle 1 operated by radio,
The work vehicle 1 may be operated by wire.

Next, the essential parts of the present invention will be schematically described with reference to FIG. A state in which the work vehicle 1 travels on a slope K is shown. On the top of the sloping land, there is a control bogie 60 such as a construction vehicle.
A control device such as a winch hydraulic circuit, which will be described in detail later, is mounted on the control carriage 60. A drum 20 is provided on the body of the control trolley 60, and one end of the wire rope 10 wound around the drum 20 is shown in FIG.
Are hooked on the hooking means 2a shown in FIG. Control trolley 60
When the work vehicle 1 is operated or travels on a slope, the work vehicle 1 is not pulled up from the slope K, and the work vehicle 1 can stably travel down. That is, when the work vehicle 1 travels downhill on the slope K, the relief pressure in the winch hydraulic circuit, which will be described in detail later, is set to about 80% or less of the weight of the work vehicle 1 and the winch drive controlled by the relief pressure is performed. The traveling of the work vehicle 1 is assisted by applying tension to the wire rope 10 by force, thereby preventing the work vehicle 1 from falling or sliding.

First, a first embodiment of a control device for a work vehicle on a slope will be described with reference to FIG. The hydraulic pump 26 driven by the prime mover 25 is connected to a direction switching valve 27 (hereinafter, referred to as a flow control means 27) via a pipe 26a, and the flow control means 27 is connected via pipes 28a, 28b. Connected to the winch motor 29. A pipe 28c branched from the pipe 28a is connected to the pipe 28b. A high-pressure relief valve 30 is provided on the pipe 28c, and the pipes 28a, 28b, 28c and the winch motor 2
9 and the high-pressure relief valve 30 form a closed hydraulic circuit. A back pressure check valve 31 is provided on the pipe 28b. On the upstream pipeline 28b between the back pressure check valve 31 and the flow control means 27, and
The unwinding-time switching solenoid valve 3 connected to a pipe 28d branched from a pipe 28b on the downstream side connected to the winch motor 29
2 (hereinafter, referred to as an electromagnetic valve 32). That is, when the winch motor 29 rotates in the solid line a direction and the winch hoisting drive is performed, the solenoid valve 32 is switched to the position a. When the winch motor 29 rotates in the solid line arrow direction a, return oil is supplied to the pipe. Drain from the flow control means 27 to the tank 35 from the passage 28b through the back pressure check valve 31 and the position a of the solenoid valve 32. The winch motor 29 is driven to wind up the drum 20 by rotating in the direction of the solid arrow a, and is driven to unwind the drum 20 by rotating in the direction of the dotted arrow b.

The high pressure relief valve 30 shown in FIG.
0b sets the relief pressure, and its output 30a is connected to a high / low relief pressure switching solenoid valve 33 (hereinafter referred to as a stopping means 33) via a conduit 33a. This stopping means 33 is connected to a tank 35 via a low pressure relief valve 34. The low pressure relief valve 34
A set pressure varying means 34a of the low pressure relief valve 34 for variably controlling the pressure by an external signal such as a dial, a switch, and a lever (not shown) is provided. The radio operator operates the transmitter 45 to operate the flow control means 27, the electromagnetic valve 32, and the stop means 33, and transmits a signal to the receiver 40 mounted on the control carriage 60 shown in FIG. . A command signal corresponding to the signal received by the receiver 40 is transmitted to the operation unit 27a or the operation unit 27b of the flow rate control unit 27, the operation unit 32a of the solenoid valve 32, the operation unit 33b of the stop unit 33, and the low pressure relief valve 34. It is output to the set pressure varying means 34a via any of the harnesses L1 to L5.

