JPH0434135A - Turning operation structure for working vehicle - Google Patents

Abstract

PURPOSE:To facilitate turning regulation by providing a control means for setting a control target turning speed through a control switching means provided on the potentiometer of a turning base turning lever and automatically increasing and decreasing a turning driving motor to this speed. CONSTITUTION:A turning operation structure is provided with control means 11 for setting a control target turning speed from the detected operating position by the potentiometer P5 of an operation lever 10b and automatically increasing and decreasing a turning base driving motor M to this speed. In the control unit 11, the target turning speed is set in the potentiometer P5 of the operation lever 10b by the information of a lever speed detecting means 13 and a maximum speed detecting means 16 and a scheduled speed setting means 15 through a control switching means 14, and this signal is outputted to a valve driving circuit D to automatically operate a turning motor M to the control target turning speed. The turning speed of a turning base thus can be easily regulated.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention provides a potentiometer that detects the operating position of an operating lever, sets a control target turning speed based on the operating position detected by the potentiometer, and controls the control. The present invention relates to a turning operation structure for a working vehicle, which is provided with a control means for automatically increasing or decelerating a turning motor for driving a turning base to a target turning speed.

[Conventional technology]

In the above-mentioned work vehicle, the turning speed has conventionally been determined due to the setting condition of the control target setting standard that is provided to enable the control means to set the control target turning speed based on the detected operation position by the potentiometer. In order to make it easier to make fine adjustments, it is necessary to make the speed that changes with the operation of the control lever small relative to the lever stroke, so it is necessary to make it possible to make fine adjustments between the maximum possible turning speed and the turning stop. The lever stroke required to switch to the other side was relatively large.

[Problem to be solved by the invention]

Therefore, conventionally, it has been easy to make fine adjustments to the turning speed, but it has been difficult to make fine adjustments to the turning speed by moving the control lever over a wide range.
Either the swing has to be stopped, resulting in poor operability, or the swing speed reaches its maximum speed just by operating the control lever with a relatively small stroke, or the swing stops, resulting in good operability, but Just a slight movement of the lever caused a large change in the turning speed, making it difficult to make fine adjustments to the turning speed.

It is an object of the present invention to make it possible to finely adjust the swing speed and to switch between stopping and maximum speed, and to make it relatively easy to stop the swing, and to make it possible to stop the swing even if the lever is operated. The goal is to make it appear smoothly.

[Means to solve the problem]

In order to achieve the object of the turning operation structure for a work vehicle according to the present invention, in the structure described at the beginning, when the operation lever is located at an operation position on the high speed side from the set low speed position, the control means controls the control target. a shift-side reference for setting a turning speed, a first stop-side reference for the control means to set a control target turning speed when the operating lever is located at a low-speed operating position below the set low-speed position; 2 stop-side standards are provided, the shift-side reference is a reference for changing and setting the control target turning speed in accordance with a change in the detected operation position, and the first stop-side reference is the lowest speed set by the shift-side reference. This is a standard for setting a control target turning speed lower than the control target turning speed, and the second stop side reference is the first control target turning speed.
a reference portion, and a second reference portion for a lower speed side than the first reference portion.
and a reference part, the first reference part being a control target turning speed of the lowest speed set by the speed change side reference until a set time elapses after the detection operation position reaches the set low speed position. The second reference portion is a reference for setting a control target turning speed equal to the speed constant regardless of changes in the detection operation position, and the second reference portion is set after setting by the first reference portion. a reference for setting a control target turning speed lower than the control target turning speed set by the control section, lever speed detection means for detecting a speed at which the operating lever passes the set low speed position in the deceleration side; If the speed detected by the speed detecting means is less than the set speed, the control means is automatically switched to a first control state in which a control target turning speed is set based on the first stop side reference, and the lever speed is detected. If the speed detected by the means is equal to or higher than the set speed, the control means is
The second part sets the control target turning speed based on the stop side reference.
A control switching means is provided for automatically switching to a controlled state. The functions and effects thereof are as follows.

Furthermore, it would be even more advantageous if a third stop-side reference is provided and the control means is configured to be switched to a third control state that operates based on the third stop-side reference.

