JP2004268647A - Body lifting speed control device for dump truck - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a body lifting speed control device for a dump truck capable of performing spreading with uniform spreading amount when spreaded by the dump truck. <P>SOLUTION: A raising operation speed coefficient pattern generating means 130 of a controller 100 generates a speed pattern for controlling the raising speed of the body so that a delivery amount from the body during the raising operation of the body corresponding to a body angle detected by a body angle sensor 55. A multiplier 150 multiplies an output signal of the speed coefficient pattern generating means 130 by an operation signal of an operation lever 60 and outputs it to control the body raising speed. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a dump truck body lifting / lowering speed control device that controls the speed of a body of a dump truck when lifting / lowering, and particularly to a dump truck suitable for automatically controlling a body lifting / lowering speed of a vehicle having a large loading weight. The present invention relates to a body elevating speed control device.
[0002]
[Prior art]
In a conventional dump truck, for example, as described in Japanese Patent Application Laid-Open No. 2002-160574, raising and lowering of a body on which earth, sand, stones, and the like are loaded is performed by an operator of the dump truck raising or lowering an operation lever. The hydraulic cylinder that moves the body up and down is extended and contracted. When uniformly dumping earth and sand, stones, and the like loaded on the body onto the road surface, the operator of the dump truck raises the operation lever appropriately while traveling the dump truck and gradually increases the angle of the body. ing.
[0003]
[Patent Document 1]
JP-A-2002-160574
[Problems to be solved by the invention]
However, from the driver's seat of the dump truck, it is not known what the elevation angle of the body is, so in general, the operation lever is appropriately operated according to the operator's empirical rule, so that the spraying speed changes. However, there has been a problem that the amount of spouting is not uniform.
[0005]
An object of the present invention is to provide a dump truck body elevating / lowering speed control device capable of uniformly distributing the amount of the dump truck when the dump truck starts spreading.
[0006]
[Means for Solving the Problems]
(1) In order to achieve the above object, the present invention provides a body provided on a vehicle body, a hydraulic cylinder for elevating and lowering the body to a standing posture and a sitting posture, operating means, and an operating means. A body lifting / lowering speed control device for a dump truck having a control means for controlling the lifting / lowering speed of a body by expanding and contracting the hydraulic cylinder, comprising a body angle detecting means for detecting a lifting / lowering angle of the body, wherein the control means comprises: The rising speed of the body is controlled so that the amount of the spray from the body when the body is raised becomes constant according to the body angle detected by the detecting means.
Thus, regardless of the operation of the operating means, the spraying is performed in order to control the rising speed of the body so that the spreading amount from the body when the body is raised is constant by the body angle detected by the body angle detecting means. However, the amount can be kept constant.
[0007]
(2) In the above (1), preferably, the control means is configured to control the speed coefficient pattern such that the amount of spray from the body when the body is raised is constant according to the body angle detected by the body angle detection means. And a multiplying means for multiplying the operation signal of the operating means by an output signal of the speed coefficient pattern generating means.
[0008]
(3) In the above (2), preferably, the speed coefficient pattern generating means has a constant spreading amount from the body when the body is raised according to the body angle detected by the body angle detecting means during the teaching operation. A speed coefficient pattern teaching / storage means for storing the operation amount of the operation means as a speed coefficient pattern, and a speed coefficient for reproducing the speed coefficient pattern stored in the speed coefficient pattern teaching / storage means during a reproducing operation. This is provided with a pattern reproducing means.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, the configuration and operation of the body lifting / lowering speed control device for a dump truck according to the first embodiment of the present invention will be described with reference to FIGS. In the present embodiment, the present invention is applied to a dump truck.
[0010]
FIG. 1 is a block diagram showing the configuration of a dump truck using the body lifting / lowering speed control device for a dump truck according to the present embodiment.
[0011]
The driving force generated from the engine 10 is transmitted to the two driving wheels 30A, 30B via the transmission 15, the differential gear 20, and the axles 25A, 25B, and causes the body of the dump truck to travel. The axles 25A, 25B are provided with retarder brakes 35A, 35B for generating a braking force on the respective drive wheels 30A, 30B.
[0012]
One end of the body 35 is rotatably supported by the body 40 of the dump truck. The body 35 can be moved up and down by expanding and contracting a hydraulic cylinder 45. The hydraulic pressure supplied from a pump P driven by the engine 10 is supplied to the hydraulic cylinder 45 via an electromagnetic proportional valve 50.
