JP4261176B2 - Operation control device for dust collecting equipment in garbage truck - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a garbage collection vehicle that operates a mounted dust collecting device by driving a motor using a power source for vehicle travel, and more particularly to an operation control device that controls the operation of the mounted dust collecting device. .
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as a working vehicle in which an electric working device is mounted on a vehicle, for example, a dust collecting device provided with a dust loading device inside a dust input box connected to a rear opening of a dust containing box is mounted on the vehicle. There is a garbage collection vehicle mounted, and the dust loading device is driven by the expansion and contraction operation of each hydraulic cylinder, so that the dust is loaded into the dust container by the dust loading device.
[0003]
Specifically, the dust loading device includes a sliding plate that slides in the vertical direction in the dust box, and a pushing plate that swings in the front-rear direction at the lower end of the sliding plate. The dust is loaded by operating the sliding plate and the pushing plate as one cycle of reversing, lowering, compressing, and raising (see Patent Document 1).
[0004]
In the dust loading device that operates in this manner, the drive source is an engine, and a hydraulic motor is driven from the engine via a power take-off device (PTO), and a hydraulic pump is operated by the hydraulic motor to each hydraulic cylinder. As described above, the dust loading device is operated by extending and contracting.
[0005]
[Patent Document 1]
JP-A-9-315514 gazette
[Problems to be solved by the invention]
By the way, in the dust loading device that operates as described above, a large load is applied due to the reaction force due to the dust during the compression and ascending processes, so the operation is performed with a large torque, and the influence of the load due to the dust during the reversing and descending processes. Therefore, it is effective to increase the operation speed with a small torque in order to increase the overall operation efficiency.
[0007]
However, in the case where the hydraulic motor is driven using the engine as a driving source as in the conventional case, it is necessary to obtain a high speed operation by setting the engine speed to a high speed by the operator's accelerator operation. It was practically impossible for a person to repeat each step efficiently.
[0008]
It is also possible to operate the dust loading device as described above by operating the hydraulic pump by driving the motor using an electric motor. In this case, however, the characteristics of the large torque-high speed bipolar characteristics of the motor This requires an increase in the size of the electric motor, resulting in an increase in the size and cost of the entire apparatus.
[0009]
The present invention has been made in view of the above-described problems. The object of the present invention is to perform a first operation that is mounted on a vehicle and requires an operation at a low speed and a large torque, and an operation at a high speed and a small torque. In the electric working equipment of the work vehicle having the necessary second action, the drive of the electric motor can be controlled for each of the actions, and an efficient action can be performed. It is an object of the present invention to provide an operation control device for an electric working device in a working vehicle that can achieve a reduction in size and cost.
[0010]
[Means for Solving the Problems]
Operation controller for a refuse collection device in refuse collection vehicles of the invention according to claim 1, in refuse collection vehicles to operate the refuse collection device to which the bodywork by driving the motor using the power source for vehicle running, the dust The collecting device has a first operation that requires an operation at a low speed and a large torque, and a second operation that requires an operation at a high speed and a small torque, and a detector for detecting an induced voltage waveform of the electric motor And a detection signal detected by the detector are input, the phases of the induced voltage waveform and the current waveform are synchronized in the first operation of low speed and large torque, and the induced voltage waveform in the second operation of high speed and small torque. And a phase adjustment unit for advancing the phase of the current waveform, and the phase adjustment unit outputs a phase adjustment signal to the motor drive circuit to perform drive control of the electric motor .