[For production]

The standard for the control means to set the control target turning speed is
consisting of a shift side reference and a first stop side reference, or
It consists of a shift side reference and a second stop side reference. Regardless of which standard is used, depending on the setting of each standard, when the operating lever is located on the high speed side from the set low speed position, the operating lever may This can be made smaller than during the speed change that occurs when switching from the set low speed position to a lower speed side. In other words, at a higher speed than the set low speed position, operating the lever will only change the turning speed relatively slightly. When operating, the swing speed changes relatively rapidly, the stroke between the highest speed position of the operating lever and the set low speed position is relatively large, and the total stroke of the operating lever is relatively small. It can be made to become.

Furthermore, since the speed at which the operating lever is operated to switch from the set low speed position to the stop side is proportional to the speed at which the operating lever passes through the set low speed position, the set speed and set time should be appropriately set. Therefore, when the control lever is rapidly switched from the set low speed position to the stop position, the control target turning speed is set based on the second stop side reference, and the actual turning speed is lower than the setting speed when the control lever is switched. It switches to the stop side with a delay in time, and stops with less impact even if it occurs, or is less likely to generate a stop impact compared to switching based on the target speed setting based on the first stop side reference.

Furthermore, when the configuration of the second claim is provided, the stop control based on the second stop side criterion and the stop control based on the third stop side criterion are selected based on the determination of the turning speed before the stop operation is performed. It is possible to stop the robot quickly and with less impact, regardless of the maximum turning speed before the stop operation.

〔Effect of the invention〕

It is possible to easily and precisely turn the swivel base as quickly as possible near the target stop position while finely adjusting the speed, and when the target stop position is reached, it is possible to quickly switch to a stop in terms of lever stroke. It has become easier and more accurate to work efficiently.

Moreover, even if the operating lever is suddenly switched, the swivel base will not suddenly stop, and the shock of stopping will be less likely to be transmitted to the operating section, allowing for safer and more comfortable work.

When the configuration according to the second claim is provided, when the maximum turning speed before the stop operation is relatively small, it is possible to stop more quickly, and when it is relatively large, it is possible to stop with less shock. It will be even better in terms of safety and livability.

〔Example〕

Next, examples will be shown.

As shown in Fig. 7, a swivel base (2) is attached to a crawler type traveling machine base having a dozer (1), and this swivel base (2) is equipped with a driving section (3) and a driving section (4). At the same time, a backhoe device (5) is attached to form a backhoe with a dozer.

The boom (6) and boom cylinder (C1) constituting the backhoe device (5) are attached to a location located on the lateral side of the operating section (3) of the swivel base (2). As shown in FIG. 6, the intermediate portion (6C) connecting the proximal portion (6a) and the distal portion (6b) of the boom (6) can be swung by an offset cylinder (C4). When this rocking operation is performed, the links attached to the boom base end part (6a) and the boom tip end part (6b) will be attached to the arm (7a) or (7b), and this "
In order to install the link, the link (7) is installed on the arms (7a) and (7b), and the boom middle part (6C) constitutes a 1,000-row four-link mechanism. ) moves in the lateral direction of the swivel base relative to the boom base end portion (6a), and the arm (8) moves relative to the boom base end portion (6a).
The swivel table is configured to move in parallel in the lateral direction with respect to a).

In other words, the arm (8
), packet (9)
is located at one lateral end side of the traveling machine to enable ditch digging, and offset operation of the arm (8),
By lifting the boom (6) and pulling the arm (8), the packet (
9) is located on its side opposite to the operating section side, and the backhoe device (5) is configured so that it can be stored in a small turning storage state in which the entire backhoe device (5) enters within the turning radius of the turning base (2). be.

To enable the operation of the backhoe device (5) and the swivel table (2), a pair of left and right operating levers (10a), (10
b) and an offset switch (SW)' are provided in the driving part (3), and these operating levers (10a)
, (10b) and offset switch (SW), the hydraulic boom cylinder (C+) and arm cylinder (
C1), a packet cylinder (C1), an offset cylinder (C4), and a swing motor (M), the control device is configured as shown in FIG.

