JP2579077Y2 - Work vehicle - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work vehicle that travels on an underground mall by, for example, running on stairs and performs rescue work when an accident such as a fire occurs.

[0002]

2. Description of the Related Art Conventionally, there has been a technique in which a left and right traveling crawler is independently driven by a hydraulic continuously variable transmission mechanism having a hydraulic pump and a motor to perform forward and backward, turning, and spin turn operations.

[0003]

In the prior art, when performing a spin turn operation, a spin speed is determined by multiplying a running speed when traveling straight by a certain coefficient, or a vehicle speed is reduced to a certain speed by reducing a vehicle speed to a certain speed. There was a case where the spin turn speed was used, but the spin turn speed may change depending on the road surface condition at the time of performing the spin turn, and when the spin turn speed becomes faster, the worker tends to feel uneasy and However, at the start of the spin turn, there is a problem that an accident such as slipping or falling down in the lateral direction of the aircraft is likely to occur.

[0004]

SUMMARY OF THE INVENTION Accordingly, the present invention provides an angular acceleration for detecting the angular acceleration of a body during a spin turn in a work vehicle having a hydraulic continuously variable transmission mechanism for performing a spin turn operation by left and right independent driving. A sensor is provided to correct the spin turn speed at the start of the spin turn based on the output of the sensor, and by limiting the spin turn speed by the angular acceleration of the aircraft at the time of performing the spin turn, the road surface condition, etc. Can prevent the spin-turn speed from becoming too fast, which can easily reduce the anxiety of the operator, and also prevent the aircraft from skidding or tipping over during the spin-turn. It is possible to easily improve the properties and the like.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. 1 is a drive control circuit diagram, FIG. 2 is a side view of the whole,
3 is a front view, FIG. 5 is a rear view, FIG. 6 is a plan view. In FIG. 3, (1) is a work vehicle for traveling on a slope, and (2) is a work vehicle. A driving cabin in which a driver's seat (3) and a driving operation unit (4) are provided, and (5) are left and right front crawlers (6) and (7) and a rear crawler (8) for traveling.
A machine supporting (9), (10) is disposed in an engine room (11) at a lower rear portion of the driving cabin (2), and is provided with a radiator (12), an oil cooler (13), an air cleaner (14), An engine having a silencer (15) and the like; (15) a water pump for fire extinguishing and discharging disposed on the left side of the engine (10) in the engine room (11);
(16) a fuel tank disposed on the right side of the engine (10) in the engine room (11), (17) a work machine installation base also serving as a room upper cover of the engine room (11), (18) Is a fire hose device which is a working machine installed on the installation stand (17), and is openably mounted on a rear side surface of a lower cover (19) of the engine room (11) via a hinge (20). The platform (17) is supported, and maintenance of the engine (10) and the like is performed by opening the rear of the platform (17).

The operating cabin (2) is supported on the machine base (5) so as to be able to swing back and forth. A first cabin base (22) is provided at a front end of the machine base (5) via a front fulcrum shaft (21). And the rear end of the first cabin table (22) is connected to the rear end of the second cabin table (24) via a rear fulcrum shaft (23), so that the floor surface of the operating cabin (2) is connected. (25) is fixed to the second cabin stand (24), and each support shaft (26) is located between the machine stand (5) and the substantially inner center of the first cabin stand (22).
(27) The first elevator cylinder (2
8), and the first and second cabin tables (22) (2)
A second lifting cylinder (31) for tilting the cabin rearward is provided through the support shafts (29) and (30) between substantially the center of the outer side of 4), and the cylinders (28) and (31) are extended or retracted by extending. The cabin (2) is configured to tilt forward or backward about the rear fulcrum shafts (21) and (23).

The cabin (2) has a floor surface (25).
Are formed in irregularities, and the front and rear convex portions (2) of the floor surface (25) are formed.
5a) (25b) The driver's seat (3) and the rear seat (3
2) and a hydraulic tank (33) and a battery (34), which are accessories attached to the machine base (5), are arranged below the convex portions (25a) and (25b) to make the machine compact. It is designed to stabilize and balance the aircraft.

Further, as shown in FIG. 7, the left and right front crawlers (6) and (7) are moved forward and backward by a track and track via driving sprockets (35) (36a) and (36b) and an intermediate track roller (37). The rear crawlers (8) and (9) are connected to the front and rear driving and floating sprockets (36c) (36d) (35) and the intermediate track roller (37) respectively.
8), and approximately the center of each track frame (38) (38) is attached to the front and rear horizontal pipes (39) (40) supported at the lower part of the machine base (5) via a rotation fulcrum shaft (41). Each crawler (6) (7) (8)
(9) is configured to be rotatable forward and backward about the fulcrum shafts (41) and (41), respectively.