[0011]
Operation controller for a refuse collection device in refuse collection vehicles of the invention according to claim 2, vehicle dust collection device provided with dust loading device inside the dust-on box provided continuously to the rear opening of the dust containing box The dust collecting device is slidable in the vertical direction by the expansion and contraction operation of the first telescopic cylinder in the dust container, and the second telescopic cylinder extends and contracts at the lower end of the sliding plate. A push plate that is pivotally supported so as to be swingable in the front-rear direction by an operation, an electric motor that is driven using a power source for vehicle travel, and an electric pressure that is actuated by the electric motor to apply pressure to the first telescopic cylinder and the second telescopic cylinder. A reversing step in which the second telescopic cylinder is actuated and the push plate is reversed, and a descending step in which the first telescopic cylinder is actuated and the push plate is lowered together with the sliding plate. And the push plate is When the end position is reached, the compression step of operating the second telescopic cylinder to swing the push plate forward, and when the push plate swings to the foremost position, the first telescopic cylinder is operated to By operating the ascending step of raising the pushing plate as one cycle, the induced voltage waveform of the electric motor is detected in the dust collecting vehicle that loads the dust thrown into the dust throwing box through the charging port into the dust containing box. And a detection signal detected by the detector are input, and the phases of the induced voltage waveform and the current waveform are synchronized in a compression process and an ascending process that require operation at a low speed and a large torque. And a phase adjustment unit that advances the phase of the current waveform over the induced voltage waveform in the inversion step and the descent step that require operation with a small torque, and the phase adjustment unit sends the phase adjustment signal to the motor drive. And outputs to the circuit, in which a structure for controlling the drive of the electric motor.
In the operation control device of the dust collecting device in the dust collecting vehicle, the dust collecting device is slid forward and backward in the dust container box by an expansion and contraction operation of a discharge cylinder supplied with hydraulic pressure from a hydraulic pump operated by the electric motor. The initial stage of the discharge operation is to move the dust housed in the dust container box backward from the front part of the dust container box and discharge it, and the rear dust is moved as the discharge plate moves backward. From the point of time when the discharge plate is moved backward to a predetermined position by being gradually discharged, the electric motor is driven and controlled so that the second operation of gradually increasing the backward movement of the discharge plate is performed. The discharge operation of the discharge plate is controlled.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this embodiment, a dust collection vehicle in which a dust collection device (electric work device) is mounted on a vehicle will be described as an example.
[0013]
FIG. 1 shows a schematic configuration of a garbage truck.
[0014]
In FIG. 1, reference numeral 1 denotes a dust collection vehicle, and a dust container 3 is placed on a vehicle body 2. The rear opening 4 of the dust container 3 is connected to a dust container 6 that is pivotally supported 5 above, and the dust container 6 is disposed between the dust container 3 and the dust container 6. A tilting cylinder (not shown) installed in the head is configured to be tiltable with a pivot 5.
[0015]
Further, a throwing port 7 is opened at the rear of the dust throwing box 6, and a dust loading device A is equipped therein.
[0016]
This dust loading device A is for compressing the dust in the dust throwing box 6 and packing it in the dust storage box 3. Hereinafter, the configuration of the dust loading device A will be described.
[0017]
Guide groove members 8 formed of channel steel are laid on both side walls of the dust throwing box 6 from the front upper part toward the rear lower part also serving as a reinforcing frame.
[0018]
In addition, a sliding plate 10 that extends to the full width is accommodated in the dust box 6, and guide rollers 11 are pivotally mounted on the upper and lower sides of the sliding plate 10. The groove member 8 is slidably fitted along the inner wall.
[0019]
A pivot 12 is pivotally supported on the upper back of the sliding plate 10 via a bracket. The pivot 12 extends along the back of the guide groove member 8 and matches the sliding distance of the sliding plate 10. A notch (not shown) formed on the side wall of the dust throwing box 6 is projected outside the inside of the dust throwing box 6.
[0020]
A first telescopic cylinder 13 provided on the outside of the dust input box 6 extends along the inclination direction of the guide groove member 8 between the pivot 12 protruding outward from the side wall of the dust input box 6 and the lower part of the dust input box 6. In addition, the first extension cylinder 13 is extended and displaced, and the sliding plate 10 is reciprocated along the guide groove member 8 by the extension operation of the first extension cylinder 13.
[0021]
In addition, a pushing plate 15 that extends to the full width of the dust throwing box 6 is pivotally supported at the lower end of the sliding plate 10 so as to be swingable back and forth.
[0022]
The tip of the pushing plate 15 is slightly bent toward the front. A second telescopic cylinder 14 is connected between a projecting piece 15a projecting on the back surface of the pushing plate 15 and a pivot 12 provided on the upper back surface of the sliding plate 10, and the telescopic operation of the second telescopic cylinder 14 is performed. Thus, the pushing plate 15 is swung back and forth.