That is, the operating position of one operating lever (10a) in the longitudinal direction of the swivel base and the operating position of the swivel base in the lateral direction are separately detected by potentiometers (PI) and (P1), and the operating position of the other operating lever (10a) is detected separately. The operating position of the operating lever (10b) in the longitudinal direction of the swivel table and the operative position in the lateral direction of the swivel table are separately detected by potentiometers (P1) and (P1). Boom cylinder (boom valve (vl) connected to Cυ, arm cylinder (C1)
The arm valve (Vri) connected to the packet cylinder (C
3) packet valve (■1) connected to the offset cylinder (C4), offset valve (v4) connected to the offset cylinder (C4),
And a swing valve (V1) connected to a swing motor (M)
Each of them is configured as an electromagnetic proportional control valve, and the boom valve (V1), arm valve (V1), and packet valve <
VS>, offset valve (V1) and swing valve (V
The potentiometers (P+), (Pt)- are connected to the valve control means (11) linked to the valve drive circuits (Dl) or (D1) or (D1) or (D1) or (Dl) respectively in 1). (Ps) and (P1), and the offset switch (SW).

Then, when the operating lever (10a) is manually operated in the longitudinal direction of the swivel base, the valve control means (11) automatically outputs a signal to the boom drive circuit (Dl) based on the operating position detected by the potentiometer (P1), and the boom valve (vl)
When the operating lever (10a) is manually operated in the horizontal direction of the swivel table, the valve control means (11) automatically outputs a signal to the valve drive circuit (D1) based on the operating position detected by the potentiometer (P1). The packet valve (V1) is configured to be operated by switching the packet valve (V1). When the operating lever (10b) is manually operated in the front and rear direction of the swivel table, the valve control means (11) automatically switches to the potentiometer (P
Based on the operating position detected by 1), the valve drive circuit (D1
) to switch the arm valve (V1) and manually operate the operating lever (IQb) in the lateral direction of the swivel table, the valve control means (11) is automatically moved to the detection operating position by the potentiometer (P1). Based on this, a signal is output to the valve drive circuit (D1) to switch and operate the swing valve (V1). Offset switch (SW
) is manually switched by the switch lever (12), the valve control means (11) automatically outputs a signal to the valve drive circuit (D4) based on information from the offset switch (SW), and the offset valve ( v4) for switching operation.

To explain the swing operation structure in more detail, the valve control means (11) sets signal processing for operating the swing valve (V1) based on information from the potentiometer (P1), and controls the operation lever (10b). Due to the flexibility in the mounting part, the left turning side operating position (L1) or right turning side operating position (R1) of the operating lever (10b) can be adjusted.
) or R6) are arranged as shown in FIG.
As shown in Fig. 1, the control switching means (14) linked to the potentiometer (Pl) via the lever speed detecting means (13) and the maximum speed detecting means (16), and the preset axis shown in Fig. 3. Setting the control target turning speed (F) based on each of the standards for setting the control target turning speed, such as,
By outputting a signal that causes the control target swing speed (F) to appear to the valve drive circuit (Di) and switching the swing valve (V1), the swing motor (14) is controlled to the control target swing speed CF. It is configured to operate automatically.

That is, when the control lever (10b) is operated to the starting position (L1) or (R2), the control target turning speed (F) is set to the starting speed (F1) based on the speed change side reference (X), and the turning motor ( M) begins to rotate to the left or right. Move the operating lever (10b) to the starting position (L1) or (R
8) to the operating position (L3) or (R,), the control target swing speed (F) is set based on the horizontal reference portion (Xa) of the speed change side reference (X), and the swing motor (M) rotates to the left or right at the starting speed (F1) and maintains the starting speed (F1) regardless of the operation of the control lever (10b). Operation lever (
10b) from the operating position (L1) or (R1) to the operating position (L4) or (R4),
The control target turning speed (F) is set based on the tilt reference portion (Xb) of the shift side reference (X), and this tilt reference portion (Xb) is determined by changes in the operating position (S) detected by the potentiometer (P1). Since the control target turning speed (F) is configured to be changed and set in accordance with At the same time, the speed increases or decreases as the operating lever is operated.

Move the operating lever (10b) to operating position (L1) or (R4).
) to the stroke end position (Ls) or (R,), the control target swing speed (F) is set based on the maximum speed reference (Y), and the swing motor (M)
rotates to the left or right at the maximum speed (Pi), and maintains the maximum speed (Fm) regardless of the operation of the control lever (10b).