[0013]
The angle θ of the body 35 with respect to the vehicle body 40 is detected by the body angle sensor 55 and is input to the controller 100. The controller 100 controls the electromagnetic proportional valve 50 according to the operation amount of the operation lever 60 operated by the dump truck operator to control the amount of expansion and contraction and the expansion and contraction speed of the hydraulic cylinder. Is variable. At this time, the controller 100 is configured to control the elevating speed of the body 35 in accordance with the body angle θ detected by the body angle sensor 50. For details, refer to FIGS. It will be described later.
[0014]
FIG. 2 is a system block diagram showing the configuration of the body lifting / lowering speed control device for the dump truck according to the present embodiment.
[0015]
The controller 100 includes a raising operation signal generating unit 110, a lowering operation signal generating unit 120, a raising operation speed coefficient pattern generating unit 130, a lowering operation speed coefficient pattern generating unit 140, and multipliers 150 and 155. ing.
[0016]
The raising operation signal creating means 110 and the lowering operation signal creating means 120 output a body speed signal or a body speed signal corresponding to the operating angle α of the operating lever 60, respectively. The speed signals output by the raising operation signal generating means 110 and the lowering operation signal generating means 120 are supplied to the electromagnetic proportional valve 50 via multipliers 150 and 155, respectively, to control the expansion and contraction speed of the hydraulic cylinder 45, and to raise and lower the body. Control the speed.
[0017]
The speed coefficient pattern generating means 130 at the time of raising operation and the speed coefficient pattern generating means 140 at the time of lowering operation are respectively provided with a speed coefficient signal at the time of the raising operation of the body according to the body angle θ detected by the body angle sensor 55 and a speed coefficient signal at the time of the lowering operation. Outputs a speed coefficient signal. The speed coefficient signals output by the speed coefficient pattern generating means 130 during the raising operation and the speed coefficient pattern generating means 140 during the lowering operation are supplied to the electromagnetic proportional valve 50 via the multipliers 150 and 155, respectively. A value obtained by multiplying the speed signal output by the raising operation speed coefficient pattern generating means 130 and the speed coefficient signal output by the lowering operation speed coefficient pattern generating means 140 to the speed signal output by the lowering operation signal creating means 120 is output. By controlling the expansion / contraction speed, the body elevating speed is controlled.
[0018]
The speed coefficient patterns generated by the speed coefficient pattern generating means 130 during the raising operation and the speed coefficient pattern generating means 140 during the lowering operation will be described with reference to FIGS.
[0019]
FIG. 3A shows the speed coefficient pattern at the time of the raising operation generated by the speed coefficient pattern generating means at the time of the raising operation, and the horizontal axis represents the body angle θ detected by the body angle sensor 55, and from 0 °. It is assumed that it can move up to θ6. The vertical axis is the body elevating speed coefficient K. As shown in the figure, in a range where the body angle θ is small (θ = 0 to θ3 (for example, 20 °)), the speed coefficient K is set to 0.5. When the body angle θ is in a range of θ3 to θ4 (for example, from 20 ° to 45 °) )), The speed coefficient K gradually increases from 0.5 to 1.0.When the body angle θ is in the range of θ4 to θ5 (for example, 45 ° to 55 °), the speed coefficient K is set to 1.0 and the body angle When θ is in the range of θ5 to θ6 (for example, from 55 ° to 60 °), the speed coefficient K is rapidly reduced to 1.0 to 0.
[0020]
The raising operation speed coefficient pattern generated by the raising operation speed coefficient pattern generating means 130 is multiplied by the operation signal output by the raising operation signal generating means 110 by the multiplier 150, so that, for example, the operation lever is held at a fixed angle. When the operation signal has a constant rising speed, the rising speed of the body shows a pattern similar to that shown in FIG. That is, by using the speed coefficient pattern generating means 130 at the time of the raising operation, the rising speed of the body is relatively low in the range where the body angle is small, and thereafter the rising speed is gradually increased, and after maintaining the maximum speed, the stroke speed is increased at the stroke end. The ascending speed becomes 0 and the vehicle stops.
[0021]
At the start of spouting of earth and sand inside the body, a large amount of earth and sand is loaded on the body. Then, by increasing the body ascending speed more than before by the reduced amount of loaded earth and sand in the body, the same amount of spraying as before can be performed. Therefore, it is possible to equalize the amount of spouting during the spouting operation.
[0022]
As the speed coefficient pattern at the time of the raising operation generated by the speed coefficient pattern generating means at the time of the raising operation, a pattern in which the spreading amount is uniform is obtained in advance by an experiment or the like, and stored in the speed coefficient pattern generating means at the time of the raising operation. .
