JP2871708B2 - Operation control method of garbage loading device in garbage truck - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a method of controlling loading of a garbage truck, in particular, detecting a biting occurring during a loading operation in advance or after a biting occurs. The present invention relates to a loading control method for a refuse collection vehicle, which detects this, stops a loading panel, and performs an optimal biting release operation adapted to a stop position of the loading panel.

[Conventional technology]

Conventionally, as this kind of loading control method, for example,
No. 59-163201 describes the sequential operation of the garbage storage box and the tailgate when discharging garbage in a garbage truck, and the loading panels (conveyor panel and ram panel) arranged in the tailgate when loading garbage. A microcomputer is provided to control the sequential operation and prevent the malfunction in the sequential operation and control the normal operation, and also detects the loading amount of the dust and the oil pressure at a predetermined portion of the dust collection vehicle and detects the same. There has been proposed a device in which a detector that converts the signal into an electric signal and sends it out is installed, and when a problem such as biting is detected, an appropriate operation is automatically performed to resolve the problem.

That is, for example, the occurrence of jamming is detected by the panel position detection sensor and the oil pressure detector, and the loading panels (the conveyor panel and the ram panel) are stopped. If the stop at this time is the conveyor panel, the conveyor panel is moved for several seconds. In the case of stopping at the ram panel, the conveyor panel is rotated in the reverse direction for a few seconds to return the ram panel, and then to the normal loading operation.

[Problems to be solved by the invention]

However, in the above-described Japanese Patent Application Laid-Open No. 56-163201, the garbage release operation is performed in the same manner regardless of the various stop positions of the loading panel. In some cases, it is considered that there is a problem that the release operation may not release the bite.

That is, it is conceivable that the biting of each part cannot be reliably released unless the fine dust biting release operation is performed in accordance with each stop position of the loading panel.

Therefore, an object of the present invention is to provide an operation control method of a dust loading device in a dust collection vehicle that can always perform a reliable and stable biting release operation.

[Means for solving the problem]

In order to achieve the above object, an operation control method of a dust loading device mounted on a dust collection vehicle according to the present invention includes: (a) a hydraulic pressure supplied to a hydraulic device that operates the dust loading device; (B) in advance, the information processing apparatus preliminarily informs the information processing apparatus of the waveform of the hydraulic pressure in the normal dust loading cycle and the optimal biting release operation corresponding to the operation stop position of the dust loading device. (C) predicting that dust will bite when the detected rising speed of the hydraulic pressure becomes higher than the rising speed obtained from the waveform of the hydraulic pressure stored in advance in the information processing device; And (e) stopping the operation of the dust loading device when it is predicted that the dust will be jammed, and (e) releasing the jam stored in the information processing device according to the operation stop position of the dust loading device. Select work is performed on the dust loading device, characterized in that.

[Operation] According to the present invention configured as described above, the dust loading device is stopped in advance by predicting that the dust loading device will be jammed, so that the dust is securely placed in the dust loading device. Biting can be prevented.

In addition, since the optimal biting release operation according to the stop position of the refuse loading device is selected and performed, the biting releasing operation can always be performed reliably and stably.

〔Example〕

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

2 and 3, a body 3 is mounted on a chassis 2 of the refuse collection vehicle 1. The body 3 includes a body 4 that can be dumped rearward, a tailgate 6 that is connected to the rear of the body 4 via a hinge 5 provided at an upper rear portion of the body 4, and a tailgate 6. And a dump cylinder 8 for discharging dust in the body 4 and an automatic lock 9 for fixing the tailgate 6.

The garbage loading panel 7 is composed of a conveyor panel 10 rotatably provided below the tail gate 6 and a ram panel 11 which can swing back and forth. Therefore, it is pushed into the body 4.