The maximum speed detection means (16) detects the operating position (A) between when the operating lever (10b) is operated to the starting position (L1) or (R1) and until it is operated to the stopping position (Ll) or (R1). ) or not is determined based on information from the potentiometer (P1), and when it is determined that the operation has been made to a higher speed than the operating position (A), the operating lever (10b) is moved to the starting position ( L1) or (R1)
The maximum turning speed that appears before passing through to the deceleration side is the speed (
When it is determined that the operating lever (10b) has been operated only up to the operating position (A), the operating lever (10b)
b) is configured to detect that the maximum turning speed developed until passing the starting position (L1) or (R3) on the deceleration side is on the low speed side, which is less than the speed (Fa). Move the operating lever (10b) to the starting position it (Lm) or (
L1) to the stop side, the lever speed detection means (
13) detects the speed at which the operating lever (10b) passes the starting position (L1) or (R2) as the set low speed position on the deceleration side based on the change speed of the operating position (S) detected by the potentiometer (Ps). The control switching means (14) compares the speed detected by the lever speed detecting means (13) with the speed set by the speed setting means (15), so that the speed detected by the lever speed detecting means (13) is determined by the speed detected by the lever speed detecting means (13). In addition to determining whether the speed is smaller than the set speed,
The control state of the valve control means (11) is automatically switched based on the result of this discrimination and the result of detection by the maximum speed detection means (16). That is,
When it is determined that the detected speed is less than the set speed, regardless of the detection result by the maximum speed detection means (16), the valve control means (11) is switched to the first control state; is determined to be equal to or higher than the set speed, and when the maximum turning speed that has appeared up to that point is on the low speed side, the valve control means (11) is switched to the second control state and the detected speed is determined to be equal to or higher than the set speed. When it is determined that this is the case, and the maximum turning speed that has been developed up to that point is on the high speed side, the valve control means (11) is operated to switch to the third control state. When the valve control means (11) enters the first control state, it sets the control target turning speed (F) based on the first stop side reference (Z+) as shown in FIG. 3, and enters the second control state. Sometimes control target turning speed (F)
is set based on the second stop side reference (Z1) as shown in Fig. 4, and when the third control state is reached, the control target turning speed (
F) is configured to be set based on the third stop side reference (Z1) as shown in FIG. 1st stop side reference (Zl)
is formed so that the minimum speed (F1), which is lower than the starting speed (F1) which is the lowest control target turning speed set by the speed change side reference (X), is set as the control target turning speed. The second stop side reference (2,) is the first reference part (h
), and a second reference part (1) on the lower speed side than the first reference part (h), and the first reference part (h) has a detection operation position (S) by a potentiometer (P1) at a starting position of 1t.
(L2) or (R8) until the set time elapses, the startup speed (F1) is controlled to the target turning speed (F
), and is configured to be maintained constant regardless of changes in the detection operation position (S) by the potentiometer (P1). The second reference portion (f) is
After the setting by the reference part (h), the first reference part (h)
The minimum speed (F1), which is lower than the starting speed (F1) which is the control target turning speed (T) set by the control target turning speed (T), is set as the control target turning speed (F). The third stop side reference (Z1) is the high speed side reference part (Za)
and a low-speed reference part (Zb), and the high-speed reference part (Za) is a reference part (Za) that is connected to the first reference after the operating position (S) detected by the potentiometer (Ps) reaches the starting position (L1) or (R8). Until the second set time, which is longer than the set time according to part (h), has elapsed, the starting speed (F1) is set as the control target turning speed (F), and the detected operation position (S) is changed by the potentiometer (P1). It is configured so that it is maintained constant regardless of the setting. The low-speed reference portion (Zb) is formed so that the lowest speed (Fl) is set as the control target turning speed (P) after the setting by the high-speed reference portion (Za).

In other words, when the operating lever (10b) is operated to the stop position (S1) or (R1), the operating lever at this time <10b
) at the starting position (L1) or (R1) is lower than the speed set by the speed setting means (15) as the maximum speed that requires stop shock suppression, the control target turning speed (F ) is the first stop side reference (Z1)
The rotation motor (M) is set based on the operating lever (1
The drive is stopped in good response to the movement of 0b).

When the speed at which the operating lever (10b) passes through the starting position (L1) or (R3) is equal to or higher than the speed set by the speed setting means (15), the maximum turning speed that has appeared up to this point is on the low speed side. If so, control target turning speed (F)
is set based on the second stop-side reference (Z1), and the swing motor (M) is maintained at the starting speed (F1) for the set time and then stops driving. Then, press the operating lever (
If the maximum turning speed developed before passing the starting position (S1) or (R1) of 10b) is on the high speed side, the control target turning speed (F) is based on the third stop side reference (Z1). The rotation motor (M) is maintained at the starting speed (Ft) for the second set time and then stops driving.