[0023]
FIG. 3B shows the speed coefficient pattern at the time of the lowering operation generated by the speed coefficient pattern generator at the time of the lowering operation. The horizontal axis indicates the body angle θ detected by the body angle sensor 55, and the vertical axis indicates the vertical axis. The axis is the body elevating speed coefficient K. As shown in the figure, at the time of the lowering operation, if the speed coefficient K is set to 1.0 in the range where the body angle θ is large (θ = θ2 to θ5), the speed coefficient K is set in the range where the body angle θ is small (θ = 0 to θ1). When the body angle is small, that is, at the stroke end of the hydraulic cylinder at the time of the lowering operation, the body lifting / lowering speed is reduced so that the speed becomes 1/4 of the speed. The body angle θ1 is, for example, 5 °. The body angle θ2 is, for example, 10 °. The speed coefficient at the time of the lowering operation generated by the speed coefficient pattern generator 140 at the time of the lowering operation is multiplied by the operation signal output from the lowering operation signal generating unit 120 by the multiplier 150, so that, for example, the operation lever is held at a fixed angle. When the operation signal has a constant descending speed, the descending speed of the body shows a pattern similar to that shown in FIG. That is, by using the speed coefficient pattern generating means 140 at the time of the lowering operation, the body lifting speed at the stroke end of the hydraulic cylinder when the body is lowered can be reduced, and the impact can be reduced.
[0024]
As described above, according to the present embodiment, by using the speed coefficient pattern generating means 130 at the time of the lifting operation, the rising speed of the body is relatively small in the range where the body angle is small, and thereafter the rising speed is gradually increased. After the maximum speed is maintained, the ascending speed becomes 0 at the end of the stroke, and the stroke stops, so that the amount of spouting during the spouting operation can be made uniform.
[0025]
Further, since the lowering speed at the time of lowering the body is controlled so as to decrease at the stroke end of the hydraulic cylinder that moves up and down the body based on the body angle detected by the body angle sensor 50, the impact at the stroke end can be reduced.
[0026]
Next, the configuration and operation of a body lifting / lowering speed control device for a dump truck according to a second embodiment of the present invention will be described with reference to FIG. The configuration of the dump truck using the body lifting / lowering speed control device for a dump truck according to the present embodiment includes a teach / reproduction switch 65 as described in FIG. 4 in addition to the configuration shown in FIG. .
[0027]
FIG. 4 is a system block diagram showing a configuration of the body lifting / lowering speed control device of the dump truck according to the present embodiment.
[0028]
The controller 100A includes, in place of the speed-up operation speed coefficient pattern generation means 130 having the configuration shown in FIG. 2, a speed-up operation speed coefficient pattern teaching / storage means 160, and a speed-up operation time teaching speed coefficient reproduction means 165. I have. The raising operation speed coefficient pattern teaching / storage means 160 and the raising operation teaching speed coefficient reproducing means 165 have the same function as the raising operation time coefficient pattern generating means 130 shown in FIG.
[0029]
At the time of the teaching operation of the speed coefficient pattern at the time of the raising operation, the operator of the dump truck switches the teaching / reproduction switch 65 to the teaching operation side, thereby selecting the speed coefficient pattern teaching / storage means 160 at the time of the raising operation. In this state, the operator of the dump truck raises the operation lever 60 based on the operator's rule of thumb so that the amount of the operation lever 60 is constant. Since the body angle θ from the body angle sensor 55 and the operation angle α of the operation lever are input to the speed coefficient pattern teaching / storage means 160 at the time of the raising operation, the operation amount α of the operation lever 60 by the operator is stored as a function of θ. The speed coefficient pattern at the time of raising operation stored in the speed coefficient pattern teaching / storage means 160 at the time of raising operation is, for example, a pattern as shown in FIG.
[0030]
At the time of the reproducing operation of the speed coefficient pattern at the time of the raising operation, the operator of the dump truck switches the teaching / reproduction changeover switch 65 to the reproducing operation side, so that the teaching speed coefficient reproducing device 165 at the time of the raising operation is selected.
