JPH0392487A - Running direction control device of construction machine - Google Patents

Abstract

PURPOSE:To improve the operation efficiency and the safety by composing the system to reverse the shifting direction of a change-over valve for running when an upper rotary body is rotated to the position facing backward, and to report the rotating position of the upper rotary body. CONSTITUTION:Depending on the posture whether an upper rotary body is at the position facing forward or facing backward, the shifting direction of a change-over valve 25 for running is reversed. And even when it is rotated to the position facing sideway, it is imformed whether the upper rotary body is at the position facing forward or facing backward by a reporting device 30 such as a display. As a result, by operating an operation device (pilot valve) 8, the operator can be informed what direction a lower running body is running.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is provided in a construction machine such as a hydraulic excavator, and even when the upper revolving body is turned to a rearward position with respect to the lower traveling body, the traveling The present invention relates to a traveling direction control device for a construction machine, in which a lower traveling body is caused to travel in accordance with the operating direction of an operating means.

[Prior art 1] Figures 8 to 10 show a running direction control device for a hydraulic excavator as an example of a running direction control device for a construction machine according to the prior art. In the figure, 1 denotes an undercarriage, and 2 denotes an upper revolving body rotatably mounted on the undercarriage 1. The upper revolving body 2 includes a revolving frame 3 forming a frame structure, It is generally composed of a driver's cab 4, a machine room 5, and a counterweight 6 provided above, and a driver's seat 7 is provided in the driver's cab 4 on a floor plate 4A as shown in FIG. 9. An operating lever 8A of a pressure reducing valve type pilot valve 8 constituting operating means for driving is provided on the front side of the driver's seat 7, and the operating lever 8A is moved from a neutral position N to a forward position F.
When the lower traveling body 1 is tilted in the direction of the arrow A, the lower traveling body 1 travels (forward) in the direction of the arrow A, and when it is tilted toward the reverse position R, the lower traveling body 1 travels in the direction of the arrow B (reverse).

Here, the lower traveling body 1 is provided with a hydraulic motor (not shown) for traveling, and a hydraulic motor (not shown) for traveling is provided in the machine room 5, which is driven by a prime mover such as an engine and supplies and discharges pressure oil to the hydraulic motor for traveling. A hydraulic bomb (not shown) is provided as a source. A travel switching valve (not shown) for switching the rotational direction of the hydraulic motor is provided between the hydraulic bomb and the hydraulic motor, and the travel switching valve is connected to the pilot valve 8.
By switching the hydraulic motor using the pilot pressure from the hydraulic motor, the hydraulic motor rotates in the forward and reverse directions, and the lower traveling body 1 comes to travel in the directions of arrows A and B. 9 indicates a working device provided at the front part of the revolving upper structure 2;
The working device 9 is composed of a boom 10, an arm 11, a packet 12, etc., and by rotating the packet 12 while raising and lowering the boom 10 and arm 11,
Excavation work such as earth and sand is now being carried out.

Reference numeral 13 indicates a turning angle detector located above the turning center 0 of the upper rotating structure 2 and provided between the upper rotating structure 2 and the lower traveling structure 1. -48044
As described in the above publication, it is constituted by, for example, a potentiometer, and is adapted to detect the turning angle of the upper rotating body 2 with respect to the lower traveling body 1. That is, the detector 13 detects when the rotation angle of the upper rotating body 2 is 00 to 90 degrees, 270'' to 360 degrees.
0 is detected as the forward facing position, and when the turning angle is in the range of 90" to 270°, it is detected as the backward facing position. When the upper rotating structure 2 is in the backward facing position, a polarity inversion circuit (not shown) is detected. ), etc., to reverse the traveling direction of the lower traveling body 1 from the forward-facing position.In the hydraulic excavator configured in this way, the operator in the operator's cab 4 moves the operating lever 8A to the neutral position N. The direction of the pilot pressure supplied from the pilot valve 8 to the traveling selector valve is reversed depending on whether the tilting operation is performed from the forward position F to the forward position F or to the reverse position R, thereby switching the traveling selector valve. Since the direction is reversed, the direction of the pressure oil supplied and discharged from the hydraulic bomb to the hydraulic motor for traveling is switched, and the lower traveling body 1 is driven in the direction of arrow A or the direction of arrow B by this hydraulic motor. Further, the upper rotating body 2 is rotated on the lower traveling body 1 by a rotating motor (not shown) or the like around a rotating center O,
For example, from the forward facing position shown in Fig. 10(a) to the
It is designed to rotate appropriately to the rearward facing position shown in b).

