JP4489675B2 - snowblower - Google Patents

Description

  The present invention relates to a snow removal machine that includes an engine-driven snow removal unit that performs snow removal work on a machine body, and that is configured to allow the machine body to run independently.

As a snow remover provided with an engine-driven working unit, for example, an auger type snow remover increases the load on the working unit depending on the traveling speed. The auger-type snow remover is a working machine that scrapes and removes snow with a front auger (working unit) while traveling forward. As the running speed increases, the amount of snow removed by the auger also increases. As a result, the load on the auger increases. As such an auger type snow removal machine, various types are known (for example, refer to Patent Document 1).
Japanese Utility Model Publication No. 3-32617 (first page, FIG. 1)

A conventional auger type snowplow shown in Patent Document 1 will be described with reference to FIG.
FIG. 15 is a diagram for explaining a conventional basic configuration. In the snow removal machine 200, a machine body 202 having a snow removal work unit 201 is caused to travel by a travel unit 203, and the snow removal work unit 201 and the travel unit 203 are used as an engine 204. This is an auger type snow blower that is driven. The snow removal working unit 201 includes an auger 206, a blower 207, and a shooter 208.

  According to the snowplow 200, the rotational speed of the engine 204 is detected by a speed sensor (not shown), and the torque transmitted from the engine 104 to the auger 206 and blower 207 is detected by a torque sensor (not shown). On the basis of the detection signal, the control unit (illustrated) can estimate the snow quality and the amount of snow during snow removal.

  For example, when it is estimated that the snow quality is icy snow and the amount of snow is small, the speed of the traveling unit 203 is decreased and the speeds of the auger 206 and the blower 207 are increased, while normal snow quality (soft snow or the like) is increased. In addition, when it is estimated that the amount of snow is large, the speed of the traveling unit 203, the auger 206, and the blower 207 is decreased.

However, in the snow removal machine 200, even when the traveling speed is determined based on the snow quality and the amount of snow during snow removal, the snow removal may become insufficient due to a setting error, and the airframe 202 may gradually climb onto the snow. .
Further, in the snow removal machine 200, when the load applied to the left and right of the machine body 202 changes during snow removal, and the balance of the auger 206 is lost, the machine body 202 swings to the left and right. Regardless, it may turn left and right.

  That is, a snowplow that can automatically correct when the aircraft tilts in the front-rear direction or the aircraft tilts in the left-right direction is desired.

  The present invention solves the point that the aircraft gradually rides on the snow during snow removal due to variations in snow quality, or the aircraft starts swinging and turning due to variations in the left and right of the snow removal surface, the aircraft tilts in the front-rear direction, It is an object of the present invention to provide a snowplow that can automatically correct when the machine body tilts in the left-right direction.

According to the first aspect of the present invention, a snow removal unit that performs snow removal work using the engine as a power source, left and right electric motors that drive the traveling unit of the airframe, and the engine is controlled in accordance with the load of the snow removal unit and the left and right electric motors A control unit for controlling the number of revolutions of the motor , a snow removal unit work instruction member for operating or not operating the snow removal unit by being provided in the control unit, a speed adjusting member for adjusting the traveling direction and traveling speed of the aircraft, and the aircraft in the turning operation and turning operation member for a snow removal machine comprising a control unit is provided with a detecting means for detecting a vertical and horizontal acceleration of at least aircraft, depending on the acceleration detected by the detection means The number of rotations of the left and right electric motors is controlled .

The invention according to claim 2 is provided with a lifting prevention setting switch that adjusts the vehicle speed and keeps a balance with the snow removal capability when the vertical acceleration is detected by setting in the control unit. part work instructions member oN state, a state of setting the speed adjustment member advances and optionally speed, the rotation operation member inoperative state, subject to the limitation that the oN state to prevent setting switch lift, the upper and lower body in the detection means when detecting the direction of acceleration, characterized by decelerating or accelerating the electric motor rotational speed of the left and right.

The invention according to claim 3, the control unit is directed to the acceleration change in the vertical direction of the fuselage, when it is detected that the acceleration directed downward by the detection means is increased, the electric motor rotational speed of the left and right in response to the acceleration It is characterized by decelerating.

The invention according to claim 4, control unit relates the acceleration change in the lateral direction of the machine body, when the left or right of the acceleration is detected to be increased by the detection means, of the left and right electric motors in accordance with the acceleration The speed of the electric motor on the side opposite to the side where the acceleration of the airframe is increased is controlled to be reduced .

In the invention according to claim 1, the control unit, at least comprising a detection means for detecting vertical and horizontal acceleration of the aircraft, controlling the rotational speed of the electric motor of the left and right depending on the acceleration detected by the detection means Therefore, the operability of the snowplow can be improved. As a result, there is an advantage that the efficiency of snow removal work can be increased.

In the invention according to claim 2, the control unit is in the ON state of the snow removal unit work instruction member, the state in which the speed adjustment member is set to advance and set to an arbitrary speed, the turning operation member is in the non-operating state, and the lifting prevention setting switch is in the ON state. the condition that is, when detecting the vertical acceleration of the aircraft at the detection means, since the decelerating or accelerating the electric motor rotational speed of the left and right, it is possible to ensure the balance of the running speed and snow quantity. As a result, there is an advantage that the finish of the snow removal surface can be improved.

In the invention according to claim 3, the control unit is directed to the acceleration change in the vertical direction of the fuselage, when it is detected that the acceleration directed downward by the detection means is increased, the electric motor rotational speed of the left and right in response to the acceleration Since the vehicle is decelerated, it is possible to prevent the aircraft from riding on the snow. As a result, the workability of snow removal work can be improved.

