JPH0622163U - Work vehicle - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] To provide a work vehicle provided with a hydraulic continuously variable transmission mechanism 45 that performs a spin-turn operation by left and right independent traveling drive. [Arrangement] An angular acceleration sensor 63 for detecting the angular acceleration of the airframe during a spin turn is provided, and the spin turn speed at the start of the spin turn is corrected based on the output of the sensor 63. By limiting the spin turn speed by the angular acceleration of the aircraft, it is possible to prevent the spin turn speed from increasing due to the road surface condition, etc., and it is possible to easily reduce the anxiety given to the operator, and the aircraft during the spin turn. It is possible to easily prevent side slips or falls, and it is possible to easily improve stability and safety.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a work vehicle that travels, for example, on stairs to enter an underground mall and performs rescue work in the event of an accident such as a flame.

[0002]

[Prior art]

 Conventionally, there has been a technology that independently drives the left and right traveling rollers by a hydraulic continuously variable transmission mechanism including a hydraulic pump and a motor to perform forward / backward movement, turning, and spin turn operation.

[0003]

[Problems to be solved by the device]

 In the prior art, when a spin turn operation is performed, there is a case where the traveling speed when straight ahead is multiplied by a constant coefficient to determine the spin turn speed, and a case where the vehicle speed is decelerated to a constant speed to obtain the spin turn speed. However, the spin turn speed may change depending on the road surface condition when performing a spin turn, and when the spin turn speed becomes faster, the operator is likely to feel anxiety and at the start of the spin turn, the aircraft will move to the left and right directions. There was a problem that accidents such as slipping or falling were likely to occur.

[0004]

[Means for Solving the Problems]

 Therefore, the present invention provides a work vehicle equipped with a hydraulic continuously variable transmission mechanism that performs a spin turn operation by left and right independent traveling drive, and provides an angular acceleration sensor for detecting the angular acceleration of the machine body during a spin turn, and based on the sensor output, It is configured to correct the spin turn speed at the start of the spin turn.By limiting the spin turn speed by the angular acceleration of the aircraft when performing the spin turn, the spin turn speed is increased due to factors such as road surface conditions. It is possible to easily prevent the operator from feeling uneasy, and also to easily prevent the vehicle from skidding or falling during a spin turn, thus improving stability and safety. It is possible.

[0005]

【Example】

 An embodiment of the present invention will be described below in detail with reference to the drawings. 1 is a travel control circuit diagram, FIG. 2 is an overall side view, FIG. 3 is the same side view, FIG. 4 is the same front view, FIG. 5 is the same back view, and FIG. 6 is a plan view. The middle (1) is a work vehicle for traveling on sloping terrain, (2) is a driving cabin in which a driver's seat (3) and a driving operation unit (4) are installed, and (5) is left and right front crawlers (6). ) (7) and the machine for supporting the rear crawlers (8) and (9), and (10) is installed in the engine room (11) at the lower rear of the operating cabin (2) to dispose the radiator (12) and oil. An engine having a cooler (13), an air cleaner (14), a silencer (15), etc., (15) is a water pump for extinguishing fire, which is arranged on the left side of the engine (10) in the engine room (11), ) Is installed on the right side of the engine (10) in the engine room (11) A fuel tank, (17) is a working machine installation table that also serves as a room upper cover of the engine room (11), and (18) is a fire hose device that is a working machine installed on the installation table (17), The installation base (17) is supported by a hinge (20) on the rear side of the room lower cover (19) of the engine room (11) so that the installation base (17) can be opened, and the engine (10) is opened by opening the base (17) rearward. It is configured to perform maintenance such as.

The operating cabin (2) is supported on the machine base (5) so as to be swingable back and forth, and the first cabin base (22) is provided at the front end of the machine base (5) via the front fulcrum shaft (21). Of the operating cabin (2) is connected to the front end of the second cabin (24) by connecting the rear end of the first cabin (22) to the rear end of the second cabin (24) via the rear fulcrum shaft (23). The floor surface (25) is fixed to the second cabin stand (24), and the front of the cabin is placed between the machine stand (5) and the first cabin stand (22) substantially at the center between the spindles (26) (27). A first elevating cylinder (28) for tilting is provided, and a rearward tilting of the cabin is performed through the respective support shafts (29) (30) between the outermost centers of the first and second cabin bases (22) (24). The second elevating cylinder (31) is provided, and each cylinder (28) (31) is extended or retracted to extend the front or rear. The cabin (2) is tilted forward or backward about the fulcrum shafts (21) and (23).

Further, the floor surface (25) of the cabin (2) is formed in an uneven shape, and the driver's seat (3) and the rear seat are provided on the upper surface of the front and rear convex portions (25a) (25b) of the floor surface (25). (32) is provided, and a hydraulic tank (33) and a battery (34), which are accessory parts to be mounted on the machine base (5), are arranged below the convex portions (25a) and (25b), and the machine body is provided. It is configured to be compact and to stabilize the airframe balance.

