JPS59154239A - Remote controllable earthwork vehicle - Google Patents

Abstract

PURPOSE:To raise safeness of an earthwork vehile when an operater becomes faint as well as make easier the backward and forward operations of the vehicle by remote control by using a system in which when an operation controller is actuated to make a transmission neutral, a service brake controller is automatically operated. CONSTITUTION:An earthwork vehicle 2, e.g., loader, etc., has a body 4 to be connected in a turnable manner through a connecting pin 10 at its front part 6 and its rear part 8, and the vehicle 2 is also provided with a service brake controller 20 to prevent the moving of the body 4 and a parking brake controller 22. The running and operation of the earthwork vehicle 2 are controlled by remote control. When a transmission is made neutral by an operation control signal, the service brake controller 20 is put into an operation condition. Only by operating the operation lever 28, the forward and backward operation of the earthwork vehicle body 4 can be switched, and even when an operator becomes faint, the operation lever 28 can be automatically set to neutral to prevent the movement of the vehicle body 4.

Description

[Detailed description of the invention] The present invention relates to a remotely controllable earthmoving vehicle.

Conventionally, in an earth-moving vehicle such as a loader, an operator not only directly rides on the earth-moving vehicle body but also operates a transmission control device and performs control based on signals from the transmission control device. A remotely controllable device that can be used is in practical use.

Such a remotely controllable earthmoving vehicle is equipped with a system that prevents the movement of the earthmoving vehicle while driving in unmanned mode (the operator controls the earthmoving vehicle by operating the transmission control device Rk). It is equipped with a service brake braking device and a parking brake braking device to completely prevent movement of the earthmoving vehicle body when parking. The service brake braking device (d) is configured to put the transmission control device in the service brake state and to enter the operating state -C to apply the service brake to the earthworks vehicle body, and the parking brake braking device i, By setting the transmitting control device M to the parking state, the transmission control device M is brought into operation and the earthmoving vehicle is braked while parked.

Furthermore, for safety reasons, this V-key braking system for assembled vehicles is generally used when an emergency stop occurs (the operator sets the transmission control device to the emergency stop state in order to stop the earthmoving vehicle without stopping). f
It is also configured to be activated when an abnormality occurs in the remote control system, including the transmission control system, and to emergency stop the earthmoving vehicle. )1. I'm here (
In addition, in the event of an emergency stop, the parking brake 1/-key brake system is activated, and the transmission of the earthmoving vehicle becomes neutral, cutting off the transmission of driving force from the engine and cutting off the slag, and the earthmoving vehicle's transmission becomes neutral. (The steering device is deactivated and its steering is maintained).

However, in conventional earthmoving vehicles of this type, the above-mentioned 11
．． If you do not put the transmission control device directly into the service brake state, the service brake 1. - Because key braking is not performed (τ
, For applications where earthmoving vehicles frequently move back and forth (for example, when working in a narrow clearing, etc.), transmission control is required! 2; place e
Some operations are cumbersome (for example, soil).
62.7 When switching from ``ifT*'' to reverse, set the control device to the ``revis brake'' state, temporarily stop the earthmoving vehicle, and then change it to the ``go'' state after 1~'' to reverse. In addition, in applications where the pilot has to operate the transmitter control device in an environment that does not contain any dust, sulfur dioxide, etc., the pilot may become weak or become weak. Fainting state V kona fC
From a safety standpoint, there has been a strong desire for an earthmoving vehicle that can completely stop the vehicle and maintain steering even in such cases.

The present invention has been made in view of the above facts, and its purpose is to provide an improved product which is easy to operate in forward and backward directions, and which can be used extremely safely even in an atmosphere containing dust and the like. An object of the present invention is to provide an earthmoving vehicle that can be remotely controlled.