In the invention according to claim 4, control unit relates the acceleration change in the lateral direction of the machine body, when the left or right of the acceleration is detected to be increased by the detection means, of the left and right electric motors in accordance with the acceleration Since the speed of the electric motor on the side opposite to the side on which the acceleration of the airframe is increased is controlled to be reduced , the airframe can be prevented from meandering (turning). As a result, it is possible to improve the straightness of the snowplow and to improve the workability of the snow removal work.

The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. “Front”, “Rear”, “Left”, “Right”, “Up”, “Down” follow the direction viewed from the operator, Fr is front, Rr is rear, Le is left, Ri is right Indicates.
FIG. 1 is a side view of a snowplow according to the present invention. FIG. 2 is a schematic plan view and control system diagram of the snowplow according to the present invention.

  As shown in FIGS. 1 and 2, the snowplow 10 is attached to a traveling frame 12 having left and right traveling units 11 </ b> L and 11 </ b> R so that the rear portion of the vehicle body frame 15 can be rotated. A snow removal unit) 13 and an engine 14 that drives the snow removal working unit 13, and an elevating drive mechanism 16 that swings the vehicle body frame 15 up and down about the rear part as an axis, and two left and right from the rear part of the traveling frame 12 to the upper rear part. The operation handles 17L and 17R are extended, and the walking handles are equipped with grips 18L and 18R at the tips of the operation handles 17L and 17R.

The vehicle body 19 is configured by combining the traveling frame 12 and the vehicle body frame 15.
The traveling frame 12 includes left and right electric motors 21L and 21R that drive the traveling units 11L and 11R.
The left and right traveling portions 11L and 11R include left and right crawler belts 22L and 22R, left and right driving wheels 23L and 23R disposed at the rear as traveling wheels, and left and right rolling wheels 24L and 24R disposed at the front. .

The left crawler belt 22L is driven through the left driving wheel 23L by the driving force of the left electric motor 21L.
The right crawler belt 22R is driven via the right drive wheel 23R by the driving force of the right electric motor 21R.

The snow removal working unit 13 accommodates an auger 27 in an auger housing 25, a blower case 26 is integrally provided on the back surface of the auger housing 25, a blower 28 is accommodated in the blower case 26, and a shooter 29 is provided above the blower case 26. Is provided.
In the figure, 46 is an engine cover, 47L and 47R are left and right drive side axles, 49 is an idler wheel side axle, 58 is a fuel tank of the engine 14, 59 is an air cleaner of the engine 14, and 66 is a muffler of the engine 14.

As shown in FIG. 1, the engine 14 drives the snow removal working unit 13 via the electromagnetic clutch 31 and the transmission mechanism 32.
The transmission mechanism 32 transmits power from the electromagnetic clutch 31 attached to the crankshaft 14a of the engine 14 to the auger transmission shaft 33 by a belt.
The power of the engine 14 is transmitted to the auger 27 and the blower 28 through a path of the crankshaft 14 a → the electromagnetic clutch 31 → the transmission mechanism 32 → the auger transmission shaft 33.

The snow scraped up by the auger 27 is jumped up by the blower 28, and the jumped up snow is thrown through the shooter 29.
The auger housing 25 includes a scraper 35 and left and right sleds 36L and 36R at the rear lower end.

The elevating drive mechanism 16 is an actuator configured to advance and retract the piston from the cylinder.
This actuator is an electric hydraulic cylinder in which a piston is extended and contracted by an electric motor 16a (see FIG. 2).
The electric motor 16 a is a drive source for the lift drive mechanism 16 that is integrated into the side of the cylinder of the lift drive mechanism 16.

The snow remover 10 is configured to attach an auger housing 25 and a blower case 26, more specifically, a snow removal working unit 13, to a traveling frame 12 so as to be able to roll (tilt), and to tilt the auger housing 25 left and right by a rolling drive mechanism 38. Has been.
Specifically, the auger transmission shaft 33 extending forward and backward is rotatably supported by the auger housing 25 and the blower case 26. The blower case 26 is attached to the front end portion of the vehicle body frame 15 so as to be rotatable left and right (tiltable).

As described above, the traveling frame 12 has a configuration in which the vehicle body frame 15 is attached. Thereby, the auger housing 25 and the blower case 26 (snow removal working part 13) are attached to the traveling frame 12 so as to be tiltable.
Thereby, the auger housing 25 can be lifted and lowered with respect to the traveling frame 12.

The rolling drive mechanism 38 is an actuator configured to advance and retract the piston from the cylinder.
This actuator is an electric hydraulic cylinder that expands and contracts a piston by driving an electric motor 38a (see FIG. 2).
The electric motor 38 a is a drive source for the rolling drive mechanism 38 that is integrated into the side of the cylinder of the rolling drive mechanism 38.

By the way, an operation unit 40, a control unit (ECU) 61, and a battery 62 are arranged between the left and right operation handles 17L and 17R.
Hereinafter, the operation unit 40 will be described.

FIG. 3 is a perspective view of the operation unit of the snowplow according to the present invention, and FIG. 4 is a plan view of the operation unit of the snowplow according to the present invention.
The operation unit 40 includes an operation box 41 provided between the left and right operation handles 17L, 17R, a travel preparation lever 42 provided on the left operation handle 17L in the vicinity of the grip 18L, a left turning operation lever 43L, and a grip 18R. And a right turning operation lever 43R attached to the right operation handle 17R.

The travel preparation lever 42 is a travel preparation member that acts on the switch 42a (see FIG. 2), and the switch 42a is turned off when the free spring shown in FIG.
If the travel preparation lever 42 is grasped with the operator's left hand and lowered to the grip 18L side, the switch 42a is turned on.

