JPH0413504B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention includes a potentiometer that is interlocked with an operating lever of a swivel base, and detects the operating direction and operating amount of the operating lever based on voltage information from the potentiometer. A first controller is provided to automatically operate an electromagnetic proportional control valve for forward/reverse operation and speed control operation of the swivel base in accordance with the operating state of the operating lever, and the controller is provided with a first controller that automatically operates the electromagnetic proportional control valve for forward/reverse operation and speed control operation of the swivel base in accordance with the operation state of the operation lever, and for controlling the operation based on information from the potentiometer. Setting the swivel base so as to swivel the swivel base in a direction that matches the operating state of the lever, and based on information from a vehicle angle detection sensor of the swivel base and a stop angle setting device of the swivel base relative to the vehicle body. a second controller that automatically operates the proportional control valve so as to stop the proportional control valve at an angle relative to the vehicle body, and a circuit switch that selectively connects the proportional control valve to the first and second controllers; The present invention relates to a swing-type working vehicle that can selectively perform a manual swing operation using a first controller and an efficient automatic swing operation using a second controller, and more specifically, relates to an improvement in a swing operation structure.

Conventionally, in the above-mentioned swing-type work vehicle, the operating tool of the circuit switching device has been configured to be self-maintaining in each of the two switching states, but when a temporary manual operation is performed while the vehicle is automatically swinging, Although the manual operation time is limited, two separate operations are required: one to switch to the manual operation state, and one to return to the automatic operation state after the manual operation is completed.
For example, when a temporary manual operation is repeated several times because the operation is cumbersome and it is necessary to visually check the switching posture of the operating tool to confirm which operating state it is in. etc., there was a risk that the operator could misunderstand the operation status and cause an unexpected accident.

An object of the present invention is to make it possible to easily perform a switching operation for temporary manual operation during automatic turning, and to make it possible for the operator to accurately recognize the operation status. .

In order to achieve the above object, the swivel type work vehicle according to the present invention has a potentiometer coupled to a swivel base operating lever, and the operating direction and operation of the operating lever are determined based on voltage information from the potentiometer. a first control valve that detects the amount and operates an electromagnetic proportional control valve for forward/reverse operation and speed control operation of the swivel base in accordance with the operation state of the operation lever;
A controller is provided to rotate the swivel base in a direction that corresponds to the operation state of the operating lever based on information from the potentiometer, and a sensor for detecting an angle relative to the vehicle body of the swivel base; A second controller is provided for operating the electromagnetic proportional control valve so as to automatically stop the swivel base at the set angle to the vehicle body based on information from the stopping angle setting device, and the electromagnetic proportional control valve is provided. A swing-type working vehicle is provided with a circuit switching device that selectively connects a valve to the first and second controllers, wherein (a) the circuit switching device connects the first controller and the electromagnetic proportional A main changeover switch is provided for switching between a manual mode state in which the control valve is connected to the control valve and an automatic mode state in which the second controller and the electromagnetic proportional control valve are connected and self-maintains in the switched mode state. be.

(b) When the main changeover switch is switched to the automatic mode, pressing the operation button provided on the circuit switch switches the mode to the manual mode, and when the pressing operation is released, the switch switches to the manual mode. 2
The operating lever is biased to automatically return to a connected position where the controller and the electromagnetic proportional control valve are connected.

The characteristic configuration is that it has the configurations described in (a) and (b) above.

The effects of this characteristic configuration are as follows.

In other words, when the main changeover switch is switched to the automatic mode, while holding the turning operation lever and pressing the operation button provided on it, a state in which manual operation is possible can be created, and the operation can be performed manually. By ceasing to press the button, the automatic operation state can be automatically returned.

Therefore, as in the past, the switching operation to the manual operation state and the operation of returning to the automatic operation state are performed in two separate operations.
Compared to manual operation, temporary manual operation during automatic turning can be performed with just one hand operation, so you can quickly switch to manual operation and respond to emergencies during automatic turning. It is possible to respond quickly and improve safety.

Moreover, since the pilot is sure to recognize that the operation is in manual mode while pressing the operation button, it is easy to avoid misperception between manual and automatic conditions, and prevent unexpected accidents caused by such misperceptions. This enabled us to avoid this problem, improve turning maneuverability, and improve safety as a whole.

Next, an embodiment will be described based on FIGS. 1 to 3.

In the swing type excavation work vehicle as shown in Fig. 1,
To construct a turning operation structure for the traveling vehicle body 4 of the excavation work equipment 1 and the swivel base 3 provided with the boarding operation section 2, the operation state of the turning operation lever 5 is detected as shown in FIG. potentiometer 6
A valve controller 9 of an electromagnetic proportional control valve 8 and a potentiometer 6 are interlocked and connected to each other, and operate the swing motor 7 in forward and reverse directions, as well as in controlling the speed.
Based on the voltage information from potentiometer 6,
A first controller 10 that gives a command to the valve controller 9 to rotate the swivel base 3 in a direction commensurate with the operating direction of the lever 5 and at a speed corresponding to the operating amount of the lever 5 from the neutral position. It is connected via.