[0023]
Further, a discharge plate 20 is slidably disposed in the dust container box 3 in the front-rear direction. The discharge plate 20 is a plate-like body that is formed to have substantially the same width and height as the dust storage box 3 and slides back and forth in the dust storage box 3 by an expansion and contraction operation of a discharge cylinder (not shown).
[0024]
The dust loading device A configured as described above is configured such that the first and second telescopic cylinders 13 and 14 are both extended and the sliding plate 10 is in the rising end position, and the dust is loaded through the insertion port 7. A loading operation described below is started by putting the dust box into the dust box 6 and turning on a start switch (not shown).
[0025]
First, in the state shown in FIG. 2A, the second telescopic cylinder 14 is retracted and the pushing plate 15 is reversely operated to reach the reverse end position [see FIG. 2B] (reversing step). Thereafter, the first telescopic cylinder 13 is retracted and the sliding plate 10 is lowered, and the pusher plate 15 is moved to the lowering step accordingly.
[0026]
Next, when the lowering end position of the push plate 15 (see FIG. 2C) is reached, the second telescopic cylinder 14 is extended to swing the push plate 15 forward, and the process proceeds to the compression step.
[0027]
When the pushing plate 15 swings to the foremost position (see FIG. 2D), the first telescopic cylinder 13 is retracted to raise the pushing plate 15, and the process proceeds to the ascending process. When the position is reached (see FIG. 2A), the series of loading operations is terminated.
[0028]
Thereby, the dust loading operation | movement which made each cycle of inversion, descent | fall, compression, and a raise 1 cycle can be performed repeatedly.
[0029]
In addition, when dust is packed into the dust container 3, the discharge plate 20 in the dust container 3 is disposed at the rearmost position, and the dust packed by the dust loading device A presses the discharge plate 20. When the force reaches a predetermined level or more, the discharge cylinder is gradually retracted to move forward. The dust can be loaded while being compressed by the moving operation of the discharge plate 20.
[0030]
Then, when the dust is loaded in this way and the dust container 3 is full, the operation of discharging the dust is started. That is, the tilt cylinder is extended, the dust input box 6 is tilted upward about the pivot 5 to open the rear part of the dust container 3, the discharge cylinder is extended, and the front of the dust container 3 By moving the discharge plate 20 located in the rear portion, the dust stored in the dust storage box 3 is discharged.
[0031]
By the way, the dust collecting device including the dust loading device A described above is driven by operating an electric motor (electric motor) M using a battery B which is a power source for vehicle travel as shown in FIG. Yes. That is, the electric motor M is operated using the battery B as a power source to operate the hydraulic pump P, and the switching control valves are switched to switch the supply path of the pressure oil from the hydraulic pump P, thereby controlling the cylinders. As described above, the telescopic operation is performed.
[0032]
The electric motor M is controlled by the control device as follows.
[0033]
FIG. 3 shows a configuration of a control device for driving and controlling the electric motor described above.
[0034]
In FIG. 3, reference numeral 30 denotes a control unit. An operation signal is input from the operation unit 31 to the control unit 30, and a detection signal is input from each detector group 32 that detects each operation of the dust collecting device. ing.
[0035]
The control unit 30 operates the hydraulic pump P through the motor drive circuit 33 while controlling the drive of the hydraulic motor M based on the operation signal and the detection signal, and switches a switching control valve (not shown). By switching and controlling the supply path of the pressure oil from the hydraulic pump P, each cylinder is expanded and contracted, thereby controlling the operation of the dust collecting device.
[0036]
Here, the drive of the hydraulic motor M is controlled as follows.
[0037]
First, in each of the above-described steps, the electric motor M is driven at high speed and the discharge amount of the pressure oil from the hydraulic pump P because it is a so-called idling movement that is hardly affected by dust in the reversing step and the descent step. And the sliding plate 10 and the pushing plate 15 are operated at high speed. On the other hand, in the compression process and the ascending process, the load received by the reaction force of the dust is large, so that the electric motor M is driven so as to obtain a large torque, and the sliding plate 10 and the pushing plate 15 are resisted to a large load through the hydraulic pump P. Operate with large torque.
[0038]
Specifically, as shown in FIG. 3, a detector 35 for detecting the magnetic pole position (induced voltage waveform) of the electric motor M is provided. The detector 35 includes three Hall elements, and each Hall element is attached so that the signals of these Hall elements and the induced voltage waveform are synchronized.