The left and right turning operation levers 43L and 43R are turning operation members that are respectively operated by the hands holding the left and right grips 18L and 18R, and are mechanisms that act on the corresponding turning switches 43La and 43Ra (see FIG. 2).
When these left and right turning operation levers 43L and 43R are brought into a free state shown in the figure by the pulling action of the return spring, the turning switches 43La and 43Ra are turned off.

If the operator turns the left turning lever 43L with the left hand and raises it to the grip 18L side, the left turning switch 43La is turned on.
The same applies to the right turning switch 43Ra. In this manner, whether or not the left and right turning operation levers 43L and 43R are being gripped is detected by the turning switches 43La and 43Ra.

Referring to FIG. 2, the operation box 41 includes a main switch 44 and an auger switch 45 (also referred to as a “clutch operation switch 45”) as a drive instruction switch on the back surface 41 a (worker side surface).
The engine 14 (see FIG. 2) is started by turning on the main switch 44. The auger switch 45 is a manual switch that switches the electromagnetic clutch 31 (see FIG. 2) on and off, and includes, for example, a push button switch.

Further, the operation box 41 has, on its upper surface 41b, a mode changeover switch (mode setting switch) 51, a throttle lever 52 as an adjustment member, a direction speed lever 53, a reset switch (return command operation unit) 54 as a return member, The auger housing posture operation lever 55 and the shooter operation lever 56 as snow removal portion posture operation members are arranged in this order from the left side to the right side.
That is, in the upper surface 41b of the operation box 41, the directional speed lever 53 is disposed on the left side of the vehicle width center CL, and the reset switch 54 is disposed on the right side of the vehicle width center CL.

The mode changeover switch 51 is a manual changeover switch for switching the traveling control mode in the control unit 61 (see FIG. 2), and a rotary switch is used as an example.
The knob 51a is turned counterclockwise to switch to the first control position P1, the second control position P2, and the third control position P3.
When switching to these positions P1, P2 and P3, the mode switch 51 outputs a corresponding switch signal.

  That is, the mode changeover switch (mode setting switch) 51 is a switch that can set the snow removal mode (snow removal work mode) according to the level of proficiency in the snow removal work of the worker and the state of snow to be removed.

  Specifically, the first control position P1 is a manual position and the second control position P2 is a power position. In the first control position manual (manual position) P1, the engine speed, the throttle opening degree, and the traveling speed are set. The second control position (power position) P2 is a semi-automatic mode in which the engine speed and throttle opening can be arbitrarily set, but the traveling speed is automatically set. The third control position (auto position) P3 as an automatic position is a position where the engine speed, throttle opening and travel speed are automatically set. is there.

The first control position P1 is a switch position for causing the control unit 61 to perform control in the “first control mode”. The second control position P2 is a switch position for causing the control unit 61 to perform control in the “second control mode”.
The third control position P3 is a switch position for causing the control unit 61 to perform control in the “third control mode”.

The throttle lever 52 is an operation member for controlling the opening and closing of the throttle valve 71 by controlling a control motor 72 of an electronic governor (also referred to as an electric governor).
The throttle lever 52 is reciprocated in the front-rear direction as indicated by arrows De and In by the operator's hand, thereby generating a voltage corresponding to the position by the potentiometer 52a.
When the throttle lever 52 is tilted in the direction of the arrow De, the throttle valve 71 (see FIG. 2) is closed until it is fully closed, and when the throttle lever 52 is tilted in the direction of the arrow In, the throttle valve 71 is fully opened. Thereby, the rotation speed of the engine 14 is adjusted.

The direction speed lever 53 is an operation member for controlling the rotation of the electric motors 21L and 21R (see FIG. 2).
An example in which the electric motors 21L and 21R are controlled by the directional speed lever 53 will be described in detail with reference to FIG.

The reset switch 54 is a switch for returning the posture (position) of the auger housing 25 to a preset origin (hereinafter referred to as “reference position”).
As an example, the reset switch 54 is a push button type on / off switch and has a built-in indicator lamp (display unit) 57.

The auger housing posture operation lever 55 is an operation member for changing the posture of the auger housing 25.
That is, the auger housing posture operation lever 55 is a member for operating the elevating drive mechanism 16 and the rolling drive mechanism 38 so that the auger housing 25 is moved up and down and tilted in accordance with the snow surface when the auger 27 performs snow removal work.
By swinging the auger housing posture operation lever 55 to the front side Frs, the rear side Rrs, the left side Les, and the right side Ris, the switches provided at the respective positions are turned on.

The shooter operating lever 56 is an operating member for changing the direction of the shooter 29 (see FIG. 1).
In the figure, 91 is a biaxial G sensor that detects acceleration acting on the airframe 19 (see FIG. 1), 92 is a lift prevention setting switch for setting the airframe 19 to prevent the airlift, and 93 is a meandering left and right of the airframe 19. The meander prevention setting switch for setting the prevention is shown. Each sensor including the biaxial G sensor is a sensor installed in a constantly detectable state.
The functions of the biaxial G sensor 91, the lifting prevention switch 92, and the meandering prevention switch 93 will be described with reference to FIG.

FIG. 5 is an operation explanatory view of the directional speed lever employed in the snowplow according to the present invention.
The direction speed lever 53 (also referred to as “forward / reverse speed adjustment lever 53”) can be reciprocated back and forth by the operator's hand as indicated by arrows Ad and Ba.
That is, the directional speed lever 53 tilts from the “neutral range” (neutral position) to the “forward” (forward position) side to advance the snowplow 10 (see FIG. 1), and moves forward at low speed (Lf ) To high speed advance (Hf), the forward speed is controlled by sliding.