A rotary encoder-type rotation angle sensor 11 is attached to the rotation drive unit of the swivel base 3 to detect the rotation angle θ of the swivel base 3 with respect to the traveling vehicle body 4.
Based on the information from the rotation angle sensor 11 and the information from the potentiometer 6, the speed changes in a direction commensurate with the operating direction of the lever 5 and in a preset speed while issuing a command to start the lever operation. While rotating the swivel base 3 in this state, the setting device 12
Swivel base 3 at rotation angle θf with respect to the vehicle body set artificially by
A second controller 13 is provided in parallel with the first controller 10 to give a command to the valve controller 9 to stop the valve controller 9.
A manually operated circuit switch 14 is provided that selectively connects the controller 13 to the valve controller 9, so that manual turning operation by the first controller 10 and manual turning operation by the second controller 10 are performed.
It is configured such that automatic turning operation by the controller 13 can be selectively performed.

To configure the circuit switching device 14, an automatic recovery type operation button 15a of the auxiliary switch 15, which is always biased to the OFF state, is attached to the upper end of the grip part of the swing operating lever 5, and the other is energized to the OFF state from the ON state. Operating tools 16a for the main changeover switch 16 configured to be held in two switching positions are attached to the control panel, and both switches 15, 16 are
The first controller 10 is connected to the valve controller 5 when the operating voltage signal from the OR circuit 17 whose input signal is the voltage signal from the OR circuit 17 is in the HIGH state, and the second controller 13 is connected to the valve controller 9 when the operating voltage signal is in the LOW state. The operated side changeover switch 18 configured to
The main changeover switch 16 is interposed between both controllers 10, 13 and the valve controller 9, and as shown in FIG. When switching to the ON state and performing automatic turning operation, that is, when in the automatic mode state, the main changeover switch 16 is turned on.
In order to perform manual/automatic switching by switching the main switch 16 to the OFF state, or to perform a temporary manual turning operation during automatic turning after switching the main changeover switch 16 to the OFF state, a Only while you keep pressing the operation button 15a,
It is constructed so that a manual turning operation state can be brought out without requiring the operation of the main changeover switch 16.

Next, another embodiment will be described.

When configuring the circuit switch 14, FIG. 4 and
As shown in FIG. 5, an auxiliary switch 15', which is operated by an automatic restoring operation button 15a attached to the operation lever 5, is configured so that it can be switched to the OFF state by pressing the button 15a. AND with both voltage signals from the auxiliary switch 15' and the main changeover switch 16 as input signals
When the operating voltage signal from the circuit 17' is in the HIGH state, the second automatic controller 13 is connected to the valve controller 9,
Both controllers 1 are connected so that the first manual controller 10 is connected to the valve controller 9 in the LOW state.
0, 13 and the valve controller 9 may be configured as an operated side changeover switch 18'.

In addition, in the circuit switching device 14, the specific electricity of the operation button 15a provided on the swing operation lever 5 is biased so that the second controller 13 for automatic swing operation is automatically restored to the side connected to the valve controller 9. Various improvements to the circuit are possible.

INDUSTRIAL APPLICABILITY The present invention can be applied to swing-type working vehicles for various uses such as agricultural and construction purposes.

[Brief explanation of drawings]

1 to 3 show embodiments of the present invention,
FIG. 1 is an overall side view of the revolving excavation vehicle, FIG. 2 is a control circuit diagram, and FIG. 3 is a table showing switching patterns of control states. 4 and 5 show another embodiment of the present invention, FIG. 4 is a control circuit diagram, and FIG. 5 is a table showing switching patterns. 3... Swivel base, 5... Operating lever, 6... Potentiometer, 8... Solenoid proportional control valve, 10...
...first controller, 11...vehicle body angle detection sensor,
12... Vehicle stopping angle setter, 13... Second controller, 14... Circuit switch, 15a... Operation button, 16... Main changeover switch.

Claims (1)

[Claims] 1. Potentiometer 6 on swivel base 3 operating lever 5
an electromagnetic proportional control valve that detects the operating direction and operating amount of the operating lever 5 based on voltage information from the potentiometer 6, and also operates the swivel base 3 in forward and reverse directions and speed control. A first controller 10 is provided to operate the swivel base 3 in a direction corresponding to the operating state of the operating lever 5 based on information from the potentiometer 6. and a vehicle body angle detection sensor 11 of the swivel base 3 and a vehicle body stopping angle setting device 1 of the swivel base 3 so as to rotate the vehicle body.
A second controller 13 is provided to operate the electromagnetic proportional control valve 8 so as to automatically stop the swivel base 3 at a set angle of the vehicle body based on information from the electromagnetic proportional control valve 8. A swing-type working vehicle is equipped with a circuit switch 14 that selectively connects the first and second controllers 10 and 13 to the first and second controllers 10 and 13, and has the configuration described in the following (a) and (b). A rotating work vehicle that is characterized by: (a) The circuit switch 14 is connected to the first controller 10.
and the electromagnetic proportional control valve 8, and an automatic mode in which the second controller 13 and the electromagnetic proportional control valve 8 are connected. A main changeover switch 16 is provided for holding the switch. (b) Operation button 15 provided on the circuit switch 14
a is switched to the manual mode by a pressing operation when the main changeover switch 16 is switched to the automatic mode, and when the pressing operation is released, the second controller 13 and the electromagnetic proportional control are switched. The operating lever 5 is biased to automatically return to the connection position where the valve 8 is connected.