According to the present invention, an earth-moving vehicle body is equipped with a transmission that transmits all of the driving force from the engine, a two-bis brake braking device that applies service brake braking to the earth-moving vehicle body, and a two-bis brake braking device that applies service brake braking to the earth-moving vehicle body; a parking brake braking device for braking the parking brake; and a steering control means for controlling the running and steering of the earthmoving vehicle body.
17) A remotely controllable earthmoving vehicle IC equipped with a control device and a control device can be used to control the transmitter by operating the control means. , H 亥ν~・-The bisbrake control device is in the operating state and 7
The earthmoving vehicle itself is serviced by brake system Wffi.
-r every time t % Signal remote: 11'! An earthmoving vehicle capable of vertical movement is provided.

Hereinafter, a concrete example of the width of a remotely controllable earthmoving vehicle constructed according to the present invention will be described in more detail with reference to attached page C1.

In FIG. 1, an earthmoving vehicle such as a loader designated by the overall number 2 includes an earthmoving vehicle body 4.

The earthmoving vehicle body 4 (includes a front part 6 and a rear part 8),
The front part 6 and the rear part 8 are connected to the bin 10. are connected so that they can rotate freely. Front part 6 and rear part 8 of earthmoving vehicle body 4
A pair of steering fluid pressure cylinder mechanisms 14a and i4b of the steering device 12 (FIG. 3) are interposed between the VC and the steering device 12 (FIG. 3). Therefore, the fluid pressure cylinder mechanism 14a (or 14b)
is expanded and the hydraulic cylinder mechanism 14b (or 1
When 4a) is retracted, the front section 6 is pivoted about the bin 10 in the direction shown by the arrow 16 (or 18), thus steering the earthmoving vehicle body 4 to the left (or right).

Although not clearly shown in the figure, this earthmoving vehicle main body 4 includes a ZARBIS brake braking device 20 (FIG. 3 and 9 and a parking play/v braking device 2
2 (Fig. 3) is installed. - When activated, the Revis brake system 20 applies the service brake to the earthmoving vehicle 4, and when activated, the parking brake system 22 controls the earthmoving vehicle's 4-metal parking player.

The above steering device ft12, service brake braking device 20
Earthmoving vehicle @ 2 equipped with a parking brake braking device 22
is the transmission control device 24 shown in FIG. 2-A and FIG. 2-B.
controlled by signals from

The transmission control device 24 includes a steering control means, a service brake actuation means, a parking brake actuation means, and an emergency stop actuation means. The operation control means is an operation lever 28f provided on the upper surface of the control device main body 26 so as to be tiltable in any direction.
: Contains. In such a steering control means, the operating lever 28 is placed in a neutral position (the position shown in FIGS. 2-A and 2-B, and when it is moved to this position, it becomes 0 neutral).
When tilted forward (upward in Figure 2-B) from the state of ``forward'', the forward signal becomes rLJ
When the control lever 28 is tilted backward (downward in Figure 2-B) from the neutral position to rHJ, the reverse signal changes from rLJ to rHJ, and the control lever 28 is moved backward (downward in Figure 2-B). When tilting from the neutral position to the right (to the right in Figure 2-B), the state of "right steering" occurs, and the right steering signal changes from r L J to r H J VC, and the operation leno (-28 full To the left from the neutral position (2nd-B)
When the steering wheel is tilted to the left (in the figure), it enters a "left steering" state and the left steering signal changes from r L J to r HJ. Furthermore, if the operation 1/bar 28 is tilted forward from the neutral position and then further tilted to the right (or left), the state is 0 forward right steering' (or forward pressure steering). The forward signal and right steering signal (or left steering signal) change from rLJ to I'
If you tilt it backwards from the above neutral position and then further tilt it to the right (or left), it will be in the state of 1 reverse right steering'' (or 6 reverse left steering). When the reverse signal and right steering signal (the left steering signal for me) are ““
"L" becomes "HJ."Furthermore, if the operating lever 28 is tilted to the right from the above-mentioned neutral position and then further tilted forward (or rear') 5), "forward right edge direction" (or single right steering The right steering signal and the forward signal (or reverse signal) change from rLJ to rHJ, and after tilting the operating lever 28 to the left from the neutral position, the steering wheel moves further forward (or backward). When tilted to ``forward pressure steering'' (or
Then, the left steering signal and forward signal (or reverse signal) change from rLJ to rHJ.