  In addition, the direction speed lever 53 is tilted from the “neutral range” to the “reverse” (reverse position) side to move the snowplow 10 backward, and in the “reverse” region, between low speed reverse (Lr) and high speed reverse (Hr). The reverse speed is controlled by sliding.

  In this embodiment, as shown in the figure, a potentiometer 53a (see FIG. 2) is used so that the maximum reverse speed is 0 V (volts), the maximum forward speed is 5 V, and the neutral range is 2.3 V to 2.7 V. Generate voltage according to position.

Next, returning to FIG. 2, the control system of the snowplow 10 will be described. The control system of the snowplow 10 is centralized in the control unit 61.
The control unit 61 has a configuration in which a memory 63 is built in, and various information stored in the memory 63 is appropriately read and controlled.

First, the operation of the system of the snow removal working unit 13 will be described.
The intake system of the engine 14 has a configuration in which the throttle valve 71 is controlled to open and close by the control motor 72 and the choke valve 73 is controlled to open and close by the control motor 74. That is, the control motor 72 of the electronic governor 65 automatically adjusts the opening degree of the throttle valve 71 based on the signal from the control unit 61, and the control motor 74 of the electronic governor 65 adjusts the opening degree of the choke valve 73. It is a configuration that automatically adjusts.

The opening of the throttle valve 71 is detected by a throttle position sensor 75, and the opening of the choke valve 73 is detected by a choke position sensor 76. Each detected signal is transmitted to the control unit 61.
The rotation speed (rotation speed) of the engine 14 is detected by the engine rotation sensor 77 and the detection signal is transmitted to the control unit 61.

The generator 81 is driven with a part of the output of the engine 14 and the generator 81 generates electric power. The generated electric power is supplied to the battery 62 and is also supplied to the left and right electric motors 21L, 21R and other electrical components.
Of the output of the engine 14, the remaining output is used for the rotation of the auger 27 and the blower 28.

While grasping the travel preparation lever 42 and operating the auger switch 45, the electromagnetic clutch 31 is connected (turned on). By connecting the electromagnetic clutch 31, the auger 27 and the blower 28 can be rotated by the power of the engine 14.
Note that the electromagnetic clutch 31 is turned off by turning the travel preparation lever 42 free or operating the auger switch 45.

Next, the operation of the traveling units 11L and 11R will be described.
The snow remover 10 of the present invention includes left and right electromagnetic brakes 82L and 82R as brakes corresponding to parking brakes for ordinary vehicles.
Specifically, the left and right electric motors 21L and 21R are braked by the left and right electromagnetic brakes 82L and 82R. These electromagnetic brakes 82L and 82R are in a brake state (on state) under the control of the control unit 61 during parking.

  The electromagnetic brakes 82L and 82R satisfy the two conditions that the main switch 44 is in the ON position and the travel preparation lever 42 is gripped, and the directional speed lever 53 is switched to forward or reverse. The brake is released (off state).

Position information of the directional speed lever 53 is transmitted from the potentiometer 53a to the control unit 61. The control unit 61 that has obtained the position information rotates the left and right electric motors 21L and 21R via the left and right motor drivers 84L and 84R.
The motor rotation sensors 83L and 83R detect the rotation speeds (rotations) of the electric motors 21L and 21R. Based on these detection signals, the control unit 61 performs feedback control so that the rotation speed becomes a predetermined value.
As a result, the left and right drive wheels 21L, 21R rotate in a desired direction at a predetermined speed and enter a traveling state.

Next, braking during traveling will be described.
Motor drivers 84L and 84R include regenerative brake circuits 85L and 85R and short-circuit brake circuits 86L and 86R. The short circuit brake circuits 86L and 86R are brake means.

While gripping the left turning operation lever 43L and turning on the left turning switch 43La, the control unit 61 activates the left regenerative brake circuit 85L based on the switch-on switch signal, and the left electric switch Reduce the speed of the motor 21L.
While gripping the right turning operation lever 43R and turning on the right turning switch 43Ra, the control unit 61 activates the right regenerative brake circuit 85R based on the switch-on switch signal, and the right electric switch Reduce the speed of the motor 21R.
That is, the snowplow 10 is turned left only while the left turning operation lever 43L is held. Further, the snowplow 10 is turned to the right only while holding the right turning operation lever 43R.

  Then, when the travel preparation lever 42 is released, when the main switch 44 is returned to the OFF position, or when the directional speed lever 53 is returned to the neutral position, the travel of the snowplow 10 stops.

By swinging the auger housing attitude operation lever 55 back and forth, the electric motor 16a is rotated forward and backward, and the piston of the elevating drive mechanism 16 is expanded and contracted. Thereby, the snow removal working part 13 raises / lowers.
The elevation position of the auger housing 25 is detected by a height position sensor (height detection unit) 87, and the detection signal is transmitted to the control unit 61.

By swinging the auger housing posture operation lever 55 left and right, the electric motor 38a is rotated forward and backward, and the piston of the rolling drive mechanism 38 is expanded and contracted. As a result, the snow removal working unit 13 tilts in the left-right direction with respect to the machine body 19.
A tilt position of the auger housing 25 is detected by a rolling position sensor (tilt detection unit) 88 and a detection signal is transmitted to the control unit 61.

