JPH0351432A - Skid steering loader - Google Patents

Abstract

PURPOSE:To simplify driving operation by providing a means for detecting steering angle of a handle, treading angle of an accelerator, forming comand signals based on a steering angle signal, a treading angle signal, and an inputted travelling lever signal, and controlling respective driving devices by the command signals. CONSTITUTION:A means for detecting steering angle is provided to a handle 5 of a cargo handling vehicle 1 capable of travelling and turning in place, while a means for detecting treading angle of an accelerator pedal is provided to an accelerator. Based on a travel indicating signal inputted to a travelling lever 6, a steering angle signal of the handle 5, and a treading angle signal of the accelerator, travel command signals for respective travelling devices are formed to control respective hydraulic driving devices. In addition to this constitution, a mode-switch capable of selecting plural modes ie provided to allow the loader to turn in place by a given signal. Driving operation can thus be simplified.

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to a cargo handling vehicle capable of super interlining turning (turning on the spot);
In other words, it relates to skid steer loaders.

BACKGROUND OF THE INVENTION As a conventional skids wheel rotor, one disclosed in Japanese Patent Application No. 63-214287 has been proposed, for example.

This skid steer rotor basically consists of a vehicle body, two steering devices installed on the vehicle body, two travel pressure drive devices that operate each traveling device, and two cargo handling devices installed in the vehicle body. and two cargo handling hydraulic drive devices that operate each cargo handling device, and two travel hydraulic drive devices and two cargo handling hydraulic drive devices are operated by operating two multi-directional lever switch devices provided on the vehicle body.
A 4-air control system was installed to control two cargo handling extraction drive sheds.
-I'm J.

Problems that the Invention Attempts to Solve However, in conventional Sugi-Aru, traveling is controlled by two multi-directional lever switch devices or one multi-directional lever switch device, and there are few examples of such operations, so it is difficult to drive. There was a problem that it required experience and was unsuitable for beginners.

The present invention solves the above-mentioned problems, and aims to provide a skid steer helmet that can be easily operated by a person who has experience in driving a general passenger car.

The skid steer motor described in "Means to Solve the Problems" consists of a vehicle body, two traveling devices installed on the vehicle body, and two traveling hydraulic drive devices that operate each traveling device. A skid steer rotor comprising two cargo handling devices provided on the vehicle body and two cargo handling pressure drive devices for operating each cargo handling device,
First detection 1 for detecting the steering angle of the steering wheel for the traveling device that performs rotational operation, the forward, neutral, and reverse movement with a small finger, the Akhi/1 hetal, and the steering angle of the +iit handle.
a second detection means for detecting the depression angle of the accelerator pedal, a travel instruction signal of the travel lever inputted, a steering wheel angle signal of the first detection means, and the second detection means.
A travel command transmission line for each of the traveling devices is formed in accordance with an accelerator pedal angle signal of the detecting means, and -+iii.
IK E+') J system: A control F stage is provided to control α.

Further, a second invention provides, in addition to the structure of the first invention, a mode switch capable of selecting a plurality of modes is provided, and a control means is configured to input a mode selection signal of the mode switch. Accordingly, it is designed to take the form of a command (B) to perform a super-centered turn based on the steering wheel angle or driving instruction.

By detecting the turning angle of the steering wheel, further detecting and inputting the pedal depression angle to the accelerator, and inputting the driving instruction signal of the driving gear, the driving command signal of each traveling device, That is, target values for travel speed and travel direction are formed, and the travel hydraulic drive system is controlled based on these travel commands.

Further, according to the configuration of the second invention, in response to the selection signal of the mode switch, a travel command signal for performing super-centering rotation is generated by the steering angle of the steering wheel, or a travel command signal for performing super-centering rotation is generated by the travel instruction signal of the travel lever. Travel command signal 3 for making a ground turn is generated.

Example An embodiment of the present invention will be described below based on the drawings.

FIG. 1 is a side view of a skid steer rotor showing an example of the present invention, and FIGS. 2 and 3 are block diagrams of main parts of the travel control system and electric control device of the skid steer loader. It is.

The skid steer loader 1 is a cargo handling vehicle that is capable of super-centered turning using independent left and right running devices.As shown in FIG. Protection in case of collision 5 Protective sea 1 to bar 4 I・IO,liil iwa,{
A handle 5 for controlling the travel of Eisaku, a travel lever 6 for instructing the travel of forward (1), neutral (N), and reverse (R);
Throttle wheel 8 that controls the rotation speed of the engine 7, bucket 1 lever 10 that raises and lowers buckets 1 to 9.
, -It Jf' of boom 11? ．． ．． The lowering operation is
By operating a boom lever 12, an accelerator pedal 13, and a brake pedal (not shown), a traveling device (described later) is driven to self-propel, and a packet cylinder 14, which has two cargo handling hydraulic drive devices, boom cylinder 5
The bucket 9 and boom 11 are driven to perform cargo handling.

The traveling device (traveling drive system) will be explained.

