JPH02256901A - Actuator operation structure of working vehicle - Google Patents

Abstract

PURPOSE:To improve the workability by providing a setting means by which the relational characteristic between the operational position of an artificial manipulator and the operating speed of an actuator is set to different ones of a plurality of kinds, and a changeover means capable of being selectively changed over to one of the above relational characteristics, so that the relational characteristics suitable for the operational conditions can be obtained. CONSTITUTION:A direction changeover valve 11 is connected to a pair of oil passages 10 coming from a solenoid-operated proportional reducing valve 3. This direction changeover valve 11 changes over the supply or discharge direction of operating oil to a hydraulic motor as an actuator 13 for turning and driving a turning table 12, and determines the turning direction of the turning table 12. A pilot valve 16 is provided for supplying or discharging changeover-operational pilot operating oil to or from the direction changeover valve 11, and the pilot valve 16 is mechanically interlocked with a rocking type operation lever 14 via a link mechanism 17. The operational position of the operation lever 14 and the current value to the solenoid-operated proportional reducing valve 3 is set so as to have a linear relationship. Thereby the operational position of the operation lever 14 and the turning speed of the turning table 12 have also a linear relationship. Relational characteristics of a plurality of kinds are prepared, and one relational characteristic is selected by a changeover switch as a changeover means 15.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an actuator used in a work vehicle such as a construction machine or an agricultural vehicle, and particularly relates to an operating structure thereof.

[Conventional technology]

A backhoe, which is one type of work vehicle, is equipped with a hydraulic motor, which is one of the actuators, for driving a rotating base, and its operation structure is as follows.

In other words, there is a directional control valve that switches the supply/discharge direction of the hydraulic oil supplied to the hydraulic motor to determine the direction in which the swivel base rotates, and a flow control valve that adjusts and controls the flow rate to change the swivel speed of the swivel base. are connected in series to control the flow rate control valve so that the greater the amount of operation from the neutral stop position of the operating lever (equivalent to a human operating tool) for the directional control valve, the faster the rotating speed of the rotating base becomes. It is configured to operate.

[Problem to be solved by the invention]

With the above-mentioned configuration, the rotation speed of the swivel base can be changed according to the operation position of the operation lever, resulting in excellent workability, but the relationship between the operation position of the operation lever and the rotation speed is a linear function. As a result, it has become difficult to say that it can adequately respond to diversifying work conditions.

Here, an object of the present invention is to provide flexibility in the operation structure of the actuator.

[Failure to solve the problem]

The features of the present invention include, in the actuator operation structure for a working vehicle as described above, a means for setting a plurality of different relationship characteristics between the operation position of the human operating tool and the actuator operation speed, and One of the features is that a switching means capable of selective switching is provided, and its functions and effects are as follows.

[For production]

When configured as described above, for example, as shown in FIG.
The relationship between the human operating tool (corresponding to the operating lever (14)) and the operating speed of the actuator (corresponding to the current value) can be expressed using a polygonal line or 2.
By creating a relationship like the following curve, delicate speed control in the low speed range of the actuator can be performed (A2
．． (See A3), and delicate speed control in high-speed ranges (See A9.As).

〔Effect of the invention〕

As described above, by configuring the relationship between the operating position of the human operating tool and the operating speed of the actuator to be selectable from among multiple types, it becomes possible to obtain the relationship characteristics suitable for the working condition, thereby improving work efficiency. We were able to improve this.

〔Example〕

Embodiments of the present invention will be described below using a backhoe, which is one type of work vehicle, based on the drawings.

Figure 1 shows the hydraulic circuit of a backhoe, and shows the pump (
An electromagnetic proportional pressure reducing valve (
3), the first control valve (4) and the second control valve (5) are connected in series. This first control valve (4) supplies and discharges hydraulic oil to a hydraulic cylinder (7) that swings the backhoe device (6) shown in Fig. 3 from side to side.
The control valve (5) supplies and discharges hydraulic oil to a hydraulic cylinder (9) that drives the dozer (8) shown in FIG. 3 up and down.

A pair of oil passages (10) from the electromagnetic proportional pressure reducing valve (3)
) is connected to a directional control valve (11). This directional control valve <11) switches the supply and discharge direction of hydraulic oil to the hydraulic motor serving as an actuator (13) for driving the swivel base (12) as shown in FIG. It determines the direction.