FIG. 6 is an exploded perspective view around the engine of the snowplow according to the present invention. The engine cover 46 is a member formed of resin, and as shown in FIG. 1, the fuel tank 58, the air cleaner 59, and the muffler 66. Is provided in the central portion. Reference numeral 14 a denotes a front end portion of the engine cover 46.
The under cover 67 is a member that is supported on the vehicle body frame (traveling frame) 15 side, and from the snow dust that is rolled up by the traveling units 11L and 11R (see FIG. 1), the engine 14, the 2-axis G sensor 91, or the snow removal unit angle detection sensor. 68 is protected and adhesion of snow dust is prevented. It can also be said that the member serves also as the bottom plate function of the engine cover 46.

The sensor bracket 69 is a member supported by the vehicle body frame 15 and is a member to which the biaxial G sensor 91 and the snow removal portion angle detection sensor 68 are attached.
The biaxial G sensor 91 is a G sensor (acceleration sensor) that detects acceleration in the vertical direction (X-axis direction described later) of the airframe 19 and detects acceleration in the left-right direction (Y-axis direction described later) of the airframe 19. is there.

  FIG. 7 is a block diagram for explaining the lifting prevention function and the meandering prevention function of the snowplow according to the present invention. The control unit 61 includes a CPU (central processing unit) 94 for controlling the machine body 19 (see FIG. 1), Left and right signal indicating means 95L and 95R for sending command signals to the left and right motor drivers 84L and 84R.

  The CPU 94 takes in the output of the biaxial G sensor 91 as detection means, takes in a load signal (load detection) of the engine 14 that is the power source of the snow removal unit 13, and operates the snow removal unit 13 to activate or deactivate the snow removal unit 13. A signal from the auger switch 45 as an indicating member is taken, a signal from a direction speed lever 53 as a speed adjusting member for adjusting the traveling direction and traveling speed of the machine body 19 (see FIG. 1), and the turning operation of the machine body 19 is performed. The left and right turning operation levers 43L and 43R as turning operation members to be taken in, the signal of the lift prevention setting switch 92 for setting the prevention of the up and down of the body 19 is taken in, and the left and right meandering of the body 19 is prevented. The signal of the meander prevention setting switch 93 that sets And ,, the left and right electric motors 21L, 21R of the motor driver 84L, 84R on the left and right signals indicating means 95L, through 95R and outputs a PWM control signal. ,

The lifting prevention setting switch 92 is a switch that maintains a balance with the snow removal capability by adjusting the vehicle speed in accordance with an instruction from the control unit 61 when the vertical acceleration is detected by setting.
For example, when the downward acceleration is detected by the control unit 61, the set snow removal capability is insufficient and a snow removal residue is generated, and the aircraft 19 (see FIG. 1) is in a state of gradually climbing up the snow. Recognizing that there is, the control unit 61 controls the left and right electric motors (travel motors) 21L and 21R to decelerate and maintain the airframe 19 in a horizontal state.

  Further, when the acceleration in the upward direction is detected by the control unit 61, it is a case where the set snow removal capability is large, the aircraft 19 recognizes that it is in a state of descending on snow, and the control unit 61 Control is performed so that the rotation of the motors (running motors) 21L and 21R is increased and the horizontal state of the machine body 19 is maintained.

The meandering prevention setting switch (straightness maintaining switch) 93 is a switch that adjusts the balance of rotation of the left and right electric motors (running motors) 21L and 21R to maintain the straightness of the body 19.
For example, when leftward acceleration is detected by the control unit 61, there is a change in the negative balance applied to the left and right snow removing units 13 due to a convex portion on the left snow surface or a frozen state. Therefore, the aircraft 19 bends in the direction with a large negative amount. At this time, the control unit 61 performs control to decelerate the rotation of the right electric motor 21R so that the straightness of the machine body 19 is maintained.

  Also, when the right acceleration is detected by the control unit 61, there is a change in the balance of the negative load applied to the left and right snow removing units 13 due to a convex portion on the right snow top surface or a frozen state. Therefore, the aircraft 19 bends in the direction with a large negative amount. At this time, the control unit 61 performs control to decelerate the rotation of the left electric motor 21L so that the straightness of the machine body 19 is maintained.

  The snow removal machine 10 includes a snow removal unit 13 that performs a snow removal operation using the engine 19 as a power source, a control unit 61 that controls the engine 14 in response to the load of the snow removal unit 13, and a snow removal unit provided in the control unit 61. An auger switch (snow removal section work instruction member) 45 that activates or deactivates 13, a direction speed lever (speed adjustment member) 53 that adjusts the traveling direction and traveling speed of the body 19 (see FIG. 1), In a snowplow equipped with turning operation levers (turning operation members) 43L and 43R that perform turning operations, the control unit 61 detects at least a vertical and lateral acceleration change of the machine body by a biaxial G sensor (detecting means) 91. It can be said that the driving speed or the turning direction is automatically corrected according to the acceleration value or the amount of change detected by the detecting means 91.

  For example, it is preferable that the correction can be automatically performed when the aircraft is tilted in the front-rear direction or when the aircraft is tilted in the left-right direction, since the efficiency of snow removal work can be increased.

  Therefore, the control unit 61 is provided with a biaxial G sensor (detection means) 91 that detects at least the vertical and horizontal acceleration changes of the airframe, and depending on the acceleration value or change amount detected by the detection means 91, It was configured to automatically correct the turning direction.

  That is, the control unit 61 is provided with a biaxial G sensor (detection means) 91 that detects at least the vertical and horizontal acceleration changes of the airframe, and depending on the acceleration value or change amount detected by the detection means 91, By automatically correcting the turning direction, the operability of the snowplow 10 can be improved. As a result, the efficiency of snow removal work can be increased.

