JPH01260105A - Regulator of traveling speed - Google Patents

Abstract

PURPOSE:To permit uniform compaction of slope by a method in which a slope working vehicle is suspended by a rope from a mobile type support vehicle running together, and the inclined angle of the rope is detected and a motor for traveling the support vehicle is controlled so as to obtain an optimal value of the inclined angle. CONSTITUTION:A support rope 5 is sent out of the tip of the boom 18 of a support vehicle 4 to suspend a tamping roller 2. An angle sensor 30 is set on a rod 32 pivotally attached between the downside of the boom 18 and the rope 5 to detect inclined angles in the front and back directions. When the vehicle 4 goes ahead of the roller 2 or it is delayed, an oil-pressure motor for traveling the vehicle 4 is controlled to adjust its speeds, thereby permitting the tamping pressure of the roller 2 to be equalized.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention is a self-propelled slope working device used when compacting a pavement layer on a slope such as a corner part of an automobile test course. When a slope work vehicle such as a compaction roller or an asphalt finisher is accompanied by a self-propelled support vehicle while being supported via a support rope, the support vehicle must travel at the same speed as the slope work vehicle. The present invention relates to a speed adjusting device.

(Prior Art) As shown in Fig. 7, when rolling an asphalt pavement layer on a slope l such as a part of a corner of an automobile test course using a self-propelled rolling compaction roller 2, the lower part of the slope l A rolling support roller 2 is supported via a support rope 5 while being accompanied by a self-propelled support vehicle 4 on a flat part 3. The support vehicle 4 installs the upper revolving body 14 on the lower traveling body 12 via the revolving device 13, and attaches the boom 18 to the upper revolving body 14 with a hoisting winch 24 and a luffing rope 25 (the luffing rope 25 is attached to the upper revolving body 14). A hook is rotated between a sheave block 27 on an A frame 26 installed on the body 14 and a prydle 29 connected to the boom 18 via a pendant rope 28. A jib 20 is attached to the tip of the boom 18 in a T-shape to prevent the compaction roller 2 and the boom 18 from interfering with each other.
The support rope 5 is hung over the sheaves 21, 22.16.8 attached to the boom 18, the jib 20, and the compaction roller 2, respectively, and the inclination angle of the boom 18 is adjusted via the hoisting rope 25 by the operation of the hoisting winch 24, and The pressure roller supporting winch 6 is operated by an operator to control the tension of the supporting rope 5 to be constant.

As shown in FIG. 9, the compaction roller 2 has a driver's seat 7, and a sheave 8 for hanging the support rope 5 on the side surface of the vehicle body.
The bracket 9 has a bracket 9 attached thereto. In addition, 10.11 is a front wheel 10 and a rear wheel 11 for compaction, and the rear wheel 11 rolls the remaining part after rolling by the front wheel 10, and the wheels are divided so as to follow the curve of the slope l. are attached to the vehicle body via a vertical position adjusting device (not shown) that automatically adjusts the hydraulic cylinder for vertically moving the wheels according to the wheel load so that the rolling pressure is as uniform as possible.

In such a slope working device, conventionally, the rolling pressure roller 2
The operator of the support vehicle 4 was adjusting the traveling speed of the support vehicle 4 according to the traveling speed of the vehicle. Such support is the adjustment of the vehicle's traveling speed.

Since this work is dependent on the operator's intuition, it is difficult for the support vehicle 4 and compaction roller 2 to travel without shifting back and forth, and even if the tension of the support rope 5 is appropriate, the support vehicle 4 If the support city 4 advances too far forward, it will pull the compaction roller 2 diagonally forward, and if the support city 4 lags too far, it will hold it back diagonally, reducing the compaction pressure of the compaction roller 2. This causes non-uniformity in the
In some cases, unevenness occurred on the finished surface, making it necessary to redo one operation. For this reason, work efficiency is reduced, and the operation of the winch 24 requires a high level of skill.
The problem was that it placed a heavy burden on the operator.

