JPS5938435A - Working machine with swivel table - Google Patents

Abstract

PURPOSE:To prevent impaction to a working machine by sufficiently reducing the turning speed of a swivel base by a method in which before the set turning position against the vehicle of the swivel table is reached, the amount of oil to a turning oil- pressure motor is regulated in such a way that when the turning speed is great and the turning angular speed is small, the circuit to the turning oil-pressure motor is closed. CONSTITUTION:A solenoid valve 15B is provided between oil paths for an oil-pressure motor 3 for driving a swivel table and a switching valve 10 for the swivel table, and an oil amount regulating valve 15B is provided between an oil-pressure pump P and the switching valve 10. A detector 16 for the turning position against the vehicle of the swivel table, setters 17 and 18 for the turning position against the vehicle of the swivel table, and a detector 19 for the operating state of the turn-switching valve are provided. A detector 27 for the acceleration of the swivel table and a detector 28 for the turning speed are also provided. Before the set turning position of the swivel table is reached, by the outputs of each detector, the valve 15A is automatically moved toward the reduction of oil amount. When the acceleration is small and the turning speed is great, the valve 15B is automatically closed and the speed of the swivel table is sufficiently reduced at the set positions.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a relief that acts as a buffer against the hydraulic motor between a pair of flow passages connecting a hydraulic motor for driving the swivel table and the operating state of the motor. If a valve is provided to adjust the supply of oil to the l1fJ oil 1'' motor, there will be a valve at the center of the swivel base that detects the rotational position of the swivel base relative to the vehicle body. Vehicle body to be stopped [device for setting all reversible positions, and said switching/<
Based on the information from each device that detects the operating state of the loop, the control valve is activated before reaching the set rotational position with respect to the vehicle body while the ICH self-swivel base is rotating toward the set rotational position with respect to the vehicle body. This invention relates to a work vehicle with a swivel platform equipped with a control mechanism that automatically operates to the reduction side.

In order to simplify the operation, the above-mentioned work vehicle with a swivel base is configured so that the swivel base automatically stops at a desired rotational position relative to the vehicle body. While trying to improve efficiency, the rotational speed of the swivel base is reduced at the end of rotation so that the swivel base can be stopped with less impact. Since the operation start timing for the swivel base is determined at the time when the swivel base has rotated from the set rotational position to the vehicle body position by a certain angle to a position on the upper side in the rotation direction, the rotational speed of the swivel base can be decelerated as desired. There are 6 things that may not work.

To explain in more detail, let's take an example of a work vehicle equipped with a swivel platform - this Patsuhoku work vehicle.As the weight of the earth and sand held in the packet changes, the moment of inertia of the swivel platform equipped with the swivel table changes as the weight of the soil held in the packet changes. In addition, the rotational speed of the swivel table immediately before changing the operating state KfB of the control valve changes depending on the degree of inclination of the work place. And the rotational speed of the swivel table depending on the operation of the control valve? In order to decelerate to a sufficiently low speed, as the moment of inertia increases and the rotation speed increases, it takes more time. Therefore, simply determine the timing to start operating the control valve. In the case of bamboo, the rotational speed of the swivel base may not be sufficiently reduced even when the swivel base reaches the desired rotational position relative to the vehicle body, and as a result, it is not possible to stop the swivel base with less impact. was.

The present invention was made in view of the above-mentioned circumstances, and its purpose is to provide the father of the moment of inertia of a swivel base! ! Regardless of II, and regardless of the fluctuation in the rotational speed of the swivel table immediately before switching the control valve to the operating state, the rotational speed of the swivel table must be sufficiently high at the time when the swivel table reaches the desired rotational position with respect to the vehicle body. The object is to be able to decelerate to a low speed, and to have a simple structure that effectively utilizes the entire structure, existing equipment, and existing functions.

