JP2021001448A - Wing opening/closing device of wing vehicle - Google Patents

Abstract

To improve the reliability of a wing opening/closing device of a wing vehicle which uses front and rear electric cylinder devices by reducing wiring between the front and rear electric cylinder devices.SOLUTION: In a wing opening/closing device of a wing vehicle which causes a front side electric cylinder device 100 and a rear side electric cylinder device 200 to open/close a wing 5, a control circuit 208 for generating command data for instructing expansion/contraction operation is provided in the rear side electric cylinder device 200; and the control circuit 208 transmits the generated command data to a communication circuit 112 of the front side electric cylinder device 100 via a communication circuit 212 of the rear side electric cylinder device 200 and a communication path 213 connecting the communication circuits 112 and 212, and concurrently generates command data for commanding the expansion/contraction operation of the rear side electric cylinder device 200 to drive a driver 209 for rotation of a motor 206.SELECTED DRAWING: Figure 2

Description

The present invention relates to a wing opening / closing device for a wing vehicle.

In general, a wing vehicle provided with a wing opening / closing device for opening / closing a left wing and a right wing, which are supported by a wing body so as to be openable / closable, is known in order to facilitate loading / unloading work on a truck.

As a conventional wing opening / closing device of this type, there is one in which a hydraulic pump unit and front and rear hydraulic cylinder devices are used.
However, in the wing opening / closing device in which the hydraulic cylinder device is used, since the front and rear hydraulic cylinder devices are separated from the hydraulic pump unit, there is a problem that the hose between them becomes long and oil leakage is likely to occur.
As a means for solving this problem, an electric cylinder device is used.
However, in the wing opening / closing device in which the electric cylinder device is used, there is a problem that the wing is twisted when the front and rear electric cylinder devices are out of synchronization.
Therefore, a device that synchronizes the front and rear electric cylinder devices has been proposed (see, for example, Patent Document 1).

Japanese Patent No. 5984519

However, in the wing switchgear that synchronizes the front and rear electric cylinder devices, since the electric cylinder devices are arranged at the front and rear of the loading platform, each device such as the front and rear electric cylinder devices, the power supply, and the command device. Not only are multiple long wires (harnesses) routed between them, but a large current for driving the motor flows, causing noise, which reduces the reliability of the wing switchgear. is there.

An object of the present invention is to reduce wiring between each device in a wing opening / closing device of a wing vehicle using an electric cylinder device to improve reliability.

Typical means for solving the above-mentioned problems are as follows.
(1) A front electric cylinder device that opens and closes the front side of the wing of a wing vehicle by expansion and contraction.
A rear electric cylinder device that opens and closes the rear side of the wing of the wing car by expansion and contraction,
A communication path connecting the communication circuit provided in the front electric cylinder device and the communication circuit provided in the rear electric cylinder device, and
The control circuit provided in the front electric cylinder device and
The control circuit provided in the rear electric cylinder device and
With
One of the control circuits transmits command data for commanding expansion / contraction operation to the other via the communication path.
A wing opening / closing device for wing vehicles.
(2) A front electric cylinder device that opens and closes the front side of the wing of the wing vehicle by expansion and contraction.
A rear electric cylinder device that opens and closes the rear side of the wing of the wing car by expansion and contraction,
A communication path connecting the front electric cylinder device and the rear electric cylinder device, and
With
A wing opening / closing device for a wing vehicle, wherein the front electric cylinder device and the rear electric cylinder device transmit and receive data to and from each other via the communication path.

According to the above means, in the wing opening / closing device of the wing vehicle using the front electric cylinder device and the rear electric cylinder device, the wiring between the front electric cylinder device and the rear electric cylinder device can be reduced, and the reliability can be reduced. Can be improved.

It is a perspective view which shows the wing wheel equipped with the wing opening / closing device which is one Embodiment of this invention. It is a block diagram which shows the wing switchgear which is one Embodiment of this invention. It is a flowchart which shows the transmission / reception flow of the control circuit in the rear side electric cylinder device of the wing opening / closing device which is one Embodiment of this invention. It is a flowchart which shows the transmission / reception flow of the control circuit in the front electric cylinder device of the wing switchgear which is one Embodiment of this invention. It is a graph of the command data of the control circuit in the rear electric cylinder device which shows the relationship between the time and the stroke at the time of wing opening operation of the wing opening / closing device which is one Embodiment of this invention. It is a flowchart which shows the slow start / slow stop command data calculation flow by the control circuit in the rear electric cylinder device of the wing opening / closing device which is one Embodiment of this invention. It is a flowchart which shows the slow start / slow stop command data calculation flow by the control circuit in the rear side electric cylinder device when the difference between the positions of the front and rear electric cylinder devices becomes large in the wing opening / closing device which is one Embodiment of this invention. A command of a control circuit in the rear electric cylinder device indicating the relationship between the time and the stroke when the difference in position between the front and rear electric cylinder devices becomes large when the wing opening / closing device according to the embodiment of the present invention is opened. It is a graph of data.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

In the present embodiment, the wing opening / closing device of the wing vehicle according to the present invention is configured to control the opening / closing of the wing of the wing vehicle shown in FIG.