A drive device 14 for operating and stopping the body 3 is provided with a pump 18. The pump 18 is connected to an engine 15 via a transmission 16, a power take-out device 17 and a propeller shaft 19. I have. Further, this pump 18 has a plurality of hydraulic solenoid valves 20a, 20b... 20e (FIG. 3).
Hydraulic cylinder 21 for oscillating ram panel 11 via valve device 20 provided with a hydraulic motor for rotating conveyor panel 10
22, an actuator such as a hydraulic cylinder 23 for operating the dump cylinder 8 and the automatic lock 9 is directly connected, and these operations are controlled by switching the hydraulic solenoid valves 20a to 20e.

A rotary solenoid 25 is connected to an accelerator lever 24 of the engine 15, and the rotation of the rotary solenoid 25 controls acceleration / deceleration of the engine 15.

The refuse collection vehicle 1 is equipped with an information processing device 26 using a microcomputer for controlling the hydraulic solenoid valve 20 and the rotary solenoid 25, while the discharge side of the pump 18 detects the pressure here. Oil pressure detection sensor for
27 are provided.

The oil pressure detection sensor 27 detects the discharge pressure of the pump 18, and thereby detects the load of the driving device 14,
10, for detecting the load on the ram panel 11, the dump cylinder 8, and the like. The hydraulic pressure detection sensor 27 is configured to convert the hydraulic pressure to a voltage of 0 to 5 V. The data is D-converted and input to the information processing device 26.

Further, at a predetermined position of the body 3, a detection sensor 29a for detecting the tilt position of the body 4, a detection sensor 29b for detecting the rotation of the tailgate 6, and as shown in detail in FIG. A detection sensor 29c, which is located inside the tailgate 6, detects a stop position of the conveyor panel 10 and outputs a signal to start pushing of the ram panel, a detection sensor 29d which detects a return position of the ram panel 11, and a tooth profile on the periphery. A detection sensor 29e for detecting the position of the conveyor panel 10 by repeating on-off by the detection plate 32 provided with the detection plate 32, a detection sensor 29f for detecting a push stop position of the ram panel 11 and outputting a one-cycle stop signal, and a detection sensor 29f for A detection sensor 29g for detecting a position is provided.

In addition, these detection sensors 29a to 29g are configured by, for example, proximity switches.

On the other hand, an in-cab operation panel 30 is provided in the cab, and a loading switch 31 is provided at the rear of the tailgate 6.

These sensors 29a to 29g and the switches 30 and 31 are for detecting the operating state of the body 3, and these signals are input to the information processing device 26.

That is, when the loading button of the loading switch 31 is pressed, the loading 1
When the cycle starts, the rotary solenoid 25
As a result, the speed of the engine 15 is increased to the set rotation speed. At the same time, the discharge pressure at that time is constantly detected by the oil pressure detection sensor 27, and signals from the sensors 29a to 29g and the switches 30 and 31 are also input to the information processing device 26, where the information processing is performed. ing.

In FIG. 3, reference numeral 34 denotes a check valve, 35 denotes a dump cylinder for the tailgate 6, and 36 denotes a pilot check valve.

 Next, the loading cycle will be described.

First, the conveyor panel 10 makes a forward rotation, and from this time on, the detection sensor 29e counts the number of on and off by the detection plate 32 provided with a tooth profile on the peripheral edge, thereby starting the position detection of the conveyor panel 10.

When the conveyor panel 10 rotates forward by about 45 °, the detection sensor 29
c turns off, the ram panel 11 starts returning, and the detection sensor 2
9f turns off. When the ram panel 11 continues to operate,
The detection sensor 29g turns on. Thereafter, the ram panel 11 stops returning when the detection sensor 29d is turned on.

On the other hand, the conveyor panel 10 continues to rotate forward and the detection sensor 29
Normal rotation ends when c is turned on. The count number of the detection sensor 29e at this time is 18, for example.

At the same time as the detection of the ON of the detection sensor 29c, the ram panel 11 starts pushing, the detection sensor 29d is turned off, and after the detection sensor 29g is turned off, the loading cycle ends when the detection sensor 29f is turned on. I do.