FIGS. 8A to 8C are schematic views showing an example of snow removal work traveling when the lift prevention switch and meander prevention switch of the snow removal machine according to the present invention are turned off.
In (a), since there are irregularities and frozen portions of the snow removal surface during snow removal, the negative overload of the snow removal portion changes.
In (b), it shows that the rotation speed of the engine 14 is controlled within the range of 3500 rpm to about 2500 rpm, and when the excess increases in the snow removal section 13 (see FIG. 7) shown in (a), the rotation speed of the engine 14 To increase snow removal capacity.

In (c), it shows that the rotation speed of the electric motors 21L and 21R is controlled within a range of 3000 rpm to 1000 rpm, and deceleration / acceleration is repeated by a setting map (not shown). However, if the set snow removal capacity is insufficient and snow removal remains, the aircraft gradually climbs over the snow, and if the snow removal surface is convex or frozen, The balance changes to the negative load applied to the portion 13 (see FIG. 7), and the airframe 19 may bend toward the larger negative load.
Therefore, by providing the snow removal machine 10 (see FIG. 7) with a lifting prevention function and a meandering prevention function, it is possible to improve the finish of snow removal work and improve workability.

FIGS. 9A to 9C are operation explanatory views for explaining the detection direction of the biaxial G sensor of the snowplow according to the present invention.
In (a), the biaxial G sensor 91 indicating the side surface of the snowplow 10 is a sensor that detects acceleration in the vertical direction of the machine body 19 and the horizontal direction of the machine body 19, and the vertical direction of the machine body 19 is defined as the X axis. In this case, the acceleration acting on the upper side of the body 19 is + X, and the acceleration acting on the lower side of the body 19 is -X, and the acceleration is detected and controlled. Regarding the up-down direction, once the body 19 starts tilting in the front-rear direction, the tilt often continues, so the control unit 61 (see FIG. 7) is configured to perform static acceleration at that position in the up-down direction. The value (static output value) is detected and controlled.

  In (b), when the snowplow 10 is shown as a plane and the left-right direction of the machine body 19 is the Y axis, the acceleration acting on the left of the machine body 19 is + Y and the acceleration acting on the right of the machine body 19 is -Y. Detect direction acceleration. In addition, since acceleration is applied when starting a turn in the left-right direction, the control unit 61 (see FIG. 7) detects and controls a change in dynamic acceleration at that position in the left-right direction.

  In (c), the snow removal unit 13 is shown as viewed from the rear surface of the snowplow, and + X acceleration is detected when the machine 19 shown in (a) is lowered, and -X acceleration is detected when the machine 19 is raised. This indicates that + Y acceleration is detected when the airframe 19 starts turning left, and -Y acceleration is detected when the airframe 19 starts turning right.

FIG. 10 is a control flow chart when the lifting prevention switch of the snowplow according to the present invention is ON, and STxx indicates a step number (see FIG. 7 for the reference numerals).
ST01: It is determined whether or not the auger switch (snow removal section work instruction member) 45 is ON. If yes, go to ST02, if no, return to the original.
ST02: It is determined whether or not the direction speed lever (speed adjusting member) 53 is in a state of being set to advance and an arbitrary speed. If YES, the process proceeds to ST03, and if NO, the process returns to ST01.

ST03: It is determined whether or not the turning operation levers (turning operation members) 43L and 43R are in an inoperative state. If YES, the process proceeds to ST04, and if NO, the process returns to ST01.
ST04: It is determined whether or not the lifting prevention switch 92 is turned on. If YES, the process proceeds to ST05, and if NO, the process returns to ST01.

ST05: It is determined whether or not the biaxial G sensor 91 has detected an acceleration change in the X-axis direction. If YES, the process proceeds to ST06, and if NO, the process returns to ST01.
ST06: Output to the left and right electric motors 21L and 21R from the signal indicating means 95L and 95R are rotation control signals having opposite phases corresponding to the rotation speed of the electric motor shown in FIG. In other words, adding reverse-phase rotation control commensurate with the rotational speeds of the electric motors 21L and 21R is referred to as reverse-phase vehicle speed (control).
ST07: The rotational speeds of the left and right electric motors 21L and 21R are adjusted.

  As shown in FIG. 7, in the snowplow 10, the control unit 61 is in a state where the auger switch (snow removal unit work instruction member) 45 is turned on, and the direction speed lever (speed adjustment member) 53 is set forward and at an arbitrary speed. When the change in acceleration of the airframe 19 (see FIG. 1) is detected by the biaxial G sensor (detection means) 91 on condition that the turning operation levers (turning operation members) 43L and 43R are in an inoperative state, The traveling speed is decelerated or accelerated according to the change.

  The control unit 61 turns the auger switch (snow removal unit work instruction member) 45 in the ON state, sets the direction speed lever (speed adjustment member) 53 forward and at an arbitrary speed, and turns the turning operation levers (turning operation members) 43L and 43R. When the change in acceleration of the airframe 19 (see FIG. 1) is detected by the biaxial G sensor (detection means) 91 on the condition that it is in an inoperative state, the traveling speed is decelerated or accelerated according to the change in acceleration. Thus, it is possible to secure a balance between the running speed and the snow removal amount. As a result, the finish of the snow removal surface can be improved.

  11 (a) to 11 (c) are explanatory views of the operation of the snowplow according to the present invention when the lift prevention switch is ON, (a) is a vertical change of the body 19 (see FIG. 1) from the start of work, b) shows the static output value of the biaxial G sensor 91 from the start of work, and (c) shows the change in travel speed due to the addition of the reverse phase vehicle speed (control) from the start of work. In addition, A1 is a section where the airframe shifts from parallel running to ascending to the snow removal surface, B1 is a section where antiphase vehicle speed (control) is applied, C1 is a section where the snow removal surface returns to parallel running, and S1 is acceleration. The allowable range of change (G change) is shown.