As shown in FIG. 1, the wing vehicle 1 is provided with a wing body 3 mounted on the loading platform of the truck 2, and a pair of wings 5 are rotated on the left and right side walls of the wing body 3 by a support shaft 4. It is movably supported and is equipped to open and close diagonally upward in a gull wing form.
Since the left and right wings 5 and 5 have the same structure and are arranged symmetrically, the left wing 5 will be described below as a representative.
A front electric cylinder device 100 and a rear electric cylinder device 200 are arranged upward on the front and rear walls of the wing body 3, and the upper ends of the front electric cylinder device 100 and the rear electric cylinder device 200 are rotatable to the wing 5. The lower end is rotatably pivoted to the wing body 3. That is, the wing 5 is opened and closed by the expansion and contraction operation of the front electric cylinder device 100 and the rear electric cylinder device 200.

As shown in FIG. 2, the front electric cylinder device 100 has a ball screw 102 rotatably supported in the casing 101 and a ball screw nut 103 that is screwed into the ball screw 102 and linearly moves with the rotation of the ball screw 102. A hollow rod 104 fixed to the ball screw nut 103, a motor 106 for rotationally driving the ball screw 102 via a speed reduction mechanism 105, and a cylinder controller 107 are provided.
The cylinder controller 107 includes a driver 109 for driving the motor 106, a current detector 110 for the motor 106, a rotation detector 111 for the motor 106, a communication circuit 112 for the front electric cylinder device, and a control circuit 108 for controlling them. , Consists of. A voltage from the truck battery is applied to the cylinder controller 107 (not shown).
The motor 106 includes a three-phase motor such as a DC motor (DC motor) or a brushless motor.
The driver 109 drives the motor 106 under the control of the control circuit 108. Typical control methods for the driver 109 include pulse width control (PWM), 120-degree energization control, and vector control.
The current detector 110 detects the current supplied from the driver 109 to the motor 106.
The rotation detector 111 detects the rotation angle and the number of rotations of the motor 106.
However, the rotation detector 111 can detect only the rotation angle, and the control circuit 108 can count the number of rotations.
Here, the higher the resolution of the rotation angle detection, the higher the position accuracy of the stroke of the electric cylinder device.

The rear electric cylinder device 200 is composed of a casing 201, a ball screw 202, a ball screw nut 203, a hollow rod 204, a reduction mechanism 205, a motor 206, and a cylinder controller 207. The cylinder controller 207 includes a control circuit 208, a driver 209, and a current. It includes a detector 210, a rotation detector 211, and a communication circuit 212 of the rear electric cylinder device.
These are configured in the same manner as each of the front electric cylinder devices 100.
The communication circuit 112 of the front electric cylinder device 100 and the communication circuit 212 of the rear electric cylinder device 200 are connected by a communication path 213.
In the present embodiment, CAN (Controller Area Network) is used for the communication path 213, and the communication circuit 112 of the front electric cylinder device 100 and the communication circuit 212 of the rear electric cylinder device 200 are the H level line and It is connected by two communication paths 213 of the L level line.
However, the communication path 213 is not limited to CAN, and may be configured by a wired communication path or a wireless communication path.

The control circuit 208 mounted on the cylinder controller 207 of the rear electric cylinder device 200 generates command data for instructing the expansion / contraction operation of the rear electric cylinder device 200, drives the driver 209, and drives the motor 206 to the rotor. While performing the expansion / contraction operation, the expansion / contraction operation of the front electric cylinder device 100 is generated as command data and transmitted to the communication circuit 112 of the front electric cylinder device 100 via the communication circuit 212 and the communication path 213. That is, the control circuit 208 of the rear electric cylinder device 200 is configured to execute the flow described later.
An open switch 301 operated when the left wing is opened and a closing switch 302 operated when the left wing is closed are connected to the control circuit 208 of the rear electric cylinder device 200 by an electric wiring 303. The open switch 301 and the close switch 302 are mounted on the operation panel 304, and the operation panel 304 is installed at an appropriate position on the truck 2.