The operation of FIG. 3 will be described with reference to FIGS. When the work vehicle 1 travels downhill on the slope K, the receiver 40 receives the set pressure switching signal from the transmitter 45, and a command signal is transmitted from the receiver 40 to the operating unit 33b of the stopping means 33 via the harness L5. Is output. For this reason, the stopping means 33 switches to the position a. As a result, the pressure applied to the high-pressure relief valve 30 is reduced by the output 30 of the high-pressure relief valve 30.
a through the conduit 33a and acts on the low pressure relief valve 34 from the position a of the stopping means 33, so that the pressure in the lines 28a and 28c of the winch motor 29 is reduced by the low pressure relief valve 3
The set pressure is 4. The set pressure of the low-pressure relief valve 34 is set to 80% or less of the weight of the work vehicle 1. The relief pressure of the low-pressure relief valve 34 is appropriately set by the set pressure varying means 34a according to the small to large work vehicle or the inclination angle of the work vehicle 1. The relief pressure of the winch circuit is set by the low-pressure relief valve 34, a command signal is output to the operation unit 27a of the flow control unit 27, the flow control unit 27 is switched to the position a, and the hydraulic oil discharged from the hydraulic pump 26 Passes through the pipe 28a and the winch motor 29
Is rotated in the direction of the solid arrow a so that the drum 2
0 starts the winding drive. When the work vehicle 1 starts traveling downward and the driving force of the work vehicle 1 overcomes the tension of the wire rope 10, the winch motor 29 is unwound in the unwinding direction (the direction indicated by the solid arrow a). (Rotation in the direction of the arrow b in the dotted line). At this time, the winch motor 29 operates as a pump, and the oil flows and circulates in the closed circuit formed by the winch motor 29, the pipes 28a, 28b, 28c, and the high-pressure relief valve 30 from the arrow A to the arrow B. Further, the oil in the closed circuit of the winch motor 29 flows and circulates in the direction from arrow A to arrow B, and the oil supplied from the flow rate control means 27 may be only the flow rate for charging the leak in the winch motor 29. Therefore, most of the pressure oil discharged from the hydraulic pump 26 flows from the arrow C to the arrow D and is drained to the tank 35. As a result, when the work vehicle 1 travels down a slope, the traveling driving force overcomes the tension of the wire rope 10, so that the winch motor 29 unwinds in the unwinding direction (the direction indicated by the solid arrow a) in the unwinding direction (the direction indicated by the dotted line). Since the work vehicle 1 starts rotating in the direction of the arrow b), the wire rope 10 can be held at a predetermined tension while being unwound from the drum 20 so that the work vehicle 1 is not pulled up from the sloped land and can travel down. it can.

As described above, when the work vehicle 1 is driven down on the slope and the winch motor 29 is driven in the hoisting direction (the direction of the arrow a), the driving force of the work vehicle 1 is applied to the wire rope 10, ie, The force by which the winch motor 29 is reversely rotated (in the direction of the arrow b) by an external force is determined by the set pressure of the low-pressure relief valve 34. The winch motor 29 is driven by pressure oil discharged from the hydraulic pump 26.
The winch motor is in a hoisting state even if the work vehicle 1 stops in the middle of traveling down since the vehicle always tries to rotate in the hoisting direction, the wire rope 10 does not loosen, and the tension is set to 80% or less of the weight of the work vehicle 1. Working vehicle 1
Does not pull up, but also serves to hold at a predetermined tension.