[0031]
The raising operation teaching speed coefficient reproducing means 165 outputs the raising coefficient of the body raising operation stored in the raising operation speed coefficient pattern teaching / storage means 160 according to the body angle θ detected by the body angle sensor 55. Output a signal. The speed coefficient signal output by the speed coefficient reproducing means 165 at the time of the raising operation is supplied to the electromagnetic proportional valve 50 via the multiplier 150, and the value obtained by multiplying the speed signal output by the raising operation signal creating means 110 by the speed coefficient signal. Is output to control the expansion / contraction speed of the hydraulic cylinder 45 to control the body elevating speed. The speed coefficient signal at the time of raising the body, which is stored in the raising / operating speed coefficient pattern teaching / storage means 160, is a pattern in which the spreading amount is constant as described above. Even if the operation amount α of the operation lever 60 is fixed, the rising rate of the body can be controlled so that the spraying amount is constant, and the spraying amount can be constant. For example, when teaching the speed pattern signal to the speed coefficient pattern teaching / storage means 160 during the raising operation, the operator of the veteran dump truck operates the operation lever 60 to perform the teaching operation. Even if an unskilled operator operates the operation lever 60 with the operation amount α kept constant, it is possible to perform the same spouting as the veteran operator. Also, there is a difference in the spreading speed depending on the type of the load loaded on the body. That is, when the earth and sand are loaded and when the gravel or the like is loaded, the spouting speed is different even at the same body angle, and the gravel or the like is spouted faster than the soil or the like. Therefore, since the speed coefficient pattern for keeping the load constant also differs depending on the load, teaching the optimal pattern for each load can make the load constant even if the load is different. it can.
[0032]
Also in the present embodiment, by using the speed coefficient pattern generating means 130 at the time of the lifting operation, the rising speed of the body is relatively small in a range where the body angle is small, and thereafter the rising speed is gradually increased to maintain the maximum speed. At the end of the stroke, the ascending speed becomes 0 and stops, so that the amount of spouting during the spouting operation can be made uniform.
[0033]
Further, since the lowering speed at the time of lowering the body is controlled so as to decrease at the stroke end of the hydraulic cylinder that moves up and down the body based on the body angle detected by the body angle sensor 50, the impact at the stroke end can be reduced.
[0034]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, at the time of spreading by a dump truck, the spreading amount can be made uniform.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a dump truck using a body lifting / lowering speed control device for a dump truck according to a first embodiment.
FIG. 2 is a system block diagram showing a configuration of a body lifting / lowering speed control device of the dump truck according to the first embodiment.
FIG. 3 is an explanatory diagram of a speed coefficient pattern generated by a speed coefficient pattern generation unit.
FIG. 4 is a system block diagram showing a configuration of a body lifting / lowering speed control device for a dump truck according to a second embodiment.
[Explanation of symbols]
10 Engine 15 Transmission 20 Differential gears 25A, 25B Axles 30A, 30B Driving wheels 35A, 35B Retarder brake 40 Body 45 Hydraulic cylinder 50 Electromagnetic proportional valve 55 Body angle sensor 60 Operating lever 65 Teach / reproduce changeover switch 100 Controller 110 Raising operation signal generation Means 120 Lowering operation signal creating means 130 Raising operation speed coefficient pattern generating means 140 Lowering speed coefficient pattern generating means 150, 155 Multiplier 160 Raising operation speed coefficient pattern teaching / storage means 165 Raising operation teaching speed coefficient reproducing means

Claims (3)

A body provided on the vehicle body, a hydraulic cylinder for raising and lowering the body in a standing position and a sitting position, operating means, and control for controlling the vertical movement of the body by expanding and contracting the hydraulic cylinder in accordance with the operation of the operating means Means for controlling the body lifting speed of a dump truck having a means,
Equipped with a body angle detecting means for detecting an elevation angle of the body,
The control means controls the rising speed of the body in accordance with the body angle detected by the body angle detecting means so that the amount of spray from the body when the body is raised becomes constant. Dump truck body elevating speed control device. The body lifting / lowering speed control device for a dump truck according to claim 1,
The control means,
Speed coefficient pattern generating means for generating a speed coefficient pattern such that the amount spread from the body when the body is raised according to the body angle detected by the body angle detecting means is constant;
A body lifting / lowering speed control device for a dump truck, comprising a multiplying means for multiplying an output signal of the speed coefficient pattern generating means by an operation signal of the operating means. The body lift speed control device for a dump truck according to claim 2,
The speed coefficient pattern generation means,
A speed coefficient pattern that stores an operation amount of the operation means such that a spreading amount from the body when the body is raised according to the body angle detected by the body angle detection means during a teaching operation is stored as a speed coefficient pattern. Teaching and storage means,
A body lift speed control device for a dump truck, comprising a speed coefficient pattern reproducing means for reproducing a speed coefficient pattern stored in the speed coefficient pattern teaching / storage means during a reproducing operation.

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