By the way, in a normal hydraulic excavator, etc., Fig. 10 (a)
When the upper rotating body 2 is placed in the forward position with respect to the lower traveling body 1 as shown in FIG.
The lower traveling body 1 can be moved forward (forward) in the direction of arrow A in accordance with the direction of operation of , and by tilting backward to the reverse position R, the lower traveling body 1 can be moved forward in the direction of arrow B. It is possible to run backwards (reverse) in the same direction. However, the 10th
When the upper revolving structure 2 is turned to a rearward position with respect to the lower traveling structure 1 as shown in FIG. When the operating lever 8A is tilted forward by the driver to the forward position F, the lower traveling body 1 begins to travel in the direction of arrow A in the opposite direction to the forward position F, and moves to the reverse position R. When the vehicle is tilted in the direction shown in FIG. For this reason, for example, in FIG. 10(B), when the lower traveling body 1 is made to travel in the direction of arrow B, the operating lever 8A is tilted to the reverse position R, and when it is made to travel in the direction of arrow A, it is tilted to the forward position F. Therefore, manual operation of the operating lever 8A becomes difficult, increasing driver fatigue and reducing safety.

Therefore, in the above-mentioned conventional technology, a turning angle detector 13 etc. is provided,
When the upper rotating body 2 is in the backward position as illustrated in FIG. If the operating lever 8A is tilted backward to the reverse position R, the undercarriage body 1 can be moved in the direction of arrow A. The tilting operation direction of the operating lever 8A can be made to correspond to the traveling direction of the lower traveling body 1. [Problem to be Solved by the Invention] However, in the above-mentioned conventional technology, when the turning angle of the upper rotating body 2 is in the range of 09 to 90' and 270° to 360°, the forward position is determined by the turning angle detector 13. When the turning angle is in the range of 90" to 270 degrees, it is detected as the backward position, and the lower traveling structure l
Since the traveling direction of the lower traveling body 1 is reversed, when the upper rotating body 2 is turned to a sideways position near a turning angle of 90' or 27°, the traveling direction of the lower traveling body 1 may be suddenly reversed. However, it is very difficult to tilt and rotate the operating lever 8A in this horizontal position, and there is a drawback that safety cannot be improved.

The present invention has been made in view of the above-mentioned drawbacks of the prior art, and the present invention allows the traveling direction of the lower traveling body to correspond to the operating direction of the operating means even when the upper rotating body is turned from the forward facing position to the rearward facing position. This is a running direction control system for construction machinery that not only allows the operator to know the running direction of the undercarriage even when turned to a sideways position, but also improves the operability and safety of the operating means. It provides equipment.

[Means for Solving the Problems J] The feature of the configuration adopted by the present invention in order to solve the above-mentioned problems is that when the upper rotating body turns between the forward position and the rearward position with respect to the lower traveling body, A turning angle detecting means for detecting a turning angle, and a travel switching valve operated by an operating means when the upper rotating body turns to a forward position and when the upper rotating body turns to a rearward position based on a signal from the turning angle detecting means. and a notification means for notifying whether the upper revolving body is in a forward position or a rearward position based on a signal from the turning angle detection means.

Further, the notification means is configured to display a display indicating whether the upper rotating body is in a sideways forward position or a sideways rearward position when the upper rotating body turns so as to be in a sideways state with respect to the lower traveling body. It is preferable to configure it by containers. Further, the operating means is constituted by a pressure reducing valve type pilot valve, the traveling switching valve is constituted by a hydraulic pilot type directional switching valve which is switched by pilot pressure from the pilot valve, and the switching direction reversing means is It is provided in the middle of a pair of pilot pipes connecting each hydraulic pilot part of the directional control valve and the pilot valve, and the direction of the pilot pressure supplied from the pilot valve to each hydraulic pilot part of the directional control valve is swiveled. Preferably, the switching valve is configured by a switching valve that switches based on a signal from the angle detection means.