- The lever actuating means is an automatic return type push switch 34 provided at the tip of the operating lever 28.
It includes game. In this service brake actuating means, when 34 press switches are pressed, the "service brake" state is entered, and the service brake... 1 fortune ÷ 1,000 is rL
J becomes rHJ.

The parking brake actuation means includes a toggle switch 30 disposed on the J: surface of the control device main body 26. In this parking brake actuation means, a toggle switch 30
From the lower position (when positioned in this position, the 1st parking brake is released), tilt it upwards to the 1st position (when positioned, the 1st car brake is activated, and the parking brake signal changes from r L J to r Become HJ.

The emergency stop actuation means includes a manual return type push switch 32 disposed on the upper surface of the control device main body 26. In this emergency stop actuating means, when the push switch 32 is depressed, the state of ``6 emergency stop'' is established, and the emergency stop No. 43 is activated.
LJ becomes r HJ.

This emergency stop signal changes from 1-stop VcrN to rHJ even when some abnormality occurs in the remote control system including the transmission control device 24.

In addition, -1, when the opening operation lever 28 is not operated, V'
C is configured to be automatically positioned at the neutral position.

The earthmoving vehicle main body 4, which is controlled by the transmission control device 24 described above, is controlled by, for example, a control system shown in FIG. 3 (C).

Next, the functions and effects of the earthmoving vehicle 2 having the configuration as described above will be explained mainly with reference to FIG.

For example, when the operating lever 28 is tilted a little to the left (or right) and the steering control means (therefore, the transmission control device 24) is placed in the "left steering" (or "right steering") state, the above-mentioned The left steering signal (or right steering signal) becomes rHJ, and the left steering signal (or right steering signal) of the output signal rHJ is sent from the transmission control device 24 to ANDI (or AND2).
will be sent to

Mu.

At this time, if the manual return type push switch 32 is not pressed, an emergency stop signal of the output signal rLJ is sent from the transmission control device 24 to NOTI. is being sent to Antogame-4-ANDl (or:AND2). Therefore, when the left steering signal (or right steering signal) of [)I'' is sent to the ant game) ANDI (or AND2), the output signal of the AND gate ANDI (or AND2) becomes rHJ, -1-ANDl (or AND2) output signal rHJ causes the hydraulic cylinder mechanisms 14a and 14. b A flow path switching valve (not shown) disposed in the fluid pressure control circuit for controlling k is switched, and the fluid pressure cylinder mechanism 14a (or 14b) is extended, and the fluid pressure cylinder mechanism 14b is extended. (or 14
a) is contracted. Then, the steering device 12 turns to the left (
(or steering to the right), and the earthmoving vehicle main body 4 is steered to the left (or right). Furthermore, in this case, the forward signal and the reverse signal of the output signal "-L" from the transmission control device 2 =1.
The signal is sent to NORI (C) NORI, and the output signal rHJ from NOR gate N0R1 is sent to NORI (C) NORI.
R1 and orgame) are sent to OR2, and this orgame)
The output signal "-H" from OR2 is sent from the above-mentioned non-gate N0TI to the signal "l("), which is then sent to the ant-game AND3.

Therefore, the output signal of the OR gate OR1 becomes "I(", and the output signal of the AND gate AND3 becomes rHJ). The transmission 36 that transmits the driving force is in the neutral position.
So, the output signal r of Saitaniki Antogame 1 AND3
Due to HJ, the service brake braking device 20 is activated, and the earthmoving vehicle main body 4 is subjected to service brake braking.