Next, when the winch motor 29 is rotated in a direction indicated by a solid arrow a (a winch hoisting direction) when the work vehicle 1 travels uphill on a slope, a winch hoist signal from the transmitter 45 is received. The command signal is received by the receiver 40, and a command signal is output from the receiver 40 to the operation unit 27a of the flow rate control unit 27 via the harness L1. For this reason, the flow control means 27 is switched to the position a, and the pressure oil discharged from the hydraulic pump 26 passes through the position a of the flow control means 27 from the pipe 26a and passes through the pipe 2 as shown by the arrow C.
8a to the winch motor 29. At this time, since no command signal is output to the solenoid valve 32 and the solenoid valve 32 is at the position a shown in FIG. 3, the return oil from the winch motor 29 pushes and opens the back pressure check valve 31 from the pipe 28b. From the position a of the solenoid valve 32, the flow control means 2
Drain to the tank 35 through the position a of FIG. That is, in the case of traveling uphill, the hill is climbed by the sum of the traveling driving force of the work vehicle 1 and the pulling force of the wire rope 10, so that the winch motor 29 is hoisted up (in the direction of arrow a).
You can leave it driven. Therefore, the wire rope 10
Is determined by the set pressure (variable) of the low-pressure relief valve 34, so that it is set appropriately in accordance with the weight of the small to large work vehicle 1 or in accordance with the inclination angle of the work vehicle 1. . The traveling speed of the work vehicle 1 is
By controlling the line speed of the wire rope 10 driven by the winch motor 29 to be lower than the line speed,
A stable climb can be made on the slope. further,
When the work vehicle 1 needs to be quickly lifted from the slope K, the command signal to the stopping means 33 is stopped, the valve 33 is switched to the position b, the operation of the low-pressure relief valve 34 is stopped, and the high-pressure relief valve is stopped. Activate 30. This allows
The high pressure in the circuit is increased by the high pressure relief valve 30, the driving force of the winch motor 29 increases, and the wire rope 10
Can be increased. Therefore, it is useful when raising the work vehicle 1 from the slope K in an emergency. When the winch motor 29 is reversely rotated from the hoisting rotation as described above, the back pressure check valve 31 is provided on the pipeline 28b. (Unwinding direction).

Next, a second embodiment of the control device for a work vehicle on a slope will be described with reference to FIG. 2 and FIG.
Note that components denoted by the same reference numerals as those in the first embodiment in FIG. 3 have the same functions, and thus description thereof will be omitted, and only different portions will be described. As shown in FIG. 4, the control box 44 is connected to the flow control means 2 via the harnesses L1, L2, L3, L4.
7, connected to the solenoid valve 32 and the stopping means 33. The operator operates the control box 44 to control the flow rate control means 2.
7. Send a command signal to the solenoid valve 32 and the stopping means 33 to activate them. Therefore, the transmitter 45 is steered so that only the work vehicle 1 runs or works.
According to such an embodiment, the control carriage 60 shown in FIG.
In this state, the winch motor 29 can be driven to wind or unwind while the operator is in the vehicle.

A third embodiment of the control device for a work vehicle on a slope will be described with reference to FIG. Note that components denoted by the same reference numerals as those in the first embodiment in FIG. 3 have the same functions, and thus description thereof will be omitted, and only different portions will be described. As shown in FIG. 5, a check valve 31a is used in place of the unwinding-time switching solenoid valve 32 described in FIG. 3 of the first embodiment. The valve 31a
It is arranged in parallel with the back pressure check valve 31 and is connected to the pipe 28b. As a result, the return oil from the winch motor 29 is drained from the line 28b through the back pressure check valve 31 to the tank 35 from the flow control means 27, and the pressure oil discharged from the hydraulic pump 26 is
The check valve 31a can be pushed open from the position to flow into the winch motor 29 from the conduit 28b. According to such an embodiment, the cost is reduced by using the check valve 31a.

A fourth embodiment of the control device for a work vehicle on a slope will be described with reference to FIG. 2 and FIG. FIG.
Those having the same reference numerals as those of the first embodiment and the third embodiment of FIG. 5 have the same functions, and therefore the description thereof will be omitted, and only different parts will be described. As shown in FIG. 6, the control box 44 is connected to the flow control means 27, the stop means 33 and the low-pressure relief valve 3 via the harnesses L1, L2, L4, L5, respectively.
4 and is the same as the third embodiment in FIG. 5 except for this point. According to such an embodiment, the cost is reduced by using the check valve 31a, and the hoisting or unwinding drive of the winch motor 29 is performed in a state where the operator is on the control carriage 60 shown in FIG. It becomes possible, and the maneuverability of the control cart 60 is improved.