Hereinafter, the transmission / reception flow of the control circuit 208 and the transmission / reception position control flow of the electric cylinder device will be described with reference to the flowcharts shown in FIGS. 3 and 4.
Here, a graph showing the relationship (function) between the time and the stroke at the time of wing opening operation shown in FIG. 5, that is, the case of executing the wing opening operation sequence control flow will be described.

When the open switch 301 is turned on, as shown in FIG. 3, the control circuit 208 determines "whether a certain time has passed after transmission" in the first step S1 after the initialization process.
If the transmission time has elapsed (YES), the process proceeds to the second step S2.
If the transmission time has not elapsed for a certain period of time (NO), the process returns to the first step S1.
In the second step S2, the control circuit 208 transmits the extension command data to the front electric cylinder device 100 via the communication circuit 212, the communication path 213, and the communication circuit 112, and then proceeds to the third step S3.
In the third step S3, the control circuit 208 generates command data for instructing the expansion / contraction operation of the rear electric cylinder device 200, drives the driver 209 to rotate the motor 206, and proceeds to the fourth step S4.
The extension command data is a time-stroke relationship graph shown in FIG. 5, that is, a signal generated by the control circuit 208 based on the wing open operation sequence control flow.
The time-stroke relationship graph shown in FIG. 5, that is, the wing open operation sequence control flow is created (programmed) in advance by the time and stroke function and stored in advance in the memory of the control circuit 208 as a table of the wing open operation sequence control flow. Has been done.
In the fourth step S4, the control circuit 208 determines "whether the actual measurement data (detection data of the rotation detector 111) from the front electric cylinder device 100 has been received".
When the measured data is received (YES), the process proceeds to the fifth step S5.
If the actual measurement data has not been received (NO), the process returns to the fourth step S4.
In the fifth step S5, the control circuit 208 reads the measured data from the front electric cylinder device 100 and proceeds to the sixth step S6.
In the sixth step S6, the control circuit 208 applies the received actual measurement data to the graph shown in FIG. 5 to calculate the command data, and then returns to the first step S1.
After that, the routine is repeated until the graph shown in FIG. 5, that is, the table of the wing opening operation sequence control flow is completed.

On the other hand, as shown in FIG. 4, the control circuit 108 of the front electric cylinder device 100 and the control circuit 208 of the rear electric cylinder device 200 are initialized, and then in the first step S1, “rear electric cylinder”. Did you receive the extension command data from the control circuit of the device? "
If it is received (YES), the process proceeds to the second step S2.
If not received (NO), the process returns to the first step S1.
In the second step S2, the control circuit 108 reads the received extension command data and proceeds to the third step S3.
In the third step S3, the control circuit 108 drives the driver 109 according to the received extension command data to rotate the motor 106, and then proceeds to the fourth step S4.
In the fourth step S4, the control circuit 108 reads the measured data of the rotation detector 111 and transmits it to the control circuit 208 of the rear electric cylinder device 200.
After that, the routine is repeated until the graph shown in FIG. 5, that is, the table of the wing opening operation sequence control flow is completed.

Next, the slow stop operation in the graph of FIG. 5 will be described with reference to the flowchart of the slow stop command data calculation flow shown in FIG.
As shown in FIG. 6, in the first step S1, the control circuit 208 determines “whether it is in operation”.
If the operation is not in progress (NO), the process proceeds to the second step S2.
If the operation is in progress (YES), the process proceeds to the third step S3.
In the second step S2, the control circuit 208 performs the process of "increase A = 0", and proceeds to the ninth step S9.
In the third step S3, the control circuit 208 determines "isn't it at the start?" If it is at the time of starting (NO), the process proceeds to the fourth step S4.
If it is not at the time of starting (YES), the process proceeds to the fifth step S5.
In the fourth step S4, the control circuit 208 performs the process of "increase A = increase in slow start", and proceeds to the ninth step S9.
In the fifth step S5, the control circuit 208 determines the slow stop start point based on the measured data of the front and rear electric cylinder devices, and then proceeds to the sixth step S6.
In the sixth step S6, the control circuit 208 determines "isn't it a slow stop?" If it is a slow stop (NO), the process proceeds to the seventh step S7.
If it is not a slow stop (YES), the process proceeds to the eighth step S8.
In the seventh step S7, the control circuit 208 performs the process of "increase A = increase in slow stop", and proceeds to the ninth step S9.
In the eighth step S8, the control circuit 208 performs the process of "increase A = increase in the normal time", and proceeds to the ninth step S9.
In the ninth step S9, the control circuit 208 processes "extension command data = previous extension command data + increase A", transmits extension command data to the front electric cylinder device 100, and is based on the increased expansion / contraction data. The driver 209 of the rear electric cylinder device 200 is driven to rotate the motor 206.
The increase A of slow start and slow stop can be changed depending on the elapsed time and the measured data.
When the wing is open (when the electric cylinder device is extended), the increase A is positive, but when the wing is closed (when the electric cylinder device is shortened), the increase A is negative.