[Effect]

With the above configuration, the switching direction of the travel switching valve can be reversed depending on whether the upper rotating body is in the forward or backward position, and even when the upper rotating body is turned to the sideways position, the notification means such as a display It is possible to notify the driver whether the upper rotating body is in a forward facing position (lateral forward facing position) or a rearward facing position (lateral backward facing position), and the lower traveling body can be moved in which direction by operating the operating means. You can be sure of what is happening.

〔Example〕

Embodiments of the present invention will be described below with reference to FIGS. 1 to 7. In addition, in the embodiment, the above-mentioned FIGS. 8 to 1
Components that are the same as those in the prior art shown in FIG.

1 to 6 show a first embodiment of the present invention.

In the figure, 21 is a hydraulic motor for traveling provided in the lower traveling body 1, 22 is a hydraulic bomb that supplies and discharges pressure oil to the hydraulic motor 21, and the hydraulic bomb 22 constitutes a hydraulic source together with a tank 23, Inside the machine room 5, it is driven together with a pilot pump 28, which will be described later, by a prime mover such as an engine.

24A and 24B are a pair of main pipes connecting the hydraulic bomb 22, tank 23, and hydraulic motor 2l; 25 is the main pipe 2;
4A and 24B are shown as directional switching valves as traveling switching valves, and the directional switching valves 25 are composed of hydraulic pilot type directional switching valves with 4 boats and 3 positions.
By supplying pilot pressure to the right hydraulic pilot parts 25A and 25B, the left side is moved from the neutral position (a). Right switching position (b). (c), and the hydraulic motor 21 is rotated forward and reverse in the directions of arrows A and B.

26A and 26B are hydraulic pilot parts 2 of the directional switching valve 25
A pair of pilot pipes connecting 5A, 25B and the output side of the pilot valve 8, 27 is the pilot pipe 26A,
A switching valve 26B is shown as a switching direction reversing means provided in the middle of the switching valve 26B, and the switching valve 27 is constituted by a 4-boat 2-position electromagnetic switching valve, and a spring 27A and a solenoid 27B are provided on both the left and right sides of the switching valve. It is being The solenoid 27B is connected to a controller 31, which will be described later, and is energized by a signal from the controller 31 to switch the switching valve 27 from the left switching position (2) to the right switching position (E). It has become. Here, the switching valve 27 is in the switching position (2) and the switching position (E).
The direction of the pilot pressure supplied from the pilot valve 8 to the hydraulic pilot parts 25A, 25B of the directional switching valve 25 is reversed.

That is, the high pressure side of the pilot valve 8 is connected to the pilot bomb 28.
The low pressure side is connected to the tank 23. Then, with the switching valve 27 switched to the switching position (2),
When the operating lever 8A is tilted from the neutral position N to the forward position F, the pilot pressure from the pilot valve 8 is supplied to the hydraulic pilot portion 25A of the directional switching valve 25, and the directional switching valve 25 is in the switching position (B). When the switch is switched and the operating lever 8A is tilted to the reverse position R, pilot pressure from the pilot valve 8 is supplied to the hydraulic pilot portion 25B of the directional switching valve 25, and the directional switching valve 25 is moved to the switching position (
c).

Also, when the switching valve 27 is switched to the switching position (E), the operating lever 8A is moved forward from the neutral position N. By tilting the vehicle to the reverse positions F and H, the directional control valve 25 can be reversely switched from the neutral position (a) to the switching positions (c) and (b).

Next, in FIG. 2, reference numeral 29 indicates a turning angle detector as a turning angle detection means for detecting the turning angle θ of the upper revolving structure 2, and the turning angle detector 29 is the turning angle detector 13 described in the prior art. It is composed of a potentiometer and the like in substantially the same manner as in FIG. That is, the detector 29 detects that the rotation angle θ of the upper rotating structure 2 is O.
~90 @, 270" ~ 3600 is the forward position, turning angle signal Vfa: O ~ V.., ■.?
. ~v36. It outputs at a voltage value of 90” and the turning angle θ is
The turning angle signal V is set to v9, assuming that the position is within the range of 270° as the backward position. ~Vat. It is designed to output at a voltage value of