Further, as shown in FIG. 1, part B near the inlet of the inlet, which is generally considered to be most frequently bitten, part C slightly inside the inlet, part D near the front of the lower part of the hopper, A different optimum biting release pattern is provided at each of the six positions: a stop position of the panel 10 slightly before the E portion, an F portion of the pressing start point of the ram panel 11 and an H portion of the ram panel 11 during the pressing, and information is provided. It is stored in the processing device 26 in advance.

That is, since the bite cannot be generally released unless a fine bite release operation is performed by the stop positions of the conveyor panel 10 and the ram panel 11, various different release patterns corresponding to these stop positions are prepared. The information is stored in the information processing device 26, so that the release is surely performed.

The biting release pattern at each of these points is the fifth
This will be described with reference to the flowcharts shown in FIGS.

FIG. 5 shows a main flow chart, in which the conveyor panel 10 starts normal rotation by a loading start signal, and when the conveyor panel 10 reaches a predetermined position as described above, the ram panel 11 starts returning. The presence or absence of biting is detected.

Here, when the occurrence of biting is detected, as shown in FIG. 6, the conveyor panel 10 is first stopped, and then the conveyor panel 10 is reversed from the portion B to the portion A in FIG. Then, the occurrence of the jam is notified by an alarm by voice, the dust is manually removed, and then the loading from the portion A is restarted. Therefore, if the manual removal of dust is insufficient, an audible warning is issued again.

After the bite at the portion B is eliminated and the return of the ram panel 11 is completed, the presence or absence of the bite at the portion C is detected.

Here, when biting is detected, as shown in FIG. 7, the conveyor panel 10 is first stopped, and then the conveyor panel 10 is reversed from the portion C in FIG.
Then, after a predetermined interval, the conveyor panel 10 is rotated forward again from the point B. If the bite cannot be removed by one forward rotation, this is repeated twice,
If it still cannot be removed, the conveyor panel 10 is reversed from the part C to the part A, an audible alarm is generated as shown in FIG. 6, the garbage is manually removed, and then the loading from the part A is performed. To resume.

Next, detection of the presence or absence of biting at the portion D is subsequently performed.

Here, when biting is detected, as shown in FIG. 8, the conveyor panel 10 is first stopped, and then the conveyor panel 10 is reversed from the portion D in FIG.
Then, after a predetermined interval, the conveyor panel 10 is rotated forward again from the point B. At this time, when the occurrence of biting is detected at the portion C, the release operation at the portion C is performed. When the bite cannot be removed by one forward rotation, this is repeated twice. When the bite cannot be removed even by this, the conveyor panel 10 is reversed from the D portion to the A portion, and as shown in FIG. After an audible alarm is generated and the dust is manually removed, loading from section A is restarted.

Subsequently, the presence / absence of biting at the portion E is detected.

Here, when biting is detected, as shown in FIG. 9 (a), the conveyor panel 10 is first stopped, and then the pushing of the ram panel 11 from the point F is started. At this time, when it is detected that the ram panel 11 is bitten by the pushing of the ram panel 11, the ram panel 11 is returned from the F point to the G point as shown in FIG.
Push 11 in from point G. If the bite is not released by one push, it is repeated twice. If the bite is not released, the ram panel 11 is returned from the point F to the last point G, an alarm is sounded and a manual After the removal, the loading by pushing the ram panel 11 from the point G is restarted.

Further, when biting in the H portion is detected, the ram panel 11 is returned from the H portion to the point F as shown in FIG. 3C, and after a predetermined interval, the ram panel 11 is pushed in from the F point. If the biting is not released by one pressing, the operation is repeated twice. If the biting is not released again, the ram panel 11 is returned from the H portion to the last G point as shown in FIG. After an audible alarm is issued and dust is manually removed, loading by restarting the ram panel 11 from point G is resumed.