(Problems to be Solved by the Invention) In view of the above-mentioned problems, the present invention allows the support vehicle to travel with respect to the slope work vehicle without shifting forward or backward, reducing the burden on the operator, and It is an object of the present invention to provide a running speed adjusting device for a support vehicle that can uniformly perform rolling over the entire width of a slope working vehicle when it is a compaction roller.

(Means for Solving the Problems) In order to achieve this object, the support vehicle running speed adjusting device of the present invention provides a self-propelled slope working vehicle that rolls laterally on a slope, and a support vehicle traveling speed adjusting device of the present invention. A slope working device comprising a self-propelled support vehicle that supports the slope working vehicle via a support rope while accompanying the slope working vehicle, wherein the supporting rope is attached to either the slope working vehicle or the support vehicle. An angle detector is provided to detect an inclination angle in the longitudinal direction between the slope work vehicle and the support vehicle, and a control valve of a hydraulic motor for traveling of the support vehicle is controlled so that the inclination angle is a suitable value. It is characterized by being equipped with a pilot circuit.

(Embodiment) An embodiment of the present invention will be described below with reference to FIGS. 1 to 5. Fig. 1 is a configuration diagram showing an embodiment of a boom angle adjustment device according to the present invention, and Fig. 2 is a slope working device to which the present invention is applied. Codes indicate the same components. 1 and 2, 30 is an angle detector attached to the lower surface of the boom 18 of the support vehicle 4, and the angle detector 30 is connected to the rolling roller 2 of the support rope 5 and the support car 4
As shown in FIG. A bifurcated portion 32a is formed at the lower part of the support rope 5 to sandwich the support rope 5 therebetween. In the angle detector 30, when the rolling pressure roller 2 and the support vehicle 4 are running as indicated by the arrow X in FIG. The rod 32 rotates as shown in b or a, and along with this, the rotation axis 3
Rotate one turn.

As shown in FIG. 4, the angle detector 30 includes a slider 33 that is attached to a front rotation shaft 31 and rotates as the front rotation shaft 31 rotates, and a slider 33 on which the slider 33 slides. The middle part of the resistor 34 is connected to the ground, and both ends of the resistor 34 are connected to positive and negative power sources, respectively, and the lot 32 is vertical as shown by the solid line in FIG. When the rotation angle is zero (that is, when the boom 18 is performing work at right angles to the traveling direction of the support vehicle 4, the support vehicle 4
is progressing with no delay relative to the compaction roller 2), the slider 33 is in contact with the intermediate part of the resistor 34, and at this time the output derived from the slider 33 is zero volts. It is. On the other hand, when the support wheel 4 lags behind the compaction roller 2 and the lot 32 tilts as shown in a (case 10), the slider 33 moves to the second position as the rotation shaft 31 rotates. 4
It rotates as shown in a in the figure to obtain a positive output voltage V proportional to the inclination angle 〇 of the lot 32, and conversely, the support vehicle 4 advances further than the rolling roller 2 and the lot 32 tilts as shown in b. In this case (-0), the slider 33 rotates as the rotation shaft 31 rotates as shown in FIG. Obtain a negative output voltage V.

In addition to the potentiometer type, for example, an encoder or the like may be used.

As shown in FIG. 1, the lower traveling body 12 has drive wheels 3 on the left and right.
7, each rotated by a hydraulic motor 36.

A control valve 42 is provided between each hydraulic motor 36, a power hydraulic pump 39, a pilot hydraulic pump 40, and an oil tank 41. The control valve 42 has a three-position switching valve 43 for controlling the hydraulic motor 36 and a hydraulic cylinder 48 for its pilot. A manual lever 46 is attached to the operating rod 47 of the switching valve 43. As shown in FIG. 6, the switching valve 43 of the control valve 42 has an internal structure in which the flow rate of the hydraulic oil is accurately proportional to the amount of operation of the operating rod 47, that is, the amount of movement of the spool.