Also, by tilting the operating lever 28 upward (or downward), the operation control means (therefore, the transmission control device 24) is moved forward by 6'' (
1 reverse"), the forward signal (or reverse (No. 2
4 to AND4 (or AND5) and NORI (or AND5). At this time, if the manual return type push switch 32 is not pressed, the transmission control device 2
4, the emergency stop signal of the output signal rLJ is sent from the emergency stop signal 24 of the output signal rLJ to the NOT gate N0Tl and ORI, and from this NOTI, the signal of the output signal rHJ is further sent to the AND gate AND4 (
It is also sent to 1-LAND5). Therefore, when the rHJ forward signal (or backward signal) is sent to the AND gate AN
The output signal of D4 (or AND5) becomes rHJ, and the output signal r of this AND gate AND4 (or AND5)
Due to HJ, the transmitusiran 36 moves forward (or backward). Also, when the rHJ forward signal (or reverse signal) is sent to the Noah gate N0RI, the Noah game)
The output signal of NORI becomes rLJ, [this Noah game]
NORII' This is because the backward signal (or forward signal) of the output signal rLJ is sent (because it is 0), so the output signal "L"
is orgame) 01B, sent to 1 and is orgame)O
The output signal of RI becomes rLJ. In addition, the above Noah game) N
The rLJ output signal from the ORI is sent from the transmission control device 24 to the OR2 (to which the service brake signal of the output signal rLJ (because the automatic return type suppression switch 34 is not pressed) is sent), and this Or game) O
The output signal rLJ of R2 is sent to the AND gate AND3, and the output signal of AND3 becomes rLJ,
Due to the output signal [LJ of the AND gate AND3, the service brake braking device becomes inoperative. In this way, the earthmoving vehicle main body 4 is moved forward (or backward).

Further, the operation lever 28 is tilted as described above to move the steering control means (therefore, the transmission control device 24) one step forward and to the right.
Or, if the state is "forward left steering" (or 0 reverse right steering) or "reverse left steering", the forward signal (or reverse signal) and right steering signal or left steering signal are activated as described above. The signal is “H”
”. Therefore, in such a case, the vehicle main body 4 is steered toward the forward right edge or forward left edge (or toward the backward right edge or backward left edge), as can be easily understood from the above description. In this case, the service brake system ft20 is inactive due to the forward signal (or reverse signal) of "■(").

In addition, when the suppression switch 34 provided at the tip of the operating lever 28 is pressed to set the service brake actuating means (therefore, the transmission control device 24) to the "t" service brake state (fC) (as described above, the service brake is The signal becomes rHJ, the service brake signal of the output signal II (J is sent from the transmission control device 24 to the OR gate OR2, and the output signal of rHJ from this OR gate OR2 is further sent to the AND gate AND3. At this time, the manual If the return type suppression switch 32 is not pressed, an emergency stop signal of the output signal rLJ is sent from the transmission control device 24 to the NOT game (1-NOTI), and this NOTI
Then, the output signal r HJ signal is ant game) AND
It is being sent to 3. Therefore, when the output signal rHJ is sent from the OR gate OR2 to the AND3 as described above, the output signal of the AND3 becomes rHJ.

Then, as described above, the service brake operating means 20 is activated, and the earthmoving vehicle body 4 is braked by the service brake. Note that, from the above description and FIG. It will be readily understood that it can also be brought into action (by putting the brake in the "brake" state).

When the torque switch 30 is positioned in the upper position and the parking brake actuating means (therefore, the transmission control device 24) is placed in the state of 1 parking brake, the parking brake signal is r HJ as described above. Therefore, the parking brake signal of the output signal "H" is output from the transmission control device 24 (or game) O
It is sent to R3. When this signal is sent to OR3, the output signal of OR3 becomes "-H", and due to this output signal rHJ, the parking brake braking device 22 is activated and the earthwork is started. The vehicle main body 4 is subjected to service pre-braking.

Furthermore, the suppression switch 32' is pressed to put the emergency stop activation means (therefore, the transmission control device 24) into the "emergency stop" state. When an abnormality occurs (9), the emergency stop signal becomes rHJ as described above, and the emergency stop signal of the output signal rHJ is sent from the transmission control device 24 to OR gates OR1 and OR3 and NOTI (7). .