Next, the linkage structure between the operating lever as the human operating tool (14), the directional control valve 11), and the electromagnetic proportional pressure reducing valve (3) will be described in detail.As shown in FIG.
11> is provided with a pilot valve (16) for supplying and discharging pilot hydraulic oil for switching operation, and the swing-operated operating lever (14) and the pilot valve (16) connect the link mechanism (17). They are mechanically interlocked and connected via. In this case, the maximum stroke position (R) for clockwise rotation and the maximum stroke position (L) for left rotation of the operating lever (14) are made to correspond to both stroke ends of the spool (not shown) in the pilot valve (16). There is.

A potentiometer (18) for detecting the position of the spool (corresponding to the tilting angle of the operating lever (14)) is provided for the pilot valve (16), and a signal from this potentiometer (18) is transmitted to the control device (19). ) is entered. As a result, the larger the tilt angle ((R) side or (L) side) of the operating lever (14) is, the more the directional control valve (14) is
1), a current for operation is sent from the control device (19) to the electromagnetic proportional pressure reducing valve (3).

In other words, as shown in Fig. 2, there is a linear relationship between the operating position of the operating lever (14) and the current value for the electromagnetic proportional pressure reducing valve (3) (corresponding to the opening degree of the electromagnetic proportional pressure reducing valve (3)). is set to . As a result, the operation position of the operation lever (14) and the rotation speed of the swivel base (12) also have a linear relationship (
(See relational characteristics (A1)).

As shown in Figure 2, there are multiple types of relationship characteristics (Relationship characteristics (82)...(8,)
), one relational characteristic is selected by means of a changeover switch as a changeover means (15). As a result, in relational characteristics (82) and (A3), since the inclination near the neutral stop position (N) is small, delicate speed control can be performed in the low speed range of turning speed.

Conversely, for the relational property (A4), (As>), the maximum value is l-.

- Because the slope near the position (R) and (L) is small,
This allows delicate speed control in the high speed range of turning speeds.

Also, if the operating lever (14) is moved even slightly to the (R) side or (L) side from the neutral stop position (N), that is, if the spool of the pilot valve (16) is operated even slightly, the pilot valve ( Pilot hydraulic oil is supplied from 16) to the directional switching valve (11>), and this directional switching valve (11) is operated.

[Another example]

In the above embodiment, a plurality of types of relational characteristics were set by changing the current value for the electromagnetic proportional pressure reducing valve (3).
As shown in the drawings and FIG. 5, there are three sets of cam plates (20a) with different shapes on the operating lever bar 14).

(20b), (20c) are fixed, and a stroke sensor (21) such as a linear potentiometer or actuation transformer is arranged so as to be in contact with the cam plates (20a), (20b), (20c). But that's fine. As a result, the stroke sensor (21) is slid and the cam plates i'20a), (20b), (20c
) so that it touches one of the operating levers (14
) by changing the signal from the control lever (14).
) and the hydraulic motor (13) may be changed.

Further, the present invention can be applied not only to motors but also to hydraulic cylinders, electric motors, and the like.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the actuator operation structure for a working vehicle according to the present invention, FIG. 1 is a hydraulic circuit diagram in a backhoe, and FIG. 2 shows the relationship between the operating position of the operating lever and the current value for the electromagnetic proportional pressure reducing valve. 3 is an overall side view of the backhoe, FIG. 4 is a front view of the vicinity of the operating lever in another embodiment, and FIG. 5 is a side view of the vicinity of the operating lever in another embodiment. (13)... Actuator, (14)...
...Human operating tool, (15)...Switching means, (
19)... Control means.

Claims (1)

[Claims] The operation speed of the actuator (13) increases as the amount of operation of the human operating tool (14) from the neutral stop position increases. ) is an actuator operation structure for a working vehicle, comprising a control means (19) for following and setting the operating speed of the human operating tool (14), the structure having a plurality of relationship characteristics between the operating position of the human operating tool (14) and the operating speed of the actuator (13). An actuator operation structure for a work vehicle, comprising means for setting different types and a switching means (15) capable of selecting and switching one of these related characteristics.