Reference numeral 30 indicates a display device as a notification means provided in the operator's cab 4 of the upper revolving structure 2, and the display device 30 is constituted by a light emitting diode type display device or a liquid crystal display device, etc.
For example, when the upper rotating body 2 turns sideways with respect to the lower rotating body 1, the turning angle θ is 900 or 2700.
4 (a) to (2) are displayed, and the rotating position of the upper revolving body 2 is in the lateral forward facing position (forward facing position) or the lateral backward facing position (backward facing position) is displayed. It is designed to notify the driver whether the vehicle is located at

Here, in FIGS. 4(a) and 4(b), the upper rotating body 2 is either in the lateral forward position (θ≦90°) after turning to a position where the turning angle θ is close to 90'', or in the lateral backward position. (θ〉90゜)
In Figure 4 (c) and (2), the upper revolving body 2 has rotated to around 270° and is in the lateral rearward position (
θ≧270°) or sideways forward position (θ≧270°
) is displayed. In addition, as shown in FIGS. 4(a) to (2), the display 30 indicates whether the lower traveling body 1 moves forward or backward when the driver tilts the operating lever 8A forward (in the direction of the arrow). The direction in which the vehicle is traveling is indicated by a flickering display or a white arrow.

Furthermore, 3l indicates a controller as a control device constituted by a microcomputer or the like, and the input side of the controller 31 is connected to the turning angle detector 29, etc., and the output side is connected to the solenoid 27B of the switching valve 27 and the display 30.
etc. are connected to. The controller 31 stores programs shown in FIGS. 5 and 6 in its memory circuit, and performs switching processing for the switching valve 27, display processing for the display 30, and the like. Further, the controller 31 has a turning angle θ=90°, 2 in the storage area 31A of the storage circuit.
A set voltage value corresponding to the turning angle signal V=v.

The traveling direction control device for a hydraulic excavator according to this embodiment has the above-described configuration.Next, processing operations by the controller 31 will be explained with reference to FIGS. 1 to 6.

First, in the switching process of the switching valve 27 shown in FIG. 5, in step 1, the turning angle signal V is read from the turning angle detector 29, and in step 2, the turning angle signal V is set to the set voltage value V. . ．． V,. For ■,. <V<Vlff. It is determined whether the voltage value is as follows. Then, when it is determined in step 2 that rNOJ, the turning angle signal V is O (V≦V). Or v! 7. ≦V≦v0. Since the upper revolving body 2 is rotating to the forward position with a voltage value of . As a result, when the operating lever 8A is tilted from the neutral position N to the forward or reverse positions F or H, the directional control valve 25 is switched from the neutral position (A) to the switching position (B) or (C), and the operating lever The lower traveling body 1 can be moved forward and backward in the directions of arrows A and B in accordance with the operating direction 8A.

Further, when it is determined that rYEsJ is determined in step 2, the turning angle θ is in the range of 900 to θ<270', and the upper rotating body 2 is turning to the backward position, so the process moves to step 4 and an excitation signal is sent to the solenoid 27B. is output to switch the switching valve 27 from the switching position (2) to the switching position (E). As a result, the pilot pressure from the pilot valve 8 is reversed and the hydraulic pilot parts 25A, 25B of the directional control valve 25 are reversed.
Even in this case, as shown in FIG. 9(b), the lower traveling body 1 is caused to travel in the directions of arrows B and A in accordance with the operating direction (forward and reverse positions F and R) of the operating lever 8A. be able to. Then, in step 5, the process returns to the main routine.

On the other hand, in the display process of the display 30 shown in FIG. 6, in step 11 the turning angle signal V from the turning angle detector 29 is read, and in step 12.14 the turning angle signal V is
<V≦V*o. ．． The voltage value becomes Veo<V<VtO+ΔV, and it is determined whether the upper rotating structure 2 has turned to the right sideways position. Then, in step 12, rY
When it is determined that it is ESJ, the upper rotating body 2 has turned to the sideways forward position, so the process moves to step 13 and the display 30
Display the image shown in Fig. 4 (a) on
When operated in the direction of the arrow, the driver is informed that the lower traveling body 1 will run in the direction of the white arrow. Also,
When rYESJ is determined in step 14, the upper rotating body 2 has turned to the lateral rearward position, so step 15
Then, in step 16.18, the turning angle signal V is displayed on the display 30 as shown in FIG.
Veto − Δ V<V<Vzto.
V*yo ≦V<Vat. When the voltage value reaches 10 ΔV, it is determined whether or not the upper revolving body 2 is turning to the left sideward position. When rYEsJ is determined in step 16, the upper revolving body 2 is turning to the lateral rearward position. from,
Proceeding to step 17, the image shown in FIG. 4(c) is displayed on the display 30. Further, when it is determined in step 18 that rYEsJ, the upper rotating body 2 has turned to the lateral forward position, so the process moves to step 19 and the image shown in FIG. 4 (2) is displayed on the display 30. And the operation lever 8
If A is operated in the direction of the arrow, the driver will be informed that the lower traveling body 1 will run in the direction of the white arrow.