A fifth embodiment of the control device for a slope work vehicle will be described with reference to FIG. The set pressure of the high / low pressure relief valve 30A which can be converted to high pressure or low pressure is usually determined by the force of the spring 30d. Operation part 3 of the valve 30A
At 0c, an external signal 50 such as a dial, a switch or a lever is input via a harness L6 in accordance with the angle of the slope, and the relief pressure of the valve 30A is changed from a predetermined low pressure to a high pressure. I can do it. According to such an embodiment, when the work vehicle travels down a slope, the set pressure of the high / low pressure relief valve 30A is variable according to the small to large work vehicle or according to the inclination angle of the work vehicle 1. Can be controlled in the first
As described in the description of the operation in FIG. 3 of the embodiment, the magnitude of the driving force when the winch motor 29 rotates reversely (winding rotation) from the winding rotation can be changed. In other words, even a small to large work vehicle having a different vehicle body weight, and even a change in the inclination angle of the work vehicle 1, particularly downhill traveling on a sloped land can be stably performed.

A sixth embodiment of the control device for a work vehicle on a slope will be described with reference to FIG. In the sixth embodiment, as shown in FIG. 8, the operation unit 30e of the high / low pressure relief valve 30B includes:
It is connected to a pilot valve 52 via a pilot line 51, and the valve 52 is connected to a pilot hydraulic pressure source 53. The pilot pressure corresponding to the operation stroke of operating the pilot valve 52 acts on the operation part 30e of the high / low pressure relief valve 30B, so that the relief pressure of the high / low pressure relief valve 30B can be changed from a predetermined low pressure to a high pressure. It was done. By changing the setting of the relief pressure from a predetermined high pressure to a low pressure corresponding to the external signal 50 described in the fifth embodiment of FIG.

A seventh embodiment of the control device for a slope work vehicle will be described with reference to FIG. In the seventh embodiment, in addition to the functions of the high-pressure relief valve 30 described in the first embodiment of FIG. 3 and the low-pressure relief valve 34 interlocked with the high-pressure relief valve 30, the high-low relief pressure switching shown in FIG. The solenoid valve (stop means) 33 is eliminated, and as shown in FIG. 9, external signals such as a dial, a switch and a lever (not shown) are input to the variable pressure setting section 30h of the high pressure relief valve 30D according to the angle of the slope. By doing so, the valve 30D can be changed within the range of the predetermined high relief pressure region. An external signal such as a dial, a switch, and a lever (not shown) is input to the variable pressure setting portion 55a of the low pressure relief valve 55 which can be switched in conjunction with the high pressure relief valve 30D via the conduit 54 according to the angle of the slope. Thereby, the valve 55 can be changed within the range of the predetermined low relief pressure region. According to such an embodiment, the range of variable control of the driving force of the winch motor 29 is widened, and depending on a work vehicle having a small to large vehicle body weight, the vehicle may fall or fall on an inclined road when traveling downhill or uphill. And can be performed stably. In the seventh embodiment, the cost is reduced by eliminating the high / low relief pressure switching solenoid valve (stop means) 33 of the first embodiment shown in FIG.

As shown in FIG. 10, the winch motor 29
The drum (not shown) is attached to the vehicle body 60a of the control carriage 60 or the work machine 61. Work machine 61
When the winch motor 29 is mounted on the work vehicle 1, the wire rope 10 may be held by the rotatable sheave 62 and hooked to the work vehicle 1. When the work vehicle 1 shown in FIG. 11A travels sideways on a slope, a rotatable support 1a is attached to the vehicle 1. This support 1a is shown in FIG.
As shown in FIG. 2B, the wire rope 10 can be rotated by a predetermined angle α1, and one end of the wire rope 10 is hooked. Thus, when the work vehicle 1 is traversed, an excessive force is not applied to the wire rope 10, and the vehicle 1 can be assisted in traversing on an inclined ground by applying a predetermined tension.

[Brief description of the drawings]

FIG. 1 is a side view of a work vehicle.

FIG. 2 is a diagram showing a state in which a control bogie assists traveling of a work vehicle.

FIG. 3 is a diagram illustrating a first embodiment of a control device for a work vehicle according to the present invention.

FIG. 4 is a diagram illustrating a second embodiment of the control device for the work vehicle.

