JPH048575B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention provides a hydraulic motor for rotating the swivel base, a hydraulic motor for rotating the swivel base, a dozer device and a swivel base equipped with an excavation work device, and a dozer device. A valve for forward/reverse drive and stop operation is provided, as well as a detector for detecting the angle of the swivel base relative to the vehicle body, a setting device for setting the angle relative to the vehicle body at which the swivel base should be stopped, and a detecting state of operation of the operation valve. a device, and a switching tool for selecting an automatic operation mode and a manual mode of the swivel base, and in the swivel base automatic operation mode, the setting device controls the operation state based on the information from the operation state detection device and the angle detector relative to the vehicle body. The present invention relates to a swivel type work vehicle that is provided with a control device that automatically operates the valve so as to automatically stop the swivel base at a set stop/start position.

[Prior Art] In the above-mentioned swivel type work vehicle, when the swivel base is automatically stopped at a stop position set by the control device, the traveling vehicle body moves relative to the ground due to the impact when the swivel stops. In order to suppress this movement of the traveling vehicle body, conventionally, the dozer device was brought to the ground by manual operation using its operating tool before automatically turning and stopping.

[Problem that the invention seeks to solve]

However, it is extremely troublesome to manually ground the dozer device each time before automatically stopping the rotation using the control device, and there is a risk of forgetting to perform the dozer grounding operation.

An object of the present invention is to configure a dozer device so that it can be grounded without any manual operation when using a control device that automatically stops turning.

[Means for solving problems]

Characteristic configurations of the swing-type work vehicle of the present invention include a first detector that detects whether the traveling device is in a stopped state;
A second device detecting whether or not the dozer device is in a lifting/lowering stopped state.
a detector is provided, and in the swing automatic stop mode, based on information from the first and second detectors, when traveling and dozer lifting and lowering are stopped, a grounding command signal is issued to the operation unit of the dozer device, and Provided with an output device that issues an ascending command signal to the operating section of the dozer device when the dozer is in a running operation state and when the dozer is stopped in ascending and descending state,
The output device is provided with a priority circuit that prioritizes and transmits the elevation command signal from the operating tool of the dozer device to the operating section, and its effects are as follows.

[Effect]

In other words, if you set the switching device to the automatic turning operation mode without operating the traveling device or dozer device, the output device will automatically issue a command signal to ground the dozer device, and the dozer device will immediately operate the grounding operation and automatically turn the device. Even when the vehicle is stopped, the traveling vehicle body does not move due to the impact at the time of stopping. Also, if you try to perform a traveling operation while the switching tool is in the automatic turning operation mode,
The dozer device is automatically raised by the signal from the output device and can travel without resistance. In addition, the priority circuit provided in the output device allows the dozer device to be operated manually even if the dozer device's automatic lifting command signal is issued from the output device. The department was informed,
Manual operation of the dozer device is possible under any conditions.

〔Effect of the invention〕

Therefore, even if the control device automatically stops turning, even if the user forgets to perform the manual grounding operation of the dozer device, the turning operation can be performed smoothly and efficiently while automatically preventing the vehicle body from shifting relative to the ground.
Moreover, even if you forget to switch from automatic swing mode to manual mode when driving, you can drive smoothly without being hindered by the dozer device, and even if you forget to cancel the automatic swing stop mode, The dozer device could be operated without any problems, and overall workability and operability were improved.

〔Example〕

Next, embodiments of the present invention will be described based on the drawings.

As shown in FIG. 3, a swivel base 2 is attached to a traveling vehicle body 1 to which a crawler 30 and a dozer device 31 are attached so that it can be driven and rotated freely, and a tower riding driving section 3 is provided on the swivel base 2. 4 is attached and attached to form a revolving excavation work vehicle.

As shown in FIG. 1A, the swing drive motor 5 and the corresponding hydraulic pump 6 are connected to an oil path via an operating valve 7 that switches the swing operating state to right turn, left turn, and stop. The operating valve 7 is also configured to serve as a proportional flow control valve 8 that continuously adjusts the amount of oil supplied to the motor 5 in the drive operating position.

A pair of proportional electromagnetic valves 10A and 10B are provided for switching and proportionally adjusting the operation valve 7 (flow control valve 8) using pilot pressure oil supplied from the control hydraulic pump 9. The valve controller 11 for the electromagnetic valves 10A and 10B is configured to perform a swing driving operation in each direction to the left and right, a swing stop operation, and a swing speed adjustment operation.

In the figure, 12 indicates the swivel base 2 during the swivel stop operation.
It is a valve mechanism that prevents inertial free rotation of the
Reference numeral 13 denotes a safety valve mechanism that avoids unreasonable motor drive when the swing load is overloaded by short-circuiting the outgoing oil passage.