Then, as shown in FIG. 3A, after the pushing of the ram panel 11 to the final point J is completed, the conveyor panel 10 is reversed from the portion E to the point D, and the ram panel 11 is also moved from the point J to the point F. return. In this state, the conveyor panel 10 is rotated forward from the point D, and when it is detected that the bite at the further portion E is detected, the conveyor panel 10 is reversed from the portion E to the point D,
After a predetermined interval, normal rotation of the conveyor panel 10 from point D is started. This operation is repeated twice to detect the jam at the portion E again. Then, the conveyor panel 10 is reversed from the portion E to the portion A as shown in FIG. 6, and an audible alarm is issued to remove the dust manually. After the operation, the loading operation from the part A is restarted.

Further, the forward rotation of the conveyor panel 10 is completed, and the ram panel
When the pushing of 11 is started, the presence or absence of biting at the F portion is detected.

If the bite is detected first, the ram panel 11 is returned from point F to point G, and the conveyor panel 10 is reversed from the end point to point D, as shown in FIG. 10 (a). In this state, the pressing of the ram panel 11 is started, the presence or absence of biting of the F portion is detected, and when the detection is detected, the ram panel 11 is returned from the point F to the point G. After the interval, the pressing of the ram panel 11 from the point G is performed. Start. When the jamming is detected again at the portion F, the ram panel 11 is returned from the point F to the point G, an alarm is issued by voice, the dust is manually removed, and the loading from the point G is restarted.

Then, the bite at the F portion is detected, and when the bite is detected again, the above operation is repeated again.
Complete the pushing of the ram panel 11 to the point H, and
After returning 11 from the H point to the F point, the conveyor panel 10 is rotated forward from the D point to the end point.

Then, in this state, the ram panel 11 is pushed again, and the engagement at the F portion is detected again. This is 2
When the biting is detected again at the F portion, the ram panel 11 is returned from the F point to the G point as shown in FIG. 4B, and an audible alarm is issued to manually remove the dust. After that, the loading operation from point G is restarted.

Subsequently, the presence or absence of biting in the H portion is detected, and when it is detected, as shown in FIG.
Is stopped at the H point, the conveyor panel 10 is reversed from the end point to the D point, and the ram panel 11 is further pushed from the H point to the J point. At a predetermined interval, the ram panel 11 is returned from the J point to the F point. Next, the conveyor panel 10 is normally rotated from the point D to the end point, and the pushing of the ram panel 11 from the point F is started.

Here, when biting is detected at the F portion, the above operation is repeated, and the presence or absence of biting at the H portion is detected again.
This operation is repeated twice, and when the biting in the H portion is detected again, the ram panel 11 is returned to the last H portion as shown in FIG. Ends one cycle of loading when the pushing is completed.

A first embodiment of the means for detecting the occurrence of the above-mentioned bite will be described with reference to FIG.

In the case of this embodiment, the loading pressure is constantly read by the hydraulic pressure detection sensor 27 and is input to the information processing device 26. If the waveform of the loading pressure is a sudden increase in pressure than the normally predicted pressure waveform, The loading panel 7 is stopped to stop the loading operation, as there is a possibility that the jamming may occur.

That is, the normal hydraulic pressure waveform in the loading cycle is stored in the information processing device 26 in advance, the loading time and the hydraulic pressure fluctuation are detected by the hydraulic pressure detection sensor 27, and the normal hydraulic pressure increase and the actual hydraulic pressure increase are detected. In comparison, the information processing device 26 determines whether or not the biting relief state is established, and thereby the loading panel 7 is stopped before the biting occurs. That is, in FIG. Then, it is determined that there is a risk of jamming when θ ₂ > θ ₁ and the loading panel 7 is stopped.