[0039]
Then, the detection signal detected by the detector 35 is input to a three-phase current waveform generation unit 36 that is a phase adjustment unit. The current signal from the motor drive circuit 33 is input to the three-phase current waveform generator 36.
[0040]
Therefore, the three-phase current waveform generation unit 36 outputs a phase adjustment signal to the motor drive circuit 33 based on the control signal output from the control unit 30 to perform drive control of the electric motor M. Specifically, in the compression process and the ascending process, the phases of the magnetic pole position and the current waveform are synchronized as shown in FIG. 4, and in the reversing process and the descending process, the current waveform is more than the magnetic pole position as shown in FIG. Advance the phase.
[0041]
Thereby, in the compression process and the ascending process, the electric motor M can have the characteristics of low speed and large torque indicated by broken lines in FIG. 6, and the sliding plate 10 and the pushing plate 15 are operated with large torque.
[0042]
Further, in the reversing process and the descending process, the electric motor M can have the characteristics of high speed and small torque shown by a one-dot chain line in FIG. 6, and the sliding plate 10 and the pushing plate 15 are operated at high speed. That is, the phase of the current waveform is advanced from the position of the magnetic pole so that the field weakens, and the induced voltage is apparently lowered, so that a rotational speed larger than the maximum rotational speed at the same phase can be obtained.
[0043]
As described above, the condition for changing the phase is as follows. First, the speed is adjusted with the PWM duty, and then the phase difference (current phase advance) is given from the time when the voltage between terminals (duty) is saturated. Try to increase the rotation speed.
[0044]
As described above, the phase control is performed by the three-phase current waveform generation unit 36 based on the command from the control unit 30 to control the driving of the electric motor M, so that the dust loading device X can be efficiently operated according to the situation of each process. It can be precisely controlled to perform good operation.
[0045]
Further, by controlling the phase of the electric motor M as described above, it is possible to obtain the characteristics of both polarities of high torque and high speed rotation, so that the electric motor M can be reduced in size. The overall size and cost can be reduced. In other words, in order to obtain the characteristics of both polarities of large torque and high-speed rotation, an electric motor having a large size has been required so far. However, the torque is emphasized by controlling the phase of the electric motor M as described above. The electric motor can be reduced in size because it can be designed as a characteristic and the maximum speed can be set lower.
[0046]
Accordingly, it is possible to provide an operation control device for an electric work device that is very useful for a work vehicle that uses a battery power source for vehicle travel, such as a hybrid car or an electric car.
[0047]
In the operation control described above, the loading operation by the sliding plate 10 and the pushing plate 15 in the dust loading device X is controlled. However, such an operation control is also applied to the discharging operation of the discharge plate 20. be able to.
[0048]
Specifically, in the initial stage of the discharging operation in which the discharge plate 20 is moved rearward from the front portion of the dust container box 3, a large load is applied to the pushing out of the stored dust, so that a large torque is required. For this reason, at the initial stage of the discharging operation, the electric motor M is driven with the phase synchronized as described above, thereby obtaining a large torque and extending the discharging cylinder to move the discharging plate 20 backward.
[0049]
On the other hand, the load is gradually reduced as the discharge plate 20 moves backward as the discharge plate 20 moves rearward. Therefore, from the point of time when the discharge plate 20 moves rearward to a predetermined position, the above-described position is obtained. By driving the electric motor so that the phase difference is gradually increased, the extension operation speed of the discharge cylinder is gradually increased, and the backward movement of the discharge plate 20 is accelerated.
[0050]
Thus, it is also possible to discharge the dust efficiently by controlling the electric motor to control the discharge operation of the discharge plate 20.
[0051]
In the present embodiment, a dust collection vehicle has been described as an example of a work vehicle. However, the present invention is not limited to a dust collection vehicle, and is installed in a vehicle and requires operation at a low speed and a large torque. The present invention can be applied to all working vehicles that control the operation of an electric work device that has one operation and a second operation that requires high-speed and small-torque operation.