A device 15 consisting of a potentiometer for detecting the operating state of the operating lever 14 (that is, the operating state of the operating valves 7 and 8) is attached to the operating lever 14 provided in the operating section 3, and the rotating base 2
A detector 17 for detecting the angle θ relative to the vehicle body is constituted by a rotary encoder and is attached to the turning drive section.

Then, when the switching tool 18 for selecting the automatic operation mode and manual mode of the swivel base 2 is in the manual state,
Based on the information from the operation state detection device 15, the swivel base 2 is driven to rotate in a direction commensurate with the operation direction of the operation lever 14 and at a speed corresponding to the swing operation amount of the operation lever 14. A command is given to the valve controller 11 in the form of a voltage signal to operate the operation valves 7 and 8, and on the other hand, the switching tool 1
8 is in the automatic state, the operation state detection device 1
5, and based on the information from the vehicle body angle detector 17, turn in a direction commensurate with the operating direction of the lever 14 and in a preset turning speed pattern with lever operation as a starting command. The table 2 is automatically driven to rotate, and the setting devices 19A and 19B
A microcomputer constitutes a control device 20 that similarly issues commands to the valve controller 11 to automatically operate the operating valves 7 and 8 so as to automatically stop the swivel base 2 at the stop position θf that has been manually set by It is constructed so that manual turning control and automatic turning control can be performed selectively.

A push-button switch 21 that is biased toward the OFF side is attached to the grip portion of the operating lever 14, and the push-button switch 21 is connected to the automatic manual switching circuit in the control device 20 so that the push-button switch 21 is turned ON. If the push button switch 2 is connected so that the swing control state becomes the manual control state when the switch 18 is in the automatic swing control state, the push button switch 2
The automatic turning control state can be canceled and manual turning control can be performed only while 1 is being pressed.

The setting devices 19A and 19B are used to separately set the stop position when turning to the right and the stop position when turning to the left.

The other additional device shown in FIG. 1A will be explained.

In the automatic turning control state, the automatic turning range set by each setter 19A, 19B is displayed by selective lighting of multiple lamps 22A arranged circumferentially as angle display scales. This is a display device that displays the rotation phase with respect to the set stop position θf based on the relative positional relationship between the reference marker 22B with respect to the scale and the lamp 22A in the lit state.

Reference numeral 23 denotes an auxiliary body-to-vehicle angle detector composed of a photo interrupter, and the control device 20 compares the body-to-body angle information given from this with the body-to-body angle information given from the aforementioned body angle detector 17. By doing so, it is configured to check whether or not the original vehicle body angle detector 17 is operating normally.

24 is a control device 20 when a trouble occurs in the above-mentioned body angle detector 17 or the control device 20 itself, etc.
Based on commands from the built-in trouble detection circuit,
Also, each switch 18, 19A, 19B, 21, 2
This is a buzzer that is automatically activated by a command from the control device 20 for a predetermined short period of time to notify the switching when the switch 5 is operated.

25 is turned on when the set stop position θf deviates from the ground due to reactionary movement of the vehicle body 1, etc., with the swivel base 2 manually swiveled to the ground position where it should have stopped. This is a deviation correction switch for automatically correcting the two stop positions θf set by both setters 19A and 19B by the amount of deviation movement of the vehicle body 1 simultaneously within the control device 20.

Reference numeral 26 denotes a device that makes an emergency stop of the engine E in response to a manual operation of an engine stop pedal 26A provided in the operating section 3 or a command from a trouble detection circuit within the control device 20.

27 is a connection from the control device 20 to the valve controller 11
This is a speed regulator that changes the swing speed level during automatic swing control and manual swing control by changing the voltage level of the voltage signal applied to the swing control.

28 is each switch 18, 25, setting device 19
This is a lamp that displays the operating status of A and 19B.

As shown in FIG. 1B, the dozer lifting cylinder 32 and its corresponding hydraulic pump 33 are connected to an oil path through an electromagnetic proportional valve 34 that switches between the lifting and lowering states, and a hydraulic pump 35 for controlling the cylinder 32 and a hydraulic pump 33 for driving the dozer A pair of proportional electromagnetic valves 36A and 36B are also provided for switching and proportionally adjusting the electromagnetic proportional valve 34 using the supplied pilot pressure oil, and commands to the valve controller 37 for these electromagnetic valves 36A and 36B are also provided. The operating section 43 of the dozer device is configured to perform up and down operations.