  In (a), the snowplow 10 travels in parallel with the snow removal surface at the beginning of the section A1, and indicates that the body has started to rise at the end of the section A1.

  In (b), since the predetermined acceleration allowable range S1 in the section A, the antiphase vehicle speed (control) need not be performed. Since the predetermined acceleration allowable range S1 was exceeded when the section B1 was entered, an antiphase vehicle speed (control) is added (that is, the vehicle speed DOWN is detected by lifting). In the section C1, since the vehicle has returned to the predetermined acceleration change (G change) allowable range S1, the antiphase vehicle speed (control) is stopped (that is, the vehicle speed has increased because the vehicle has returned).

  In (c), the aircraft moves while maintaining a substantially constant traveling speed in the section A1. In the section B1, the traveling speed decreases as a result of adding the antiphase vehicle speed (control). In the section C1, the vehicle is returned to the original traveling speed by stopping the antiphase vehicle speed (control).

As shown in FIG. 7, when the control unit 61 detects that the downward acceleration is increased by the biaxial G sensor (detection means) 91 with respect to the vertical acceleration change of the machine body 19, as shown in FIG. 7. It can be said that the traveling speed is reduced according to the change in acceleration.
When the biaxial G sensor (detection means) 91 detects that the acceleration going downward is increased with respect to the vertical acceleration change of the machine body 19, the aircraft speed is reduced according to the change in the acceleration, whereby the machine body It is possible to prevent 19 (see FIG. 1) from riding on the snow. As a result, the workability of snow removal work can be improved.

FIG. 12 is a control flowchart when the meandering prevention switch of the snowplow according to the present invention is ON, and STxx indicates a step number.
ST11: It is determined whether or not the auger switch (snow removal unit work instruction member) 45 is ON. If yes, go to ST12, if no, return to the original.
ST12: It is determined whether or not the directional speed lever (speed adjusting member) 53 is set in a forward direction and at an arbitrary speed. If YES, the process proceeds to ST13, and if NO, the process returns to ST11.
ST13: It is determined whether or not the turning operation levers (turning operation members) 43L and 43R are in an inoperative state. If YES, the process proceeds to ST14, and if NO, the process returns to ST11.

ST14: It is determined whether or not the meandering prevention switch 93 is turned on. If YES, the process proceeds to ST15, and if NO, the process returns to ST11.
ST15: It is determined whether or not the biaxial G sensor 91 has detected an acceleration change amount in the Y-axis direction. If YES, the process proceeds to ST16, and if NO, the process returns to ST11.

ST16: Output a rotation control signal for decelerating the electric motors 21L, 21R on the opposite side that have detected the acceleration change amount in the Y-axis direction. For example, when an acceleration in the + Y direction shown in FIG. 7B is detected, a rotation control signal for decelerating the right electric motor 21R is output, and when an acceleration in the -Y direction is detected, the left electric motor 21L is output. Outputs a rotation control signal to decelerate.
ST17: Deceleration control is performed on the rotational speeds of the opposite electric motors 21L, 21R that have detected the amount of acceleration change in the Y-axis direction.

  As shown in FIG. 7, in the snowplow 10, the control unit 61 detects that the acceleration in one direction in the left-right direction has increased by the biaxial G sensor (detection means) 91 regarding the acceleration change in the left-right direction of the body 19. In this case, the traveling direction is controlled to be directed to the other of the left and right directions according to the amount of change in acceleration.

When the biaxial G sensor (detection means) 91 detects an increase in acceleration in one direction in the left-right direction with respect to the change in acceleration in the left-right direction of the airframe 19, the traveling direction is changed to the left-right direction according to the amount of change in acceleration. By controlling to be directed to the other side, the airframe 19 (see FIG. 1) can be prevented from meandering (turning). As a result, the straightness of the snow removal machine 10 (see FIG. 1) can be improved, and the workability of the snow removal work can be improved.
In other words, the control unit 61 corresponds to the turning outer wheel side when the biaxial G sensor (detecting means) 91 detects that the acceleration in the left-right direction has increased with respect to the left-right acceleration change of the body 19. It can also be said that one of the traveling portions 11L and 11R to be controlled is controlled to decelerate.

  FIGS. 13A to 13C are explanatory diagrams of electric motor control when the meandering prevention switch of the snowplow according to the present invention is ON, where FIG. 13A is a Y-axis acceleration change amount, and FIG. 13B is a right electric motor. 21R indicates the deceleration (note that the speed before the change is displayed as 1.0), and (c) indicates the deceleration of the left electric motor 21L (note that the speed before the change is displayed as 1.0).

  When the Y-axis change amount of the biaxial G sensor 91 changes in the + Y direction in (a), the control unit (see FIG. 7) 61 decelerates the right electric motor 21R and travels to the right in (b). The traveling speed of the portion 11R (see FIG. 1) is reduced. In (a), when the Y-axis change amount of the biaxial G sensor 91 changes in the -Y direction, the left electric motor 21L is decelerated in (c). Then, the traveling speed of the left traveling unit 11L (see FIG. 1) is reduced.

  14 (a) to 14 (c) are explanatory views of the operation of the snowplow according to the present invention when the meandering prevention switch is ON. FIG. 14 (a) is a change in the left-right direction of the machine body 19, and FIG. (C) shows the travel speed R of the right travel unit 11R (see FIG. 1), (d) the left travel unit 11l (see FIG. 1). The traveling speed L is shown.

  In (a), the unevenness of the snow removal surface on the left side of the snow removal unit 13 and the part 98 with large freezing increase, the load on the left side of the snow removal unit 13 increases, and the aircraft 19 receives the force of turning to the left. 19 is accelerated in the + Y direction.