As shown in Fig. 2, the engine 7 is controlled to have a constant rotational speed according to the amount of operation of the levers 1 to 8, and the rotational force of the engine 7 is controlled by the left and right HSTs (hydrostatic). The fluid is delivered to the pump 161-IGR, and these left and right pumps 16L and 161 convert the operating fluid into high-pressure fluid and send it to the left and right two drive motors 7L and 17R, respectively. The left and right wheels 18L, 18R are independently driven by the drive torque taken out by the mountain 6 pressure drive motors 17L, 17R.

H S 'r Bon 7" 16L, 16R is the direction in which hydraulic oil is sent out from the neutral position by the position of the steering levers 19L, 19R, and the amount of discharge is determined by the foot. Skid steer is performed by operating the steering levers 191, 19R. The running direction and M degree of the loader 1 are controlled.The steering levers 19L and 19R are each controlled by the electric cylinder 2.
Driven by OL and 2OR, the position of the steering lever 19L and 19Ft is determined by these electric cylinders 20L.
, 2OR, and the positions of the steering levers 19L, 191N are fed back to the electric control device 21 by potentiometers 22L, 22R, respectively.

Further, a switch signal from a push button switch 23 on a knob 15 provided on the handle 5 and a travel instruction signal from a travel lever 6 are input to the electric control device 21, and a button for detecting the turning angle of the handle 5 is pressed. The steering angle signal of the tension meter 24, the accelerator depression angle signal of the podensi correction meter 25 which detects the depression angle of the accelerator pedal 13, and the mode signal of the switching mode switch 26 which selects driving modes A, I3, and C, which will be described later, are electrically controlled. It is input to the device 21.

The electric control system 'fl21' will be explained based on the block diagram of FIG.

Relay RY-S is driven when the switch signal of the push button switch 23 is on, relay RY-F is driven when the travel command signal of the travel lever 6 is in forward direction (1), and relay RY-F is driven when it is in neutral (N). , driven relay RY-N, reverse (
Relay RY-R is driven when the mode signal of the mode switch 26 is in operation mode A, relay RY-B is driven when the mode signal of the mode switch 26 is in operation mode B, and relay RY-B is driven when the mode signal of mode switch 26 is in operation mode B. Relay R driven when C
Y-C is provided.

Further, each control section 27L, 27R outputs the actual travel lever position signal of each potentiometer 22L, 22R as a feedback signal, and outputs the input target travel lever position (travel command signal) con+l. , comR, each electric cylinder 2OL, 20 via each drive unit 28L, 28R.
The position of R is controlled.

A method of forming the above-mentioned 11-travel lever placement (travel command belief) for each driving mode A, B, and C will be explained.

When operation mode A is selected with the mode switch 26, the steering wheel angle signal is input to the numerical aperture generator FA(X), and as shown in FIG. 4, the steering wheel angle is 100% ( Two rotations to the right,
In the case of a left travel command signal, the adder 29 calculates (1-
β), in the case of the right run command signal, the adder 30 outputs (1 to β).
) are converted into upper and lower limiters 31L and 31R, respectively.
Multipliers 32L, 3 whose constant is the accelerator coefficient Asu, which is limited to (-1 to 1) and is formed as shown in FIG.
Each is multiplied by 2R, and the F / R coefficient γ (γ = 1 when forward (1), neutral (
The driving command signals co1 and comR are multiplied by multipliers 33L and 33R, respectively, each having a constant of γ-0 when the vehicle is in reverse (N) and γ-1)9 when the vehicle is in reverse (R).

conl, coII when accelerator coefficient Asjl=1
H values are not shown in Table 1. As can be seen from Table 1, for example, when moving forward, each c
oIll and comR have different signs, that is, 1 in the opposite direction.
00% (=1>), super interlining rotation is performed, right interlining rotation is performed once to the right, and left interlining rotation is performed once left.

FIG. 8 shows an example of the operation situation in operation mode A.

AsjJ=1 In operation mode A, each travel command signal - bow cone, con+R, in which super-centering ground rotation is performed by 10 full rotations of the handle 5 (2 rotations left and right) is formed.

Driving mode B> When driving mode B is selected with the mode switch 26, the steering wheel angle signal is input to the function generator 17g (X),
As shown in FIG. 5, the steering angle is converted into a steering angle coefficient β (-1 to 1) based on the steering angle of 100% (two rotations to the right and two rotations to the left). When the run instruction signal is not neutral (N), the adder 34 converts it to (1β), and the adder 35 converts it to (1+β); when the run instruction signal is neutral (N), the adder 3
4, (-β>, the adder 35 sets it as β as it is, and -h
A multiplier 321 which is limited to (-1 to 1) by 'T' limiters 31L and 31R and has an accelerator coefficient Asu as a constant.
．． ．． , 32R. , and multipliers 33L and 33R with the F/R coefficient γ as a constant form the driving commands f, callb and conR, respectively. The P/R coefficient γ is γ-1 when the vehicle is moving forward (F) or neutral (N), and γ=-1 when the vehicle is moving backward (fR). coI11 when the accelerator coefficient Ask-21. , coIIR values are not shown in Table 2. As can be seen from Table 2, when the steering wheel 5 is rotated twice clockwise or counterclockwise with the travel lever 6 in the neutral position, conL and comR have different signs, that is, 100% (-1) in the reverse travel direction, and the For example, in the case of forward movement, two rotations to the right result in right centering rotation, and two rotations to the left result in left centering rotation. FIG. 9 shows an example of the operating situation in operation mode B.