Further, the hydraulic cylinder 48 is of a double rod type, and the front operating rod 47 is connected to the rod 4 of the hydraulic cylinder 48.
9 are directly connected. Reference numeral 51 denotes a control valve for the hydraulic cylinder 48, and the control valve 51 is of an electromagnetically operated type.Left and right solenoids 51a and 51b are connected to a control 5135, which will be described later, via cables 52 and 53, respectively. The two boats on the secondary side are connected to the pilot hydraulic pump 40 and the oil tank 41, respectively, and the two boats on the secondary side are connected to the hydraulic cylinder 4 through variable throttle valves 54 and 55 for adjusting the movement speed of the operating rod 47, respectively.
It is connected to the chambers on both sides of the 8 piston. Further, a variable throttle valve 64 for adjusting the moving speed of the operating rod 47 is provided between the primary side pump boat of the control valve 51 and the pilot hydraulic pump 40.

The control panel 35 is mounted on the support vehicle 4 and controls the cable 52 based on the output signal of the angle detector 30.
Alternatively, the speed of the traveling hydraulic motor 36 is controlled by energizing and switching the solenoids 51a and 51b of the control valve 51 through the control valve 53, and is equipped with an arithmetic unit (microcomputer). , is equipped with an output on/off switch 65 on the output side.

FIG. 5 is a functional block diagram of the gi control board 35. In order to control the inclination angle θ of the rod 32 to be within a predetermined range, for example, a range of ±5 degrees front and back, the forward limit angle (for example, 5 degrees) is set. Standard value corresponding to 〇. forward limit angle setting means 56 that generates the output of the angle detector 30;
The value corresponding to the tilt angle θ converted into a digital value by the D conversion circuit 60 and the reference value 〇. Compare with θ〉10. If so, a comparison means 57 for energizing the solenoid 51a of the control valve 51 via the driver 58;
Standard value -〇 corresponding to the rear limit angle (for example -5 degrees). rear limit angle setting means 61 that generates the reference value -〇.

and the value θ, and if θ is -O6, the driver 6
Solenoid 51b of the control valve 51 via 2
and comparison means 63 for energizing.

The operation of this embodiment will be explained. Now, close the switch 65 of the control panel 35, and as shown in FIG. When applying pressure, the angle of inclination θ of the rod 32 detected by the angle detector 30 is ±Δθ. When the value falls within the range of , no output is obtained from any of the comparing means 57, 63 shown in FIG. 5, and therefore, neither of the drivers 58, 62 is driven. At this time, the rod 49 of the hydraulic cylinder 48 and the operating rod 47 of the switching valve 43 are stationary at a position to the right (forward side) of the neutral position, and in FIG. On the other hand, it is at position A, for example, where it is rotated in the forward direction at a certain speed. In this case, since the support rope 5 is approximately perpendicular to the compaction roller 2, as long as the tension in the support rope 5 is maintained at a suitable tension corresponding to the load on the compaction roller 2, the compaction roller Uniform rolling pressure is applied to all wheels of No. 2.

On the other hand, the compaction roller 2 advances too much (that is, the support vehicle 4 lags behind), and as shown in FIG. 〉+00 is established, an output is obtained from the comparing means 57, and the solenoid 51a of the control valve 51 is activated by the driver 58.
is energized, and the control valve 51 is switched to the left position, whereby pressure oil is supplied from the pilot hydraulic pump 40 to the left chamber of the hydraulic cylinder 48 through the variable throttle valve 64, 55 and the control valve 51, while the hydraulic pressure is Since the hydraulic oil in the right side chamber of the cylinder 48 is returned to the oil tank 41 through the variable throttle valve 56 and the control valve 51, the rod 49 and the operating rod 47 move to the right at low speed in the drawing, and thereby each switching valve 43 moves to the right. As shown by the arrow e in FIG. 6, the spool moves in the direction of increasing the flow rate of hydraulic fluid (the spool itself is in the old position in FIG. 1), and the speed of the support vehicle 4 increases. Then, due to the increase in the speed of the support vehicle 4, θ<+θ.

Then, the output from the comparison means 57 disappears, so the control valve 51 returns to the neutral position and the hydraulic cylinder 48
The rod 49 remains stationary at that position, and the switching valve 43 is held at the B position, for example.