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 the drawing]

The drawings show an embodiment of the turning operation structure for a working vehicle according to the present invention, and FIG. 1 is a block diagram of the control system, FIG. 2 is an explanatory diagram of the operation lever operation position, and FIGS. 3, 4, and 5. The figure is an explanatory diagram of the standard for setting the turning speed, Figure 6 is a plan view of the backhoe device, Figure 7 is a side view of the entire backhoe with dozer, and Figure 8 is a side view of the entire backhoe with dozer.
The figure is a side view of the backhoe device in a stored state. (10b)... Operation lever, (11)...
...control means, (13) ... lever speed detection means, (14) ... control switching means, (LX),
(R1)...Setting low speed position, (S)...
...Detection operation position, (M)...Swivel motor, (
X)...Shift side reference, (2,)...First stop side reference, (Z1)...Second stop side reference,
(h)...First reference part, (ri...Second reference part, (2,)...Third stop side reference, (
Za)...High speed side reference part, (Zb)...
・Low speed side reference part. Figure 2

Claims (1)

[Claims] 1. A potentiometer (P_5) is provided to detect the operating position of the operating lever (10b), and the control target turning speed (F) is determined based on the operating position (S) detected by the potentiometer (P_5). A swing operation structure for a work vehicle, comprising a control means (11) for automatically increasing or decelerating a swing motor (M) for driving a swing base to this controlled target swing speed (F), The lever (10b) is at the set low speed position (L_2),
(R_2) A shift side reference (X) for setting the control target turning speed (F) by the control means (11) when the control means (11) is located at the operating position on the higher speed side, and the operating lever (10b) is at the set lower speed position. A first stop-side reference (Z_1) and a second stop-side reference (Z_2) are provided for the control means (11) to set a control target turning speed (F) when the control means (11) is located at the following low-speed operation position, The shift-side reference (X) is a reference for changing and setting the control target turning speed (F) in accordance with the change in the detected operation position (S), and the first stop-side reference (Z_1) is the shift-side reference ( X)
It is a standard for setting a control target turning speed lower than the lowest control target turning speed set by h) a second reference portion (l) for a lower speed side, and the first reference portion (h) is configured when the detection operation position (S) is at the set low speed position (L_2), (R_2). Until the set time elapses, the control target turning speed is maintained at a speed equal to the lowest control target turning speed set by the speed change side reference (X), regardless of the change in the detection operation position (S). The second reference portion (l) is a reference that is maintained constant and set, and the second reference portion (l) is a control target turning speed set by the first reference portion (h) after the first reference portion (h) is set. This is a reference for setting a lower control target turning speed, and the control lever (10b) is at the set low speed position (L_2).
), (R_2) to the deceleration side, and if the speed detected by the lever speed detection means (13) is less than the set speed, the control means (11) is automatically switched to a first control state in which a control target turning speed (F) is set based on the first stop side reference (Z_1), and the speed detected by the lever speed detection means (13) is the set speed. With the above, the control switching means (14) automatically switches the control means (11) to the second control state in which the control target turning speed (F) is set based on the second stop side reference (Z_2). The swing operation structure of the installed work vehicle. 2. When the operating lever (10b) is located at a lower speed operating position below the set low speed position, the control means (11
) provides a third stop-side reference (Z_3) for setting the control target turning speed (F), and this third stop-side reference (Z_3)
) is the high speed side reference part (Za) and the low speed side reference part (Zb
), and the high speed side reference portion (Za) is such that the detection operation position (S) is the set low speed position (L_2), (R
__2) until a second set time that is longer than the set time according to the first reference portion (h) elapses, the control target turning speed of the lowest speed set by the shift side reference (X) It is a reference for maintaining and setting a control target turning speed of the same speed constant regardless of changes in the detection operation position, and the low speed side reference portion (Zb) is the same as the high speed side reference portion (Zb).
After setting by Za), the high speed side reference part (Za)
The control switching means (14) is a standard for setting a control target turning speed lower than the control target turning speed set by Based on the detected speed according to (13), the control means (11) is automatically switched to the second control state and the third control state in which the control target turning speed is set based on the third stop side reference (Z_3). 2. The turning operation structure for a working vehicle according to claim 1, wherein the turning operation structure is a means for switching the working vehicle.