The stop position of the loading panel 7 at this time is
In the case of 10, it is detected by the count number of the detection sensor 29e, and in the case of the ram panel 11, it is detected by the on-off signal of the detection sensor 29g, and the fifth position is set in accordance with the stop position of the conveyor panel 10 and the ram panel 11. The bite release operation is performed in accordance with the optimal release operation stored in advance in the information processing device at the stop position shown in FIGS.

In this case, since the loading panel 7 is stopped because there is a possibility of the occurrence of the bite before the bite actually occurs, the release operation is generally difficult after the dust has been bitten once. However, this cancellation can be performed effectively.

Next, a description will be given of another embodiment for detecting whether or not dust has been caught.

As described above, in the case of the conveyor panel 10, the detection sensor 29 is used.
The count number of e, the detection sensor 29g for the ram panel 11
Of the conveyor panel 10 and the ram panel 11
At the same time as detecting the respective positions, the oil pressure detection sensor 27 detects whether or not the relief pressure has been reached. Then, when the relief pressure is reached, it is determined that jamming has occurred, the loading panel 7 (the conveyor panel 10 and the ram panel 11) is stopped, and the stop position of the conveyor panel 10 and the ram panel 11 is determined in the same manner as described above. At the same time, the bite release operation is performed in accordance with the optimal release operation previously stored in the information processing device at the stop position shown in FIGS. 5 to 11.

The operation of releasing the jam is not always possible if the loading panel is operated in the reverse direction, and is difficult unless an appropriate release pattern is used in accordance with the place where the jam occurs.

Therefore, as described above, by performing an appropriate release pattern corresponding to the place where the bite occurs, the release can be performed reliably and stably.

〔The invention's effect〕

As is apparent from the above description, the present invention is to stop the dust loading device in advance by predicting that the dust loading device will be jammed, so that the dust loading device can securely hold the dust. Biting can be prevented.

In addition, since the optimal biting release operation corresponding to the stop position of the dust loading device is selected and executed, the biting releasing operation can always be performed reliably and stably.

Therefore, according to the present invention, it is possible to provide an operation control method of a dust loading device in a dust collection vehicle that can always perform a reliable and stable biting release operation.

[Brief description of the drawings]

FIG. 1 is a schematic diagram schematically showing the division of the place where a biting occurs and the positional relationship of the corresponding loading panels, FIG. 2 is a schematic side view of a garbage truck, FIG. 3 is a circuit diagram, and FIG. Is an enlarged schematic side view of the tailgate, FIG. 5 is a main flow chart of the loading operation, FIG. 6 is a portion B in FIG. 1, FIG. FIG. 9 is a flowchart of the E portion, FIG. 10 is a flowchart of the F portion, FIG. 11 is a flowchart of the bite release of the H portion, and FIG. 12 is a first flowchart of the detection of the occurrence of the bite. It is a graph which shows the state of the change of the pressure attached to description of an Example. 3 ... body, 6 ... tailgate, 7 ... loading panel, 10 ...
Conveyor panel, 11 ... Ram panel, 14 ... Drive unit, 18 ...
Pumps, 20a-20e ... hydraulic solenoid valves, 26 ... information processing devices, 27
... Hydraulic pressure detection sensors, 29a to 29g ... Detection sensors.

Claims (1)

(57) [Claims] A method for controlling the operation of a refuse loading device mounted on a refuse collection vehicle, wherein a hydraulic pressure supplied to a hydraulic device for activating the refuse loading device and an operation position of the refuse loading device are constantly maintained. The information processing device stores in advance the waveform of the hydraulic pressure in the normal dust loading cycle and the optimal biting release operation corresponding to the operation stop position of the dust loading device in the information processing device. When the ascending speed is greater than the ascending speed obtained from the hydraulic pressure waveform stored in advance in the information processing device, it is predicted that biting of dust will occur. Stopping the operation of the loading device, and selecting the bite release operation stored in the information processing device according to the operation stop position of the dust loading device, and causing the dust loading device to execute the operation. Operation control method of the dust loading device in refuse collection vehicles, characterized and.