On the other hand, the support vehicle 4 moves too far forward, and the rolling pressure roller 2 becomes in a state as shown in FIG. θ〈−θ.

Then, an output is obtained in the comparing means 63 and the driver 62
The solenoid 51b of the control valve 51 is energized, and the control valve 51 is switched to the right position, thereby causing the variable throttle valve 64.56 to be placed in the right chamber of the hydraulic cylinder 48.
Since pressure oil is supplied through the rod 49, the rod 49 moves to the left in the drawing, and each switching valve 43 of the control valve 42 decreases the flow rate of the hydraulic oil, as shown by the arrow f in Fig. 6, contrary to the above. The spool moves in the direction of Return to neutral position, hydraulic cylinder 48
The rod 49 remains stationary at that position, and the switching valve 43 is held at the C position, for example.

With such an operation, the support vehicle 4 always travels without moving too far forward or too far behind the compaction roller 2.

When operating the travel hydraulic motor 36 using the manual lever 46, the switch 65 is opened to disconnect the control valve 51 from the control panel 35.

FIG. 7 shows another embodiment of the present invention, and this embodiment shows a case where a support vehicle 4 is run on a flat part 3 above a slope l. In this case, the boom 18 is not required and the sheave 16 is attached to a bracket 17 attached to the front of the revolving upper structure 14. Therefore, in this embodiment, the bracket 17 is provided with a frame 66, and the angle detector 30 is attached to the frame 66.

In the above embodiment, the angle detector 30 is provided on the support vehicle 4 side, or the angle detector 30 detects the inclination angle of the support rope 5 in the longitudinal direction, and the support vehicle 4 and the rolling roller are connected to each other. The angle detector 30 may be provided on the rolling pressure roller 2 side since the roller moves in two directions.

Further, the present invention can also be applied when the slope work vehicle is an asphalt finisher.

(Effects of the Invention) As described above, the device of the present invention detects the inclination angle of the support rope in the longitudinal direction between the slope work vehicle and the support vehicle using either the slope work vehicle or the support vehicle. The present invention is equipped with a pilot circuit that controls the control valve of the travel hydraulic motor of the support vehicle so that the inclination angle becomes a suitable value, so that the angle of inclination is adjusted to a suitable value. Since the slope work vehicle is supported in a suitable direction by the support rope, if the slope work vehicle is a compaction roller, the rolling pressure by the compaction roller or the full width A uniform and smooth finished surface is obtained. Therefore, rework due to poor rolling due to uneven running of the support vehicle and the rolling roller is reduced, work efficiency is increased, and no skill is required for operation. Also, the burden on the operator is reduced.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram showing an embodiment of a travel speed adjustment device for a support vehicle according to the present invention, and FIG. 2 is a rear view showing an example of a working device equipped with an angle detector according to the embodiment in a working state.
FIG. 3 is a view taken in the direction of arrow E in FIG. 2 showing the mounting structure of the angle detector, FIG. 4 is a circuit diagram showing the electrical configuration of the angle detector, and FIG. 5 is a control panel of the embodiment. FIG. 6 is a functional block diagram of the control valve used in this embodiment, FIG. 7 is a rear view showing another embodiment of the present invention in a working state,
FIG. 8 is a rear view showing an example of a conventional working device in a working state, and FIG. 9 is a side view of a compaction roller of the device. Figure 6 2: Compaction roller

Claims (1)

[Claims] A method consisting of a self-propelled slope work vehicle that rolls laterally on a slope, and a self-propelled support vehicle that supports the slope work vehicle via a support rope while accompanying the slope work vehicle. In the surface work device, an angle detector is provided on either the slope work vehicle or the support vehicle to detect an inclination angle of the support rope in the front-rear direction between the slope work vehicle and the support vehicle, and the inclination angle and a pilot circuit for controlling a control valve of a hydraulic motor for traveling of the support vehicle so that the travel speed adjustment device has a preferable value.