FIG. 5 is a diagram illustrating a third embodiment of the control device for a work vehicle.

FIG. 6 is a diagram illustrating a control device for a work vehicle according to a fourth embodiment.

FIG. 7 is a diagram illustrating a control device for a work vehicle according to a fifth embodiment.

FIG. 8 is a diagram illustrating a control device for a work vehicle according to a sixth embodiment.

FIG. 9 is a diagram illustrating a seventh embodiment of the control device for a work vehicle.

FIG. 10 is a diagram showing an example in which a winch motor is attached to a vehicle body or a working machine of the control cart.

FIG. 11 is a diagram illustrating a rotatable wire rope support that enables the work vehicle to travel in a transverse direction.

FIG. 12 is a diagram illustrating a conventional control device for a work vehicle.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Work vehicle, 1a ... Wire rope support, 10 ... Wire rope, 20 ... Drum, 26 ... Hydraulic pump, 27 ... Flow control means, 28a, 28b, 28c ... Pipe line, 29 ... Winch motor, 30, 30D ... High pressure relief valve, 30
A, 30B: high / low pressure relief valve, 30a: output unit, 30
b: spring, 30h, 55a: variable pressure setting section, 31: back pressure check valve, 31a: check valve, 32: solenoid valve for switching at unwinding, 33: solenoid valve for switching high / low relief pressure (stop means), 34, 55: Low pressure relief valve, 34a: Low pressure relief valve setting pressure variable means, 35: Tank, 40: Receiver, 44: Steering box, 45: Transmitter, 50: External signal, 51: Pilot line, 52 ... Pilot valve, 53
... Pilot hydraulic pressure source, 54 ... Pilot pipeline, 60 ... Control truck.

Claims (7)

[Claims] 1. A work vehicle that can be remotely controlled wirelessly or by wire and that can run downhill, uphill, or traverse on an incline, and assists the operation of the work vehicle via a wire rope driven by a winch. In the control device for a work vehicle on a slope having a control device, a pipeline (28) for supplying hydraulic oil discharged from the hydraulic pump (26) is provided.
a, 28b, 28c) and a winch motor (29) and a hydraulic circuit (26a) connected to a hydraulic pump (26) for supplying hydraulic oil to the hydraulic closed circuit. A flow rate control means (27) for holding a winch motor (29) in a wound state; and a winch motor (29) driven to wind up a drum (20).
Or a hooking means (2a) for hooking one end of the unwound wire rope (10) to the work vehicle (1); and ), A winch holding means for assisting the traveling by holding the wire rope (10) at a predetermined tension so that the work vehicle (1) cannot be lifted from the sloped ground and can travel down. (30, 33, 34). 2. The control device according to claim 1, wherein said winch holding means includes a high-pressure relief pressure which is converted to a high pressure by an external signal (50, 52, 53) such as a dial, a switch, a lever, or the like. Relief valve (30A, 30B, 30D)
A control device for a work vehicle on a slope, comprising: 3. The control device according to claim 1, wherein said winch holding means comprises a high-pressure relief valve.
A control device for a work vehicle on sloping ground, comprising a low-pressure relief valve (34) switchable in conjunction with (30). 4. The control device for a slope work vehicle according to claim 3, wherein the low pressure relief valve (34) has a variable relief pressure by an external signal. 5. The control device for a work vehicle according to claim 4, wherein the work vehicle has an external signal such as a dial, a switch and a lever according to the angle of the slope on which the work vehicle travels down. 34a), wherein the relief pressure of the low-pressure relief valve (34) is variable. 6. The control device according to claim 3, further comprising a stopping means (33) for stopping a function of the low-pressure relief valve (34). 7. A winch motor (29) for winding a winch.
Return oil from the tank is returned to the tank (35) via the back pressure check valve (31) arranged on the line (28b), and when the winch is unwound, it is connected to the line (28b). The control of a work vehicle according to any one of claims 1 to 6, wherein oil can be supplied to the winch motor (29) through a solenoid valve (32) or a check valve (31a). apparatus.