Furthermore, the rear horizontal pipe (40) is detachably fixedly supported on the machine base (5) via the bracket (42), and the front horizontal pipe (39) is mounted on the machine base (5).
Center pin (43) provided at the center on the left and right of
The left and right front crawlers (6) and (7) are configured to be able to swing left and right by swingably supporting via 4).

As shown in FIG. 7, each of the crawlers (6)
(7) (8) (9) are hydraulic continuously variable transmission mechanisms (HST)
The left and right rear crawlers (8) and (9) are driven by a left and right rear crawler (8) and (9) by a tandem type hydraulic pump (46) (47) which is driven and connected to the engine (10). (36c) (36d)
The hydraulic motors (48) and (49) for rotating the motors are connected respectively, and the sprocket shafts (50) of the driving sprockets (36a) and (36b) of the front left and right crawlers (6) and (7) are connected.
a) (50b) through the universal joint (51) and the propeller shaft (52) to the sprocket (36c) (3).
6d) The sprocket shafts (50c) and (50d) are interlocked and connected to each other, and a pair of left and right hydraulic pumps (46) and (47) and motors (48) and (49) forming a transmission mechanism (45) are used to separate the front and rear crawlers. (6) (8) ・ (7)
It is configured to drive (9).

The first and second lifting cylinders (2
8) The solenoids (53a), (53b) and (54)
a) (54b) A constant discharge hydraulic pump (56), which is drivingly connected to the engine (10) via an operation type hydraulic switching valve (53) (54) and a flow divider (55), is hydraulically connected. The switching valves (53) and (54) and the speed change mechanism (45) are operated by operating the elevating lever (57) provided in the operation operation section (4), the joystick lever (58) as a traveling speed change lever, and the pedal (59). The hydraulic pumps (46) and (47) are operated to perform the lift control of the operation cabin (2) and the traveling control of the machine body.

Further, as shown in FIG. 1, a vehicle speed potentiometer (60) for performing a traveling speed change and a forward / reverse switching in accordance with the forward / backward tilt angle of the joystick lever (58).
And the left traveling crawler (6) (8) and the right traveling crawler (7) (9) according to the left / right tilt angle of the lever (58).
Potentiometer (61) that causes a speed difference in the motor
A spin turn switch (62) for rotating the left traveling crawlers (6) and (8) and the right traveling crawlers (7) and (9) in opposite directions to perform a spin turn operation, and an operation cabin ( 2) An angular acceleration sensor (63) for detecting an angular acceleration, and an angular velocity sensor (64) for detecting an angular velocity of the cabin (2) during a spin turn.
And the hydraulic pumps (46) and (47) and the motor (4).
8) A charge pressure sensor (65) for detecting a charge pressure of a hydraulic circuit connecting the (49) and a hydraulic motor (4) by changing a swash plate angle of the hydraulic pumps (46) and (47).
8) A left / right shift solenoid (66) (67) for increasing / decreasing the rotational speed of (49) and switching between forward / reverse rotation is connected to a travel controller (68) formed by a microcomputer. To perform forward / backward and left / right turning operations, and the spin turn switch (6) provided at the head of the lever (58).
By turning on 2), the left / right shifting solenoid (66)
Operate (67) to operate the left and right hydraulic motors (48) (49)
Are rotated in opposite directions to each other, and the left traveling crawler (6)
(8) and the right running crawlers (7) and (9) are rotated in the opposite directions to perform a spin turn.

FIG. 8 is an output diagram of the angular acceleration of the angular acceleration sensor (63). When the angular acceleration becomes larger than a predetermined value to be initially set, the vehicle speed potentiometer (6) is turned on.
0) is decelerated in proportion to the difference between the prescribed value and the angular acceleration, and the spin turn speed at the start of the spin turn is decelerated and corrected based on the output of the sensor (63). FIG. 4 is a turn speed diagram, and is based on a difference between a target value indicated by a broken line determined by a vehicle speed value of a vehicle speed potentiometer (60) and an angular speed value of an angular speed sensor (64), and an actual speed value indicated by a solid line. (66) By operating (67) to increase or decrease the spin turn speed, it is configured to perform the above-described acceleration control only when the charge pressure of the charge pressure sensor (65) is equal to or lower than a predetermined value. I have.