Further, as shown in FIG. 7, the left and right front crawlers (6) and (7) are moved forward and backward, and are driven by the drive sprockets (35) (36a) (36b) and the intermediate track roller (37). The rear crawlers (8) and (9) are attached to the frame (38), and the front and rear driving and floating sprockets (36c) (36d) (35) and the intermediate track rollers (37) are respectively attached to the track frame (38). Rotate approximately the center of each track frame (38) (38) via a rotation fulcrum shaft (41) on the front and rear horizontal pipes (39) (40) that are stretched and supported on the lower part of the machine base (5). The crawlers (6), (7), (8), and (9) can be freely connected and supported, and can be rotated forward and backward about the fulcrum shafts (41) and (41), respectively. I am configuring.

Further, the rear horizontal pipe (40) is removably fixedly supported on the machine base (5) via the bracket (42), and the front horizontal pipe (39) is left and right of the machine base (5). A center pin (43) provided in the center is swingably supported via a pivot support plate (44) so that the left and right front crawlers (6) and (7) can swing left and right.

As shown in FIG. 7, each of the crawlers (6), (7), (8) and (9) has a left and right independent drive structure by a hydraulic continuously variable transmission (HST) (45) and can perform spin turns. A hydraulic motor (48) (49) for rotating the drive sprockets (36c, 36d) of the left and right rear crawlers (8), (9) to a tandem hydraulic pump (46) (47) drivingly connected to the engine (10). ) Are connected respectively, and the universal joints (51) and propeller shafts (52) are attached to the sprocket shafts (50a) (50b) of the drive sprockets (36a) (36b) of the left and right front rollers (6) (7). A pair of left and right hydraulic pumps (46) forming a speed change mechanism (45) by interlockingly connecting the sprocket shafts (50c) (50d) of the sprockets (36c) (36d) through The front and rear crawlers (6), (8), (7) and (9) are separately driven by the motor (47) and the motors (48) and (49).

Further, solenoids (53a) (53b) (54a) (54b) operation type hydraulic switching valves (53) (54) and a flow divider (55) are attached to the first and second lifting cylinders (28) (31). A constant discharge hydraulic pump (56) drivingly connected to the engine (10) is hydraulically connected thereto. Then, the changeover valves (53) (54) and the speed change mechanism (45) are operated by operating the elevating lever (57) provided on the driving operation unit (4), the joystick lever (58) which is a traveling speed change lever, and the pedal (59). The hydraulic pumps (46) and (47) are operated to control the raising and lowering of the operating cabin (2) and the running control of the machine body.

Further, as shown in FIG. 1, a vehicle speed potentiometer (60) for performing traveling speed change and forward / reverse switching according to a front-back tilt angle of the joystick lever (58), and a left-right tilt of the lever (58). A turning potentiometer (61) that causes a speed difference between the left traveling crawler (6) (8) and the right traveling crawler (7) (9), and the left traveling crawler (6) (8) and the right traveling crawler (6). 7) A spin turn switch (62) that rotates (9) in the opposite direction to perform a spin turn operation, and an angular acceleration sensor (63) that detects the angular acceleration of the driving cabin (2) that occurs during a spin turn. An angular velocity sensor (64) for detecting the angular velocity of the cabin (2) during a spin turn, and the hydraulic pumps (46) (47) and motors (48) (49) are connected. The charge pressure sensor (65) for detecting the charge pressure of the hydraulic circuit and the swash plate angle of the hydraulic pumps (46) (47) are changed to increase or decrease the rotation speed of the hydraulic motors (48) (49) and switch between the forward and reverse directions. The left and right shift solenoids (66) and (67) are connected to a traveling controller (68) formed by a microcomputer. At the same time, when the spin turn switch (62) provided on the head of the lever (58) is turned on, the left and right shift solenoids (66) (67) are operated to operate the left and right hydraulic motors (48) (49). The left traveling crawler (6) (8) and the right traveling crawler (7) (9) are rotated in opposite directions to rotate in opposite directions to perform a spin turn. That.

FIG. 8 is an angular acceleration output diagram of the angular acceleration sensor (63). When the angular acceleration becomes larger than a specified value to be initially set, the spin speed set by the vehicle speed potentiometer (60) is set. The turn speed is decelerated in proportion to the difference between the specified value and the angular acceleration, the spin turn speed at the start of the spin turn is decelerated and corrected based on the output of the sensor (63), and FIG. 9 is a spin turn speed diagram. , Based on the difference between the target value indicated by the broken line and the actual speed value indicated by the solid line, which is determined by the vehicle speed value of the vehicle speed potentiometer (60) and the angular speed value of the angular velocity sensor (64), the solenoids (66) (67) ) Is operated to accelerate or decelerate the spin turn speed, and the acceleration control is performed only when the charge pressure of the charge pressure sensor (65) is below a predetermined value. Is configured as follows.

