JPH02240330A - Vibration stop controller of back-hoe - Google Patents

Abstract

PURPOSE:To eliminate the shock of a swivel base by calculating the distance to a stop objective position, and comparing signals between a means generating an automatic deceleration signal step by step and a means generating a velocity signal with a manual operation to provide a means making the slow speeds an objective. CONSTITUTION:A potentiometer 33 is connected to a comparating section 35 forming a deceleration range decision means 34 to compare between a stop objective position A and a present position detected by the potentiometer 33. The distance until the stop objective position A is operated to obtain the first - the third deceleration position C-E within the deceleration range B, and an automatic deceleration signal generating means 38 is formed by a deceleration signal generating section 37 and the deceleration range decision means 34. A velocity signal I of a manual operated velocity signal generating means 32 and automatic deceleration signals F-H of the automatic deceleration signal generating means 38 are compared to provide a comparative mans 39 outputting a signal of a deceleration side as an objective velocity. According to the constitution, a swivel base can be smoothly swiveled.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a swing control device for a backhoe.

(Prior technology) A backhoe is equipped with a rocking table on the vehicle body that can freely swing around a vertical axis.A packet is attached to this rocking table via a boom and an arm, and the rocking table and boom are controlled by the operating lever of the control box. , the arm and the packet are configured to be manually operated, and when the rocking table is stopped at the target stop position in automatic mode, if it enters the deceleration area near the target stop position, it will decelerate sequentially from that position. Some devices are designed to automatically stop at a target stop position.

(Problem to be solved by the invention) However, in the conventional automatic mode, within the deceleration range, a predetermined automatic deceleration signal is always controlled as the target speed, so the deceleration characteristics are always constant, and the operator's intention intervenes midway. I couldn't do that. Therefore, if the manual speed signal is lower than the automatic deceleration signal, even though it was oscillating at a low speed before entering the deceleration area, once it enters the deceleration area, it will be controlled according to the automatic deceleration signal, so - There were times when the speed increased and then decelerated again.

SUMMARY OF THE INVENTION In view of these conventional problems, it is an object of the present invention to enable an operator's intention to intervene during control even in automatic mode.

(Means for Solving the Problem) As a means for that purpose, the present invention swings the rocking table 15 supporting the boom 16 from side to side, and after entering the deceleration area B near the target stop position A, decelerates the swing table 15 to the left and right. In a rocking stop control device for a bank hoe that automatically stops at a target stop position A, an automatic deceleration signal is provided which calculates the distance to the target stop position A and decelerates in a stepwise manner as it approaches the target stop position A. An automatic deceleration signal generating means 38 that generates F, G, and H, and a manual speed signal generating means 32 that generates a manual speed signal ■, and the signals from both means 32.38 are compared to determine the low speed signal. Comparison means 32 outputting as target speed
It is equipped with the following.

(Function) When the rocking table 15 enters the deceleration region B, the automatic deceleration signal generating means 38 generates step-like deceleration signals F, G, H5, and at this time, the speed signal I of the manual speed generating means 32 For example, if the speed is lower than the deceleration signal F, the three comparing means output a speed signal I on the low speed side, and this signal is controlled as the target speed.

(Embodiment) The present invention will now be described in detail with reference to the illustrated embodiment. In FIG. 4, 1 is a tractor body, 2 is a front wheel, and 3 is a rear wheel. 4 is a steering wheel, and 5 is a driver's seat.

Reference numeral 6 denotes a front loader attached to the front of the tractor body 1, which includes a mast 7 attached to both left and right sides of the tractor body 1, a boom 8 pivoted to the upper end of the mast 7 so as to be vertically movable; It has a boom cylinder 9 for raising and lowering the boom 8, a packet 1o rotatably attached to the tip of the boom 8, and a packet cylinder 11 for rotating the packet 10.

12 is a puncture hoe attached to the rear end of the tractor body 1, and a machine frame 13 attached to the tractor body 1;
A rocking table 15 is pivotally attached to the machine frame 13 so as to be freely swingable about a vertical axis 14, and a boom 1 is pivotally attached to the rocking table 15 so as to be vertically movable.
6, an arm 17 pivotably attached to the tip of the boom 16, a hacket 18 pivotably attached to the tip of the arm 17, and a control box 19 provided on the rocking table I5. and luck k[20. As shown in FIG. 5, the rocking table I5 is supported via a vertical axis I4 by a pair of upper and lower brackets 21 that protrude rearward from the machine frame j3, and also swings with the machine frame 13 in the vicinity of the lower Buragano l-21. It is oscillated by a pair of left and right oscillating cylinders 22 and 23 interposed between it and the stand I5.

A detector 24 is attached to the swinging table 15 to detect the swinging position thereof. The boom 16 is vertically movable by a boom cylinder 25, the arm 17 is freely bendable by an arm cylinder 26, and the packet 18 is rotatably operated by a packet cylinder 27. Note that outriggers 30 are provided on both left and right sides of the machine frame 13.

On the top side of the control box 19, there are two operating levers 28.2 that can swing freely back and forth and left and right, as shown in FIG.
9 are arranged side by side on the left and right. When the operation lever 28 is operated left and right, the rocking table 15 swings left and right, and when the operation lever 28 is operated back and forth, the boom 16 moves up and down.

When the operation lever 29 is operated left and right, the packet 18 is scooped and dumped, and when the operation lever 29 is operated back and forth, the arm 17 is extended and retracted.

As shown in FIG. 1, the operating lever 28 is adapted to actuate a swinging command potentiometer 31 by operating it in the left and right direction, and this potentiometer 31 is connected to a manual speed signal generating means 32.