When such a word is sent to ORI, the output signal of ORI becomes rHJ, and the output signal of OR3 becomes rl(J). Furthermore, the above signal is the not gate No.
When T IVc is sent, the output signal of NOTI becomes rLJ, and this output signal rLJ is sent to AND1 to AND5, and then A)
The output signal of NDI to AND5 becomes rLJ. Then, as described above, the transmission 36 becomes neutral and the parking brake braking device 22 is activated, causing the earthmoving vehicle main body 4 to be braked with the parking brake (that is, brought to an emergency stop). Furthermore, when the earthwork axle main body 4 is steered to the left (or right), the output signal r T of the antagonist ANDX (or AND2),
Due to this, the expansion and contraction of the hydraulic cylinder mechanisms 14a and 14b is stopped, and the knee truck main body 4 is held at its steering angle position. Furthermore, service brake braking device S! 0
When is the active state y1 river (I, Antogame-1-A
The service brake is caused by the output signal rLJ of ND3.
The brake system 20 is deactivated and the service brake is released.

In addition, during operation, the base 28 is in the neutral position f& (Fig. 2-A and 2-Iut).
In the case of 1i7-, the forward Iha and the backward Urahiru of the Dekai "L" are sent to the 7'Age-) NOR1,
This Noage ~) N OR, 1 to O output signal) -H"
OR1 and OR2 are sent to each other, and the output signal "H" from OR gate OR2 is sent to OR1 and OR2.
It is being fed to ND3. Further Vko, appearance] A word name fLJ
An emergency stop signal is sent to N0T1 (not game),
This knot game) NOT171)-ra no de no j Nobuki H
The signal is sent to AND3.

Therefore, in this case, the output signal of the OR gate OR1 becomes rHJ, and the output signal of AND3 becomes 1L (J, as described above). In this case, (C is the left steering signal and the right Since the steering signal also becomes rLJ, the steering hydraulic cylinder mechanisms 14a and 141) are stopped, and the earthmoving vehicle main body 4 is thus maintained at the steering angle position i).

As described above, in the above-mentioned Sat=E vehicle 2, the transmission 36 is set to neutral V by the steering control means (in other words, the state of the transmission control device 20 is set to "neutral"). When the service brake braking device 20 is in the operating state, the earthmoving vehicle main body 4 is activated.
is forced to use the Zarbis brake. Therefore, when switching the earthmoving vehicle body 4 from forward to reverse or from reverse to forward, there is no need to press the suppression switch 34 as in the conventional case.
It is sufficient to simply tilt the entire operating lever 28 downward, which greatly simplifies the operation. Furthermore, even if the operator is in a state of fainting (Cnatsuf?), the control lever 28 is automatically placed in the neutral position and is in the "neutral" state, so that the driver and brake braking device 20 are not activated. As a result, the movement of the earthmoving vehicle body 4 can be completely prevented, making it extremely efficient from a safety standpoint.

[Brief explanation of the drawing]

FIG. 1 is a simplified view (also a plan view) showing the main body of an earthmoving vehicle constructed in accordance with the present invention and capable of remote control. A front view and a plan view showing a part of the transmission control device for controlling the earthmoving vehicle main body shown in Fig. 1. Fig. 3 is a diagram showing a control system for controlling the earthmoving vehicle main body shown in Fig. 1. 2. ...Earthwork vehicle 4...Earthwork vehicle body 20...Two-way brake 1/-key braking device 22...Parking block 1/-key brake control device 24...Transmission control device

Claims (1)

[Scope of Claims] 1. An earth-moving vehicle body equipped with a transmission that transmits driving force from an engine, a service brake braking device for applying service brake braking to the earth-moving vehicle body, and a full parking brake for the earth-moving vehicle body. In a remotely controllable earthmoving vehicle equipped with a parking brake brake bag f& for braking, and a transmission control device including a steering control means for controlling running and steering of the earthmoving vehicle body, the steering control means is operated. A remotely controllable earthmoving vehicle @ characterized in that when the transmission becomes neutral, the service brake control device is activated to apply service brake braking to the earthmoving vehicle main body. 2. The transmission control device further includes an emergency stop actuation means, and when an emergency stop signal is generated by the emergency stop actuation means, the parking brake braking device is activated and all parking brakes of the earthmoving vehicle are activated. On the other hand, even if the service brake braking device is activated, it becomes inactive! A remotely controllable earthmoving vehicle according to claim 1.