The structure of the present invention includes, in the above-mentioned work vehicle with a swivel platform, a device for detecting the acceleration of the swivel platform in the decreasing direction when the control valve is in the operating state; A device for detecting the rotational speed of the swivel table is provided, and a flow path opening/closing valve for stopping oil supply to the hydraulic motor is located on the upper side of the flow path than the IJ-F valve, Based on the information from each of the acceleration detecting device and the rotational speed detecting device, the on-off valve is fully automatically closed in such a state that the timing for closing the on-off valve is made earlier as the acceleration decreases and the rotational speed increases. It is characterized by being provided with a mechanism for operation.

Next, the effects of the characteristic configuration of the present invention will be described.

That is, by focusing on the fact that the acceleration toward the deceleration side of the swivel base when the control valve is in the operating state increases as the moment of inertia of the swivel base increases, the acceleration is detected;
The speed immediately before the control valve is switched to the operating state is detected, and based on the detection results, the rotational speed of the swivel base over time after the control valve is activated is predicted, and the appropriate speed is determined after the control valve is activated. By applying another deceleration effect at different times, the rotational speed of the swivel base is reduced to a sufficiently low speed when the desired rotational position relative to the vehicle body is reached. 'Ri1 of the rotating speed of the swivel table due to inclination! IIvCfIIJ,
The swivel base can be stopped at the desired rotational position relative to the vehicle body with less shock.

According to J, if the oil supply to the hydraulic motor is stopped to provide another deceleration effect after the control valve operates as described above, the swivel base can be moved by the action of the existing buffer relief valve. It is possible to rotate inertia while decelerating, and the amount of inertia rotation increases as the moment of inertia increases and the rotation speed at that time increases, and by making effective use of this, The flow path opening/closing valve for completely stopping the oil supply to the hydraulic motor is closed as the acceleration on the deceleration side decreases and as the rotational speed of the swivel base in the straight 0a position at which the control valve is switched to the operating state increases. Since the desired deceleration effect is provided by automatically closing the valve at an early timing, the existing relief valve can be effectively used to simplify the structure. It is possible to do this, and there are great advantages in terms of implementation and production.

Next, an example of the present invention will be explained based on the first example.

As shown in Figure 1, the swivel base (1)? , the crawler traveling device (2) is rotatably attached to the vehicle body completely equipped with the hydraulic motor (3), the engine (4) and the control section (5) are mounted on the swivel platform fl), and the boom ( 6), a bank hook working device +9+ 'k consisting of an arm (7) and a packet (8), the swivel base +1+
It is connected to constitute a bank hook work vehicle.

As shown in FIG. 2, the hydraulic motor for driving the swivel table (3
) and its motor (3).
Between a pair of channels (rl, fr1) connecting
Relief valves (1 and 1) are provided to act as a buffer against the hydraulic motor (3), and a pair of flow passages (1 and 7) are provided.

fr) A pylond type flow path opening/closing valve θno and a check valve α, respectively.
→ and throttle valve 04) are all provided in parallel, so that the rotation of the swivel base (1) can be stopped with less impact by the action of the relief valve (II), C11), and the brake Due to the action of the valve, the swivel table t
1) is configured so that unexpected rotation can be suppressed without pressure oil supply.

From the operating state switching valve (10) to the hydraulic motor (3)
・The first electromagnetic on-off valve (15A)'k, which opens the flow path (rl) with a throttle that releases pressure oil from the pump (P) so as to reduce the amount of supplied oil, is biased back to the closed side. When provided, an electromagnetic second flow path opening/closing valve (15B) for stopping the supply of pressure oil to the hydraulic motor (3), and the IJ IJ-
It is located at a position σ on the upper side of the flow path than the valve (11) and is biased to return to the opening side.

Further, a sensor 06) detects the target position relative to the vehicle body of the swivel base (1) using a hold potentiometer, and a first device 0 that sets a reference rotational position relative to the vehicle body at which the swivel base (1) should be stopped for excavation work. '/I, a second device (
I8) and a pulp operation state detection device (19) for detecting the operation state of the switching valve (10) using a position detection switch of the manual lever for valve operation (10a), and σ et al. First and second on-off valves (i5A)
, (15B) first and second timing devices (20A) for setting the respective opening/closing operation start timings as described below;
(2OB) is provided.