Therefore, in this embodiment, even when the upper rotating body 2 is turned to the backward position, the lower traveling body 1 can be moved in accordance with the operating direction of the operating lever 8A, as in the case of the forward facing position, and the lower moving body 1 can be operated. In addition, when the upper rotating body 2 is turned to the sideways position, the display 30 displays whether the upper rotating body 2 is in the sideways forward position or the sideways backwards position, and the operating direction of the operating lever 8A and the lower traveling direction are displayed. The running direction of the body 1 can be clearly indicated to the driver, and safety during running can be improved.

In addition, when the turning angle θ is 90° or 2700, the upper rotating body 2 is treated as being in the sideways forward position, so a driver who is accustomed to operating a normal hydraulic excavator can easily move it to the sideways position. It is possible to perform operations similar to current operations, and this also has various effects such as improved operability and safety.

Next, FIG. 7 shows a second embodiment of the present invention, and the feature of this embodiment is that a display device is configured to display the running direction of the undercarriage relative to the operating direction of the operating lever. . In this embodiment, the same components as in the first embodiment are denoted by the same reference numerals, and their explanations will be omitted.

In the figure, reference numeral 41 indicates a display device provided in the driver's cab 4 as a notification means, and the display device 4l is constituted by a light emitting diode type display device or a liquid crystal display device, etc. When the turning angle θ approaches 90'' or 270'', the display shown in FIGS. 7(a) and 7(b) is displayed.

That is, in FIG. 7(A), the upper revolving body 2 is as shown in FIG. 4(A), (
Turn to the position exemplified in c), and the turning angle signal V is
llo − ΔV < V :i; V @o also HaV
iyo - ΔV < V < V m t. Corresponding to the case where the operating lever 8A is tilted to the forward position F side, a display indicating that the lower traveling body l will travel in the direction of the arrow 42 is displayed, and the operating lever 8A is operated to the reverse position R side. Then, it is displayed that the lower traveling body l travels in the direction of the arrow 42. In this case, the arrow of the forward position F and the arrow 42 are displayed in blue, for example, and the arrow of the reverse position R and the arrow 4 are displayed.
3 is displayed in red. Also, in Fig. 7 (b), the upper revolving body 2 is shown in Fig. 4 (b), (
It turns to the position illustrated in 2), and the turning angle signal V becomes V.
so<V<V so+ΔV or V270≦V
< V z y. Corresponding to the case in the range of +ΔV,
When the operating lever 8A is operated to the forward position F side, a display indicating that the lower traveling body 1 travels in the direction of the arrow 44 is displayed, and when the operating lever 8A is operated to the reverse traveling position R side, the lower traveling body 1 is displayed in the direction of the arrow 45. For example, arrow 44 is displayed in blue and arrow 45 is displayed in red.

Thus, in this embodiment configured in this way, it is possible to obtain substantially the same effects as in the first embodiment, but in particular, in this embodiment, the operation of the operating lever 8A is controlled by using the display 41. The running direction of the undercarriage 1 can be displayed more clearly in relation to the direction.

In the first embodiment, when the upper rotating body 2 is in a sideways state with respect to the lower traveling body 1, the images shown in FIGS. 4(a) to (2) are displayed on the display 30. However, instead of this, an image corresponding to the rotating position of the upper rotating body 2 may be always displayed on the display 30. Further, when the upper revolving structure 2 is turned sideways, the images shown in FIGS. 4(a) to 4(b) may be decremented to alert the driver.