Potentiometers PM 1 , PM 2 , PM 3 are attached to the dozer lever 38 for raising and lowering the dozer and the travel levers 39A and 39B provided in the driving section 3, respectively, and potentiometers PM ₁ , PM ₂ , PM _{3 are attached to the dozer lever 38 for raising and lowering the dozer, and potentiometers PM 3} are attached to the dozer lever 38 for raising and lowering the dozer, respectively. Equipped with a yometer PM ₄ , and
A first detector 40 that detects whether or not the travel levers 39A and 39B are operated to travel, and a second detector 41 that detects whether or not the dozer lever 38 is operated are provided.

Then, as a starting command to switch the switching tool 18 to the automatic swing mode, the first detector 40, the second detector 4, as shown in the flowchart of FIG.
1, and based on the information from potentiometer PM ₄ , when no traveling operation or dozer lifting/lowering operation is being performed in the swing automatic stop mode,
Valve controller 3 of operation unit 43 of dozer device 31
An output device 42 is provided to issue a ground command signal to the valve controller 37 when the dozer lever 38 is operated and an output device 42 is provided which issues a grounding command signal to the valve controller 37 when the dozer is in a running state and when the dozer lift operation is stopped. A priority circuit is provided which gives priority to the lift command signal from the potentiometer PM ₁ and transmits it to the operating section 43.

[Another example]

Instead of the crawler 30, wheels may be provided, and these are simply referred to as a traveling device.

Instead of the backhoe device 4, a face shovel device may be used, and these devices are collectively referred to as excavation work devices.

The operation valve 7 for switching the swivel base 2 to right rotation, left rotation, and stop may be configured separately from the control valve 8 that changes the amount of oil supplied to the motor 5 to change the rotation speed. , the specific operating configuration of the control device 20 for the valves 7 and 8 can also be modified in various ways.

The present invention is directed to various types of swing-type work vehicles for various uses such as agricultural use and construction use.

Further, the first detector 40 includes a travel lever 39
In addition to detecting the presence or absence of operations by A and 39B,
The second detector 41 may detect whether or not the traveling device 30 or the drive unit of the traveling device 30 is actually stopped, and the second detector 41 may detect whether the dozer lever 38 is operated or not. Alternatively, it may be possible to detect whether or not the operating section 43 has actually stopped moving up and down.

In order to detect the position of the dozer device 31, the dozer cylinder 3 is used in addition to the potentiometer PM ₄ .
A sensor that detects pressure may also be used.

The dozer lever 38 and its potentiometer PM ₁ are referred to as operating tools of the dozer device 31.

[Brief explanation of drawings]

The drawings show an embodiment of the swing-type work vehicle according to the present invention, and FIG. 1A and B are an operation system diagram, FIG. 2 is a flowchart, and FIG. 3 is an overall side view. DESCRIPTION OF SYMBOLS 1... Traveling vehicle body, 2... Turning table, 4... Excavation work device, 5... Hydraulic motor, 7... Valve, 15
...Operating state detection device, 17... Angle detector relative to the vehicle body, 18... Switching tool, 19A, 19B... Setting device, 20... Control device, 30... Traveling device, 31
...Dozer device, 40, 41...Detector, 42...
...output device, 43...operation unit, 44...operation tool,
θf...stop position.

Claims (1)

[Claims] 1. A swivel base 2 equipped with an excavation work device 4 and a dozer device 31 are attached to the traveling vehicle body 1, and a hydraulic motor 5 for rotating the swivel base 2 and a valve 7 for driving the hydraulic motor 5 in forward and reverse directions and for stopping the operation are installed. A detector 17 for detecting the angle of the swivel base 2 relative to the vehicle body, setting devices 19A and 19B for setting the position θf relative to the vehicle body at which the swivel base 2 should be stopped, and a device for detecting the operating state of the operating valve 7. 15, and a switching tool 18 for selecting an automatic operation mode and a manual mode of the swivel base, the operation state detection device 15 and the angle detector 1 relative to the vehicle body in the swivel base automatic operation mode.
Based on the information from 7, the setting devices 19A, 19
A swivel type work vehicle is provided with a control device 20 that automatically operates the valve 7 so as to automatically stop the swivel base 2 at a stop position θf set by B,
A first detector 40 that detects whether the traveling device 30 is in a stopped state, and a second detector 41 that detects whether the dozer device 31 is in a lifted/lowered stopped state are provided, and in the turning automatic stop mode, Said first
Based on the information from the second detectors 40 and 41, a grounding command signal is issued to the operation unit 43 of the dozer device 31 when traveling and dozer elevation is stopped, and when the dozer is in the traveling operation state, the dozer elevation is stopped. An output device 42 is provided on the operating section 43 of the dozer device 31 to issue an ascending command signal, and the output device 42
A swing-type working vehicle is provided with a priority circuit for transmitting a lifting command signal from an operating tool of the dozer device 31 to the operating section 43 with priority.