[0052]
【The invention's effect】
As described above, according to the operation control device for the electric working device in the working vehicle of the present invention, the first operation that requires an operation at a low speed and a large torque and the second operation that requires an operation at a high speed and a small torque. In the electric working device having the operation, the electric motor is driven by phase control of the induced voltage waveform and the current waveform, thereby controlling the first operation and the second operation by the electric working device. In addition, the drive of the electric motor can be controlled for each of the above operations to perform an efficient operation accurately, and the electric motor can be reduced in size, thereby reducing the size and cost of the entire apparatus.
[Brief description of the drawings]
FIG. 1 is a cross-sectional view of a garbage truck as seen from the side.
FIG. 2 is a schematic diagram for explaining an operating state of the dust loading device.
FIG. 3 is a block diagram illustrating a configuration of a control device.
FIG. 4 is a diagram for explaining phase control of an electric motor.
FIG. 5 is a diagram for explaining phase control of an electric motor.
FIG. 6 is a diagram showing the characteristics of rotation speed and torque obtained by the electric motor by phase control of the electric motor.
[Explanation of symbols]
1 Garbage truck (work vehicle)
3 Dust storage box 6 Dust input box X Dust loading device M Electric motor

Claims (3)

In a garbage collection vehicle that operates an installed garbage collection device by driving an electric motor using a power source for vehicle travel,
The dust collecting device has a first operation that requires an operation at a low speed and a large torque, and a second operation that requires an operation at a high speed and a small torque,
A detector for detecting an induced voltage waveform of the motor ;
The detection signal detected by the detector is input, and the phase of the induced voltage waveform and the current waveform are synchronized in the first operation of the low speed and large torque, and the phase of the induced voltage waveform is synchronized in the second operation of the high speed and small torque. A phase adjustment unit that advances the phase of the current waveform,
The phase control unit is configured to output a phase adjustment signal to a motor drive circuit and perform drive control of the electric motor, and an operation control device for a dust collection device in a dust collection vehicle . A dust collecting device provided with a dust loading device is mounted on the inside of a dust throwing box connected to the rear opening of the dust containing box, and the dust collecting device is disposed in the first throwing cylinder in the dust throwing box. A sliding plate that is slidable in the vertical direction by the expansion and contraction operation, a push plate that is pivotally supported at the lower end of the sliding plate so as to be swingable in the front-rear direction by the expansion and contraction operation of the second expansion cylinder; An electric motor that is driven by using the power source, and a hydraulic pump that is operated by the electric motor and supplies hydraulic pressure to the first telescopic cylinder and the second telescopic cylinder,
A reversing step in which the second telescopic cylinder is actuated to cause the pushing plate to be reversed;
A lowering step in which the first telescopic cylinder is actuated to lower the pushing plate together with the sliding plate;
When the push plate reaches the lowering end position, a compression step of operating the second telescopic cylinder to swing the push plate forward;
When the pushing plate swings to the foremost position, the first expansion cylinder is actuated to raise the pushing plate, and the raising step is performed as one cycle. In a garbage truck that loads garbage into the garbage storage box ,
A detector for detecting an induced voltage waveform of the motor;
The detection signal detected by the detector is input, and the phase of the induced voltage waveform and the current waveform are synchronized in the compression process and the ascending process that require operation at low speed and large torque, so that operation at high speed and small torque is possible. In the necessary inversion process and descending process, a phase adjustment unit that advances the phase of the current waveform rather than the induced voltage waveform,
The phase control unit is configured to output a phase adjustment signal to a motor drive circuit and perform drive control of the electric motor, and an operation control device for a dust collection device in a dust collection vehicle . In the operation control device of the dust collection device in the dust collection vehicle according to claim 1,
The dust collecting device includes a discharge plate that slides back and forth in the dust storage box by an expansion and contraction operation of a discharge cylinder to which hydraulic pressure is supplied from a hydraulic pump operated by the electric motor,
The initial stage of the discharging operation in which the dust stored in the dust container is moved backward from the front of the dust container and discharged is the first operation, and the rear dust is gradually discharged as the discharge plate moves backward. Thus, from the time when the discharge plate moves backward to a predetermined position, the electric motor is driven and controlled so that the second operation of gradually increasing the backward movement of the discharge plate is performed. An operation control device for a dust collection device in a garbage collection vehicle characterized by controlling a discharge operation.

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