Furthermore, in each of the above embodiments, the display 30 serves as a notification means.
(41) has been described above, but instead of this, for example, a voice synthesizer or the like may be used to notify the driver of the turning position of the upper rotating body 2 and the traveling direction of the lower traveling body 1 by operating the operating lever 8A. It is also possible to have a configuration in which

Further, in each of the embodiments described above, the hydraulic pilot type directional switching valve 25 is used as the travel switching valve, but instead of this, the directional switching valve 25 is configured with an electromagnetic directional switching valve, Each solenoid of the switching valve is energized and demagnetized by a signal from the controller 31.
1 may be used to reverse the switching direction of the directional switching valve.

Further, in each of the above embodiments, a hydraulic excavator has been described as an example, but the present invention is not limited thereto. It can also be applied to construction machinery such as cranes.

[Effects of the Invention] As detailed above, according to the present invention, when the revolving upper structure turns to the backward position, the switching direction of the travel switching valve by the operating means is reversed, and the turning position of the revolving upper structure is notified. Because of this configuration, the operation direction of the operating means can be made to correspond to the traveling direction, and even when the upper rotating structure is turned sideways, the current turning position can be clearly notified to the driver. , it is possible to grasp the relationship between the operating direction and the running direction, improving operability and safety, etc.
It has various effects.

[Brief explanation of drawings]

1 to 6 show a first embodiment of the present invention, FIG. 1 is a hydraulic circuit diagram for traveling, FIG. 2 is a control block diagram,
Figure 3 is a signal characteristic diagram of the turning angle detector, Figure 4 (a),
(B). (c). (2) is an explanatory diagram showing the different images displayed on the display, Fig. 5 is a flowchart showing the switching process, Fig. 6 is a flowchart showing the display processing, and Figs. Fig. 8 to Fig. 10 show the prior art, Fig. 8 is an overall perspective view of the hydraulic excavator, and Fig. 9 shows the operator's cab. The cross-sectional explanatory drawings and FIGS. 10(a) and 10(b) are plan views of the hydraulic excavator showing the forward and backward positions of the revolving upper structure, respectively. DESCRIPTION OF SYMBOLS 1... Lower traveling body, 2... Upper rotating body, 4... Driver's cab, 8... Pilot valve (operating means), 8A...
Operation lever 9... Working device, 21... Hydraulic motor, 22... Hydraulic bomb, 25... Directional switching valve (traveling switching valve), 26A, 26B... Pilot pipe line, 2
7... Switching valve (switching direction reversing means), 28... Pilot pump, 29... Turning angle detector (turning angle detecting means), 30.41... Display (notifying means), 31.・
·controller.

Claims (4)

[Claims] (1) an undercarriage body, an upper revolving body which is rotatably mounted on the undercarriage body and is provided with at least a driver's cab;
In a construction machine comprising a traveling operating means for switching a traveling switching valve to move backward, a turning angle when the upper rotating body turns between a forward position and a backward position with respect to the lower traveling body. and a turning angle detecting means for detecting the turning angle, and a turning angle detecting means for detecting the movement of the travel switching valve by the operating means depending on when the upper rotating body turns to the forward position and when the upper rotating body turns to the backward position, based on the signal from the turning angle detecting means. It is characterized by comprising a switching direction reversing means for reversing the switching direction, and a notification means for notifying whether the upper rotating body is in a forward position or a backward position based on a signal from the turning angle detection means. Travel direction control device for construction machinery. (2) The notification means indicates whether the upper rotating body is in a lateral forward position or a lateral rearward position when the upper rotating body turns sideways with respect to the lower traveling body. Claims consisting of a display device (
1) The running direction control device for construction machinery as described in item 1). (3) The operating means is constituted by a pressure reducing valve type pilot valve, the traveling switching valve is constituted by a hydraulic pilot type directional switching valve which is switched by pilot pressure from the pilot valve, and the switching direction reversing means is provided in the middle of a pair of pilot pipes connecting each hydraulic pilot section of the directional control valve and the pilot valve, and indicates the direction of pilot pressure supplied from the pilot valve to each hydraulic pilot section of the directional control valve. A traveling direction control device for a construction machine according to claim (1) or (2), which comprises a switching valve that switches based on a signal from a turning angle detection means. (4) The notification means is constituted by a display that displays the traveling direction of the construction machine relative to the operating direction of the operating means when the upper rotating body turns sideways with respect to the lower traveling body. A traveling direction control device for a construction machine according to claim (1).