Next, regarding the operation of compensating the command data of the sequence control flow by the difference between the measured data from the electric cylinder device and the command data in the graph of FIG. 8, the flowchart of the command data calculation flow for performing the compensation operation shown in FIG. It will be explained according to.
As shown in FIG. 7, in the first step S1, the control circuit 208 determines “whether it is in operation”.
If the operation is not in progress (NO), the process proceeds to the second step S2.
If the operation is in progress (YES), the process proceeds to the third step S3.
In the second step S2, the control circuit 208 performs the process of "increase A = 0", and proceeds to the eleventh step S11.
In the third step S3, the control circuit 208 determines "isn't it at the start?"
If it is at the time of starting (NO), the process proceeds to the fourth step S4.
If it is not at the time of starting (YES), the process proceeds to the fifth step S5.
In the fourth step S4, the control circuit 208 performs the process of "increase A = increase in slow start", and proceeds to the ninth step S9.
In the fifth step S5, the control circuit 208 determines the slow stop start point based on the measured data of the front and rear electric cylinder devices, and then proceeds to the sixth step S6.
In the sixth step S6, the control circuit 208 determines "isn't it a slow stop?" If it is a slow stop (NO), the process proceeds to the seventh step S7.
If it is not a slow stop (YES), the process proceeds to the eighth step S8.
In the seventh step S7, the control circuit 208 performs the process of "increase A = increase in slow stop", and proceeds to the ninth step S9.
In the eighth step S8, the control circuit 208 performs the process of "increase A = increase in slow stop", and proceeds to the ninth step S9.
In the ninth step S9, the control circuit 208 determines "whether the difference between the extension command data and the actually measured data of both electric cylinder devices is within the allowable range".
When it is not within the permissible range (NO), that is, when it is determined that recovery is impossible due to a large difference between the measured data transmitted from the front electric cylinder device 100 and the rear electric cylinder device 200 and the extension command data of the sequence flow. Proceeds to the tenth step S10.
When it is within the permissible range (YES), that is, when it is judged that the difference between the measured data transmitted from the front electric cylinder device 100 and the rear electric cylinder device 200 and the extension command data of the sequence flow is small and it can be recovered. , The eleventh step S11.
In the tenth step S10, the control circuit 208 performs the process of “decreasing the increase A”, and proceeds to the eleventh step S11.
In the eleventh step S11, the control circuit 208 processes "extension command data = previous extension command data + increase A", transmits the extension command data to the front electric cylinder device 100, and converts the increased expansion / contraction data into the increased expansion / contraction data. Based on this, the driver 209 of the rear electric cylinder device 200 is driven to rotate the motor 206.
That is, as shown in FIG. 8, when it is determined that the difference between the measured data and the command data has become small after the gradient of the sequence control flow is decreased and the gradient is decreased, the gradient is increased (returned). Let me.
After that, until the graph shown in FIG. 8, that is, the operation of compensating the command data of the sequence control flow by the difference between the measured data from the electric cylinder device and the command data is completed in the wing open operation feedback control flow table. The routine is repeated.

Also in the case of the wing closing operation, the same sequence control flow or feedback control flow as in the case of the wing opening operation described above is executed.

According to this embodiment, the following effects can be obtained.

(1) By using an electric cylinder device for the wing opening / closing device, it is possible to omit the hydraulic system such as the hydraulic device and the hydraulic piping as compared with the case where the hydraulic cylinder device is used for the wing opening / closing device. The initial cost and running cost can be significantly reduced.

(2) The connection between the front electric cylinder device and the rear electric cylinder device is only the communication line path, and it is possible to omit the routing of a plurality of long wires, so that the remote control structure of the wing switchgear as a whole is simplified. Not only can it be made lighter and lighter, but it can also reduce costs and improve maintenance performance.