A direction change of, for example, 90 degrees or 180 degrees is performed by the spin turn control shown in the flowchart of FIG.
2) is ON, when the joystick lever (58) is tilted to the left or right to perform a turning operation for turning output from the turning potentiometer (61), the vehicle speed is input from the vehicle speed potentiometer (60) and a predetermined value for initial setting is input. When the vehicle speed input value is smaller than the speed, one half of the vehicle speed input value is set as the spin turn speed, and when the vehicle speed input value is larger than the predetermined speed, one half of the predetermined speed is set as the spin turn speed, The spin turn speed is determined, and a left / right shift solenoid operation for performing a spin turn in the left / right tilt direction of the joystick lever (58) is performed, and the spin turn is performed to the right or left at the spin turn speed determined as described above.

At the start of the spin turn, the input of the angular acceleration sensor (63) is performed as shown in FIG.
When the angular acceleration detected in step 3) is larger than a specified value to be initially set, a deceleration value of the spin turn speed is determined in proportion to a difference between the detected angular acceleration value and the specified value, and the spin turn speed is decelerated and corrected. When the angular velocity sensor (64) inputs an angular velocity detection value of the sensor (63) which is equal to or less than a specified value, the vehicle speed value of the vehicle speed potentiometer (60) and the sensor (6) are input as shown in FIG.
If there is a difference between the target spin turn speed value (broken line) determined by the angular velocity value of 4) and the actual speed value of the solid line,
The angular velocity of the sensor (64) and the potentiometer (6
The speed increase / deceleration value of the spin turn speed is determined based on the vehicle speed of 0), and when the vehicle is decelerated, the speed change solenoids (66) (67) are turned on with the spin turn switch (62) turned on or in the turning operation state.
While the spin turn speed is decelerated and corrected by the operation, when the speed is increased, the spin turn switch (62) is turned on only when the charge pressure detection value of the charge pressure sensor (65) is less than a predetermined value by the input of the charge pressure sensor (65). Alternatively, in the turning operation state, the speed of the spin turn speed is corrected by the operation of the speed change solenoids (66) and (67), and when the charge pressure detection value of the sensor (65) exceeds a predetermined value, the speed increase control is not performed. , The running load of the spin turn is kept below a predetermined value.

[0016]

As is apparent from the above embodiments, the present invention relates to a work vehicle provided with a hydraulic continuously variable transmission mechanism (45) for performing a spin turn operation by right and left independent traveling drive.
An angular acceleration sensor (63) for detecting the angular acceleration of the body at the time of the spin turn is provided, and the spin turn speed at the start of the spin turn is corrected based on the output of the sensor (63). By limiting the spin turn speed by the angular acceleration of the aircraft at the time, it is possible to prevent the spin turn speed from increasing due to road surface conditions, etc. It is also possible to easily prevent the aircraft from sliding or tipping over, and to easily improve stability and safety.

[Brief description of the drawings]

FIG. 1 is a driving control circuit diagram.

FIG. 2 is an overall side view.

FIG. 3 is an explanatory side view of the same.

FIG. 4 is an explanatory front view of the same.

FIG. 5 is an explanatory rear view of the same.

FIG. 6 is an explanatory plan view of the same.

FIG. 7 is an explanatory diagram of traveling drive.

FIG. 8 is an angular acceleration output diagram.

FIG. 9 is a spin-turn velocity diagram.

FIG. 10 is a flowchart of FIG. 1;

[Explanation of symbols]

 (45) Continuously variable transmission mechanism (63) Angular acceleration sensor

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Satoru Okada 1-32 Chaya-cho, Kita-ku, Osaka City Inside Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Hiroshi Kawabuchi 1-32, Chaya-cho, Kita-ku, Osaka-shi Inside Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Yasushi Mizukura 1-32 Chayacho, Kita-ku, Osaka-shi Inside Yanmar Agricultural Machinery Co., Ltd. (72) Wataru Nakagawa 1-32 Chayacho, Kita-ku, Osaka-Yanmar (56) References JP-A-63-279975 (JP, A) JP-A-4-107711 (JP, A) JP-A-3-189463 (JP, A) (58) Fields investigated ( Int.Cl. ⁶ , DB name) B62D 11/00-11/24

Claims (1)

(57) [Scope of request for utility model registration] 1. A work vehicle equipped with a hydraulic continuously variable transmission mechanism for performing a spin-turn operation by left and right independent running drive, provided with an angular acceleration sensor for detecting an angular acceleration of the body at the time of a spin-turn, and based on the sensor output, A work vehicle configured to correct a spin turn speed at the start of a turn.