Then, the spin turn control shown in the flowchart of FIG. 10 is used to change the direction such as 90 degrees or 180 degrees. The spin turn switch (62) is turned on and the joystick lever (58) is moved to the left or right. When the vehicle is turned and the turning potentiometer (61) is turned, the vehicle speed is input from the vehicle speed potentiometer (60) and the vehicle speed input value is lower than the preset speed. 1/2 is set as the spin turn speed, and when the vehicle speed input value is larger than the predetermined speed, 1/2 of the predetermined speed is set as the spin turn speed, and the spin turn speed is determined and the joystick lever (58) The left / right shift solenoid operation that causes a spin turn in the left / right tilt direction of the Spin-turn to the left or right at the specified spin-turn speed.

Further, when the angular acceleration sensor (63) is input at the start of the spin turn, as shown in FIG. 8, when the angular acceleration detected by the sensor (63) is larger than a specified value that is initially set, the detected angular acceleration value is When the deceleration value of the spin turn speed is determined in proportion to the difference between the spin turn speed and the specified value, the spin turn speed is decelerated and corrected to perform the spin turn, and when the angular acceleration detection value of the sensor (63) is less than or equal to the specified value. As shown in FIG. 9, by inputting the angular velocity sensor (64), the spin turn speed target value (dashed line) determined by the vehicle speed value of the vehicle speed potentiometer (60) and the angular velocity value of the sensor (64), and the actual speed of the solid line are shown. If there is a difference between the values, the acceleration / deceleration value of the spin turn speed is determined based on the angular velocity of the sensor (64) and the vehicle speed of the potentiometer (60) to determine the deceleration time. Decelerates and corrects the spin turn speed by operating the shift solenoids (66) and (67) while the spin turn switch (62) is turned on or in the turning operation state, while when the speed is increased, the charge pressure sensor (65) is input to the sensor. Charge pressure of (65) Only when the detected value is below a predetermined value, the spin turn speed (62) is turned on or the spin turn speed is increased and corrected by the operation of the shift solenoids (66) and (67) in the turning operation state. When the charge pressure detection value of (65) exceeds the predetermined value, the speed increasing control is not performed, and the running load of the spin turn is kept below the predetermined value.

[0016]

[Effect of device]

 As is apparent from the above-described embodiments, the present invention provides a working vehicle equipped with a hydraulic continuously variable transmission mechanism (45) for performing a spin turn operation by left and right independent traveling drives, and an angle for detecting the angular acceleration of the airframe during the spin turn. An acceleration sensor (63) is provided, and the spin turn speed at the start of the spin turn is corrected based on the output of the sensor (63). The spin turn speed is limited by the angular acceleration of the aircraft during the spin turn. By doing so, it is possible to prevent the spin turn speed from increasing due to road surface conditions, etc., and it is possible to easily reduce the anxiety given to the operator and also to easily prevent side slipping or falling of the aircraft during spin turn. It is possible to easily improve stability, stability and safety.

[Brief description of drawings]

FIG. 1 is a travel control circuit diagram.

FIG. 2 is an overall side view.

FIG. 3 is an explanatory side view of the same.

FIG. 4 is a front explanatory view of the same.

FIG. 5 is a rear explanatory view of the same.

FIG. 6 is an explanatory view of the same plane.

FIG. 7 is a drive driving explanatory diagram.

FIG. 8 is an angular acceleration output diagram.

FIG. 9 is a spin turn velocity diagram.

10 is a flowchart of FIG.

[Explanation of symbols]

 (45) Continuously variable transmission mechanism (63) Angular acceleration sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Satoru Okada 1-32, Chayamachi, Kita-ku, Osaka Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Hiroshi Kawabuchi 1-32, Chayamachi, Kita-ku, Osaka Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Taiji Mizukura 1-32 Chayamachi, Kita-ku, Osaka Yanmar Agricultural Machinery Co., Ltd. (72) Wataru Nakagawa 1-32 Chayamachi, Kita-ku, Osaka Yanmar Agricultural Machinery Co., Ltd. Within

Claims (1)

[Scope of utility model registration request] 1. A work vehicle equipped with a hydraulic continuously variable transmission mechanism for performing a spin-turn operation by left-right independent traveling drive, is provided with an angular acceleration sensor for detecting an angular acceleration of a machine body during a spin turn, and spins based on the sensor output. A work vehicle characterized by being configured to correct the spin turn speed at the start of a turn.