The manual speed signal generating means 32 generates a speed signal proportional to the tilt angle of the operating lever 28 using the output voltage of the potentiometer 31.

The detector 24 consists of a potentiometer 33, etc., as shown in FIG.
It is connected to a comparison section 35 that constitutes the. As shown in FIG. 2, the deceleration region determining means 34 compares the stop target position A set in the stop target setting section 36 with the current position detected by the potentiometer 33 and calculates the distance to the stop target position. , the first deceleration position C1, the second deceleration position, and the third deceleration position E within the deceleration region B. Reference numeral 37 denotes a low-speed signal generating section, which is configured to generate automatic deceleration signals F, G, and H for each deceleration position C, D, and E so that the deceleration is sequentially stepped in a stepwise manner as the vehicle approaches the target stop position. Ori,
The deceleration signal generating section 37 and the deceleration region determining means 34 constitute an automatic deceleration signal generating means 38. Reference numeral 39 denotes a comparison means configured to compare the speed signal I of the manual speed signal generation means 32 and the automatic deceleration signals F, G, +1 of the automatic deceleration signal generation means 38 and output the signal on the lower speed side as the target speed. has been done. Reference numeral 40 denotes an actual speed calculation means that calculates the actual rocking speed of the rocking table 15 from changes in the output voltage of the potentiometer 33. 41 is the swing cylinder 2
2.23 is a flow rate proportional type solenoid valve that controls the solenoid valve 41, and 42 is a drive unit that drives the solenoid valve 41 using PWM.As shown in FIG. The structure is such that the duty ratio can be adjusted within the range indicated by the dotted line. Comparison means 43 compares the target speed signal from the comparison means 39 and the actual speed signal from the actual speed calculation means 40, and adjusts the duty ratio of the drive unit 42 so that the actual speed becomes the target speed. It is something to control. Note that the control system is composed of a microcomputer.

In the above configuration, when the swinging metalwork 5 is swung and stopped so that the boom 16 is at the center position, the target position A is set in the target position setting section 36. Next, when the automatic operation mode is set and the operating lever 28 is tilted to the right, for example, if it is outside the deceleration range B, the manual speed signal generating means 32 generates a speed signal (■) proportional to the tilting angle of the operating lever 28. Therefore, the comparison means 43 compares this speed signal (2) with the actual speed to control the duty ratio of the drive section 42. Therefore, the swing table 15 swings rightward to the target stop position A at a speed proportional to the tilt angle of the operating lever 28.

On the other hand, at this time as well, the deceleration region determining means 34 determines whether the current position of the rocking table 15 is within the deceleration region B, and when it reaches the first deceleration position C in the deceleration region B, a deceleration signal is generated. Part 3
4 generates a deceleration signal F, and as the target position A approaches, deceleration signals G and H are generated sequentially. And deceleration signal F
occurs, the comparing means 39 compares the manual speed signal generating means 3
2 and selects the lower speed signal. Therefore, for example, if the speed signal I until entering the deceleration area B is slower than the deceleration signal F as shown in FIG.
Since the comparison means 39 selects and outputs the speed signal I, this speed signal I becomes the target speed, and the comparison means 43 controls the duty ratio of the electromagnetic valve 41 via the drive unit 42 so as to achieve the target speed. . Therefore, even if the swinging table 15 enters the deceleration region B, it swings at a low speed according to the speed signal ■.

Then, when the second deceleration position is reached, the comparison means 39
selects and outputs the low-speed deceleration signal G, so the deceleration is controlled according to the deceleration signals G and H from now until the target stop position, and the motor automatically stops at the target stop position A.

By controlling the deceleration stepwise in this way, the shock caused by deceleration is kept approximately constant, and the speed is always low near the target stop position A, so the stop position is determined with high precision and the hunting phenomenon is prevented. can be prevented.

The detector 24 may be a pulse encoder or the like.

(Effects of the Invention) According to the present invention, automatic deceleration signals are generated that calculate the distance to the stop target position A and generate automatic deceleration signals F, G, and H that decelerate stepwise as the target stop position approaches. means 38, manual speed signal generating means 32 for generating a manual speed signal I, and comparing means 32 for comparing the signals from both means 32 and 38 and outputting the signal on the lower speed side as the target speed. Therefore, even during deceleration and stop control in the automatic operation mode, the operator can reduce the speed at his/her will, and the rocking table can be rocked smoothly (without shocking).

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and FIG. 1 is a block diagram of the control system, FIG. 2 is an explanatory diagram of its deceleration region, FIG. 3 is an explanatory diagram of the control cycle, and FIG. 4 is a side view of the entire system. , FIG. 5 is a plan sectional view of the swinging portion, and FIG. 6 is a layout diagram of the operating lever. ■... Vehicle body, 14... Vertical axis, 15... Rocking table, 1
6... Boom, 24... Detector, 28... Operating lever, 32... Manual speed signal generating means, 38... Automatic deceleration signal generating means, 39... Comparing means.

Claims (1)

[Claims] (1) The rocking platform (15) supporting the boom (16) is swung left and right, enters the deceleration area (B) near the target stop position (A), and then decelerates to the target stop position (A). In a rocking stop control device for a backhoe that automatically stops the backhoe, an automatic deceleration signal ( F) (G) (H) automatic deceleration signal generation means (38) that generates a manual speed signal (I), manual speed signal generation means (32) that generates a manual speed signal (I), and both of these means (32).
) (38) and comparing means (32) for outputting a signal on the lower speed side as a target speed.