Here, when the traveling speed L and the traveling speed R of the left and right traveling portions 11L and 11R (see FIG. 1) are compared, the traveling speed R shown in (c) is substantially constant, whereas the traveling speed shown in (d) is shown. The speed L falls when the acceleration in the + Y direction shown in (b) occurs. As a result, as shown in (a), the airframe 19 turns left although the turning operation levers 43L and 43R are not operated.
Therefore, in (b), when the acceleration change amount (dynamic output value) exceeds the predetermined range S2, the straightness of the airframe 19 can be maintained by performing the vehicle speed deceleration (control) shown in FIG. .

  As shown in FIG. 1, the snowplow according to the present invention uses a two-axis G sensor as a detection means, but is not limited to this, and uses a gyroscope or a three-axis G sensor. May be.

  As shown in FIG. 1, the snowplow according to the present invention has the biaxial G sensor (detection means) 91 provided on the side of the engine 14. However, the present invention is not limited to this and is provided on the traveling frame 12 side. It may be what you did.

  As shown in FIGS. 9 and 10, the snowplow according to the present invention has shown the program for preventing lifting and the program for preventing meandering as separate programs, but does not prevent these programs from proceeding simultaneously. .

  In the snowplow according to the present invention, as shown in FIG. 7, when the controller 61 detects a change in acceleration of the machine body 19 (see FIG. 1) with a biaxial G sensor (detection means) 91, the change in acceleration is detected. Accordingly, the traveling speed is decelerated or accelerated. However, the present invention is not limited to this. When acceleration is applied below the airframe 19 (-X direction) shown in FIG. In comparison with the load state, the speed may be reduced or adjusted.

  In the snowplow according to the present invention, as shown in FIG. 13, the control unit 61 increases the acceleration in the left-right direction by the biaxial G sensor (detection means) 91 with respect to the change in the left-right acceleration of the machine body 19. When this is detected, control is performed so that one of the traveling portions 11L and 11R corresponding to the turning outer wheel side is decelerated. However, the present invention is not limited to this, and which of the traveling portions 11L and 11R corresponding to the turning inner wheel side is controlled. It may be controlled to increase the speed.

  The snow removal machine according to the present invention is suitable for use in an auger type snow removal machine that collects snow with a front auger and removes snow while traveling forward.

1 is a side view of a snowplow according to the present invention. It is a typical top view and control system diagram of the snowplow according to the present invention. It is a perspective view of the operation part of the snow remover which concerns on this invention. It is a top view of the operation part of the snow remover which concerns on this invention. It is action | operation explanatory drawing of the direction speed lever employ | adopted as the snowplow based on this invention. It is a disassembled perspective view around the engine of the snowplow according to the present invention. It is a block diagram explaining the lifting prevention function and meandering prevention function of the snowplow according to the present invention. It is a schematic diagram which shows an example of snow removal work driving | running | working when the lift prevention switch and meander prevention switch of the snow remover which concern on this invention are turned off. It is effect | action explanatory drawing explaining the detection direction of the biaxial G sensor of the snow remover which concerns on this invention. It is a control flow figure at the time of the anti-lifting switch ON of the snowplow according to the present invention. It is operation | movement explanatory drawing at the time of the lift prevention switch ON of the snow remover which concerns on this invention. It is a control flow figure at the time of meander prevention switch ON of the snowplow according to the present invention. It is explanatory drawing of the electric motor control at the time of the meander prevention switch of the snow remover which concerns on this invention. It is operation | movement explanatory drawing at the time of the meander prevention switch ON of the snow remover which concerns on this invention. It is a figure explaining the conventional basic composition.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Snow remover, 13 ... Snow removal part, 14 ... Engine, 45 ... Snow removal part work instruction member (auger switch), 53 ... Speed adjustment member (directional speed lever), 61 ... Control part, 91 ... Biaxial G sensor (detection) means).

Claims (4)

A snow removal unit that performs snow removal using the engine as a power source, left and right electric motors that drive the traveling unit of the machine body, and controls the engine according to the load of the snow removal unit and the rotation speed of the left and right electric motors A control unit that performs operation of the snow removal unit by operating or non-operating by the control unit, a speed adjustment member that adjusts the traveling direction and traveling speed of the aircraft, and turning that performs a turning operation of the aircraft A snow remover comprising an operation member,
Wherein the control unit includes a feature that at least includes a detection means for detecting vertical and horizontal acceleration of the aircraft, to control the rotational speed of the left and right electric motors depending on the acceleration detected by the detection means Snow blower to do. The control unit includes a lifting prevention setting switch that adjusts the vehicle speed and keeps a balance with the snow removal capability when detecting vertical acceleration by setting,
The control unit is in an ON state of the snow removal unit work instruction member, a state in which the speed adjustment member is advanced and set at an arbitrary speed, a turning operation member is in an inoperative state, and the lifting prevention setting switch is in an ON state. Subject to the when detecting the vertical acceleration of the aircraft at the detection means, snowplow according to claim 1, wherein the decelerating or accelerating the electric motor rotational speed of the left and right. Wherein the control unit is directed to the acceleration change in the vertical direction of the machine body, when it is detected that the acceleration directed downward by the detecting means is increased, to decelerate the electric motor rotational speed of the left and right in response to the acceleration The snow remover according to claim 1 . Wherein the control unit is directed to the acceleration change in the lateral direction of the machine body, when the left or right of the acceleration is detected to be increased by the detection means, the machine body of said left and right electric motors in response to the acceleration snowplow according to claim 1, wherein the controller controls so as to reduce the rotation speed of the electric motor on the side opposite to the side where acceleration is increased.

Images