(3) Since the wiring of the so-called power line that performs Duty control is limited to the inside of the front electric cylinder device and the rear electric cylinder device, there is no cause for a large current for driving the motor to flow through the external harness to generate noise. Therefore, the reliability of the wing opening / closing device can be improved.

(4) Since the measured data of the front electric cylinder device and the rear electric cylinder device with respect to the command data are clarified, the reliability of the wing opening / closing device as a whole can be improved by monitoring each other.

(5) Since the sequence control flow of the wing switchgear can be created (programmed) corresponding to each individual wing switchgear, it is possible to compensate for the difference in individuality between the wing switchgear.

(6) Compensate for the difference between the front electric cylinder device and the rear electric cylinder device by creating (programming) the sequence control flows of the front electric cylinder device and the rear electric cylinder device separately. Therefore, it is possible to avoid the occurrence of twisting of the wing in advance.

It goes without saying that the present invention is not limited to the above embodiments, and various modifications can be made without departing from the gist thereof.

For example, contrary to the above embodiment, a command signal may be transmitted from the front electric cylinder device to the rear electric cylinder device, and actual measurement data may be transmitted from the rear electric cylinder device to the front electric cylinder device.
That is, the control flow of FIGS. 3, 6 and 7 can be performed by the front electric cylinder device, and the control flow of FIG. 4 can be performed by the rear electric cylinder device. In that case, the term "front side" in FIGS. 3 and 4 may be read as "rear side", and the term "rear side" may be read as "front side".

The actual measurement data of the electric cylinder device is not limited to using the detection data of the rotation detector, but a position sensor that detects the movement distance of the ball screw nut with respect to the casing and converts it into an electric amount is interposed between the casing and the ball screw nut. However, the detection data of the position sensor may be used as the actual measurement data of the wing stroke.

By transmitting not only the measured data from the front electric cylinder device and the rear electric cylinder device, but also other data such as temperature and current value to the control circuit, information such as the opening of the wing and the occurrence of abnormalities are monitored. can do.

The open and close switches on the operation panel may be connected to the front electric cylinder device.

The control of slow start when the wing is opened and closed may be omitted.

1 ... wing car, 2 ... truck, 3 ... wing body, 4 ... support shaft, 5 ... wing,
100 ... front electric cylinder device, 101 ... casing, 102 ... ball screw, 103 ... ball screw nut, 104 ... hollow rod, 105 ... reduction mechanism, 106 ... motor, 107 ... cylinder controller, 108 ... control circuit, 109 ... driver, 110 ... Current detector, 111 ... Rotation detector, 112 ... Communication circuit of front electric cylinder device,
200 ... Rear electric cylinder device, 201 ... Casing, 202 ... Ball screw, 203 ... Ball screw nut, 204 ... Hollow rod, 205 ... Reduction mechanism, 206 ... Motor, 207 ... Cylinder controller, 208 ... Control circuit, 209 ... Driver, 210 ... current detector, 211 ... rotation detector, 212 ... communication circuit of rear electric cylinder device, 213 ... communication path,
301 ... open switch, 302 ... closed switch, 303 ... electrical wiring, 304 ... operation panel.

Claims (4)

A front electric cylinder device that opens and closes the front side of the wing of a wing car by expansion and contraction,
A rear electric cylinder device that opens and closes the rear side of the wing of the wing car by expansion and contraction,
A communication path connecting the communication circuit provided in the front electric cylinder device and the communication circuit provided in the rear electric cylinder device, and
The control circuit provided in the front electric cylinder device and
The control circuit provided in the rear electric cylinder device and
With
One of the control circuits transmits command data for commanding expansion / contraction operation to the other via the communication path.
A wing opening / closing device for wing vehicles. One of the control circuits determines a slow stop point before the stroke end of the wing fully open and fully closed based on the measured data from the front electric cylinder device and / or the rear electric cylinder device, and sends command data to slowly stop the wing. Send,
The wing opening / closing device for a wing vehicle according to claim 1. One of the control circuits compensates the command data of the sequence control flow by the difference between the measured data and the command data from the front electric cylinder device and / or the rear electric cylinder device.
The wing opening / closing device for a wing vehicle according to claim 1 or 2. A front electric cylinder device that opens and closes the front side of the wing of a wing car by expansion and contraction,
A rear electric cylinder device that opens and closes the rear side of the wing of the wing car by expansion and contraction,
A communication path connecting the front electric cylinder device and the rear electric cylinder device, and
With
A wing opening / closing device for a wing vehicle, wherein the front electric cylinder device and the rear electric cylinder device transmit and receive data to and from each other via the communication path.

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