Table 2 In driving mode B, the travel lever 6 is neutral and the handle 5
Each travel command signal co
n+I. , conR is expressed.

<Operation mode C> When operation mode C is selected with the mode switch 26, the steering wheel angle signal is input to the function generator FC(X), and as shown in FIG. 2
steering angle coefficient β (-1 to 1
) is converted to If the switch signal of the push button switch 23 is not on, the adder 36 calculates (1-β>,
When the switch signal is on, the adder 36 converts it to (J+β), the adder 38 converts it to (J+β), and the upper and lower limiters 31L and 31R convert it to (J+β).
1), and are multiplied by multipliers 32L and 32R with the accelerator coefficient Asfi as a constant, respectively multiplied by multipliers 33L and 33R with F/R coefficient γ as a constant, and each travel command signal coIIe, colR is formed. Ru. The F/R coefficient γ is (knob part) when the switch signal is on, γ-1 (knob part) when the switch signal is off, forward (
γ-1 in F), 7- == O in neutral [N), backward (
It) is set to γ1. Table 3 shows the values of conL and conR when the accelerator coefficient AsJ2=1. As can be seen from Table 3, when the push button switch 23 on the knob is turned on and the handle 5 is rotated twice clockwise or counterclockwise 13, each comb and COIR have different signs, that is, 100% (-1) in the reverse direction. ), the super interlining turns,
Further, for example, in the case of forward movement, two rotations to the right result in a right centering rotation, and two rotations to the left result in a left centering rotation. An example of the operation situation in operation mode C is not shown in FIG.

As Woman-1 Table 3 In operation mode C, by turning the handle 5 while turning on the pushbutton switch 23, travel command signals coIlle and colIR are generated to perform a super-interlining turn. In this way, by operating the steering wheel 5, operating the travel lever 6, and operating the accelerator pedal 13, the 14-row command signal coral. , conR are formed, and travel control is performed according to the travel command signals co+aL, comR, so that driving can be performed in the same way as a general passenger car. Ground rotation can be realized by operating the handle 5.

In addition, in this example, the electric cylinders 2OL and 20R are
The actual travel lever position signals of the potentiometers 22L and 22R are used as feedback signals to control the vehicle.
Children can control the rotational speed of 8L and 18R using feedback signals.

Effects of the Invention As described above, according to the present invention, by operating the steering wheel, stepping on the accelerator, and operating the travel lever, the travel command signals of each travel device, that is, the target values of travel speed and travel direction, can be obtained. Since the vehicle is formed and the traveling hydraulic drive system is controlled, it can be driven in the same way as a regular passenger car, and can be easily operated by a person who has the same level of driving experience as a regular passenger car.

15 Furthermore, according to the second invention, super-interlining turning, which is a major feature of the Skids Dare 1V-da, can be realized by operating the handle or the like.

[Brief explanation of drawings]

The drawings show an embodiment of the skid steer row according to the present invention, in which Fig. 1 is an external side view, Fig. 2 is a configuration diagram of main parts of the travel control system, and Fig. 3 is a block diagram of the electric control device. 4 to 7 are characteristic diagrams of the function generator in the electric control device, and FIGS. 8 to 10 are waveform diagrams showing operating conditions for each operation mode. 1... Old Tsudosu de loader, 5... Handle, 6
... Travel lever, 13... Accelerator pedal, 16.
...] {ST bomb, 17...hydraulic drive motor,
18...Wheel, 19...Steering lever, 20
... electric cylinder, 21 ... electric control device, 22.
... Potentiometer, 23... Push button switch, 24... Potentiometer (1st detection stage), 2
5... Bodensiometer (second detection = r stage), 26
...<switch> mode switch.

Claims (1)

[Claims] 1. A vehicle body, two traveling devices provided on the vehicle body, two traveling hydraulic drive devices that operate each traveling device, two cargo handling devices provided on the vehicle body, and operating each cargo handling device. A skid steer loader is equipped with two cargo handling hydraulic drive devices, including a handle for the traveling device that performs rotational operation, a travel lever that instructs forward, neutral, and reverse, an accelerator pedal, and a steering wheel that controls the turning angle of the handle. a first detecting means for detecting, a second detecting means for detecting the depression angle of the accelerator pedal, and an input travel instruction signal of the travel lever;
Control means for controlling each of the travel hydraulic drive devices by forming a travel command signal for each of the travel devices according to a steering angle signal from the first detection means and an accelerator depression signal from the second detection means. A skid steer loader equipped with 2. Equipped with a mode switch that allows you to select multiple modes.
2. The skid steer loader according to claim 1, wherein the control means generates a travel command signal for performing a super-centering turn using a steering wheel turning angle signal or a travel command signal in accordance with the input mode selection signal of the mode switch.