Then, the rotational position detection Sentsu-06), the first degree second setting device, H, No (LUG operation state detection device 09),
and the operation start timing setting device (20A),
(20B) Based on the information from each
) is set relative to the vehicle body reference rotational position or crotch.

While the vehicle body is rotating toward the target rotational position, the first enclosing valve (
15A), and then the second on-off valve (15B)'
A discriminating circuit (2) for automatically operating the circuit (2) for closing operation is provided, so that the swivel base rotates toward the target position relative to the vehicle body or the reference rotation position relative to the vehicle body.
The control mechanism is configured to automatically stop the rotational speed at the target rotational position relative to the vehicle body or the reference rotational position relative to the vehicle body while automatically reducing the rotational speed.

In short, swivel base + 1 + k, rotation position V from the standard rotation position relative to the car body where the excavation work should be performed, target rotation position V relative to the car body where mud should be discharged, and rotation operation so that the rotation returns to the reference rotation position relative to the car body after releasing the dirt. When excavating a trench or a hole, the swivel base (1) can be rotated to the target rotation position relative to the vehicle body or the reference rotation position relative to the vehicle body, as long as it is activated in advance using the manual lever (10a). ,
After that, it can be done automatically by the control mechanism. However, when the manual lever (10a) is operated to the rotation stop position @■, the circuit for opening and closing the first #second on-off valves (15A) and (15B) is required. It is configured to be switched to a non-operating state.

In configuring the first device (20A) that sets the timing to start the opening operation i1J of the first on-off valve (16A) described in Wj, the expected rotation base +11 when no earth and sand is held in the packet (8) is configured. A setting device (equipment) is provided that determines the minimum moment of inertia [accordingly, the operation start timing is determined at the time when the swivel base f1) rotates from the set rotational position of the vehicle body to a position that is on the upper side in the rotational direction by a set angle; A device (b) is provided to detect the rotational speed in a state where the table (1) is rotating at a constant speed after startup by calculating the signal of the rotational position sensor (1G), and a speed detection device (to) is provided. A circuit is provided that automatically corrects the signal from the setting device so that, based on the information, as the speed increases, the opening/closing operation start timing of the on-off valve θ6 is earlier.

Further, the swivel base +1+ constitutes a second oblivion (gOB) that sets the timing for starting the closing operation of the second on-off valve (15B), and the swivel base +1+ in the opening operation state of the second on-off valve (15A). A device (2) is provided for detecting the acceleration toward the deceleration side by calculating the signal of the rotational position detection sensor (1G), and a device is provided for detecting the acceleration toward the deceleration side by calculating the signal of the rotational position detection sensor (1G). A device (company) is provided for detecting the rotational speed of the swivel table f1) by calculating the signal of the rotational position detection sensor 06). Then, the second on-off valve (15B) is closed as the acceleration becomes faster and the rotational speed becomes larger, based on the L-recorded detection device η, (2 field information and the pre-stored tF4 information). A mechanism ρII) is provided to determine the operation timing so that the timing is completely early.

In short, the position where the swivel base +11 rotates inertia due to the action of the buffer relief valve (11) after stopping the oil supply to the hydraulic motor (3) is the rotational position relative to the vehicle body at which the swivel base [1] should stop. As shown, the second on-off valve (15B)
The timing of the k-closing operation is automatically changed.

FIG. 8 is a graph showing the relation between the rotational speed (■ and the rotational position ψ relative to the vehicle body) when the swivel base (1) t is rotated to the rotation position relative to the vehicle body. Second on-off valve (15A), (1
5B) 'Timing to operate (SA)', (
SB) will be determined as described above.

Next, another embodiment will be fully explained.

Fig. 4 shows that in the complete configuration of the valves that adjust the amount of oil supplied to the hydraulic motor (3), instead of the first on-off valve (15A) that opens and closes the flow path (rl) with a throttle (rl), a valve from the boss (Pl) is used. A flow path opening/closing valve (7ζ) is provided in the flow path (r2) for releasing pressure oil so as to be driven by an oscillation circuit (31) so as to repeatedly open and close the flow path opening/closing valve (3[1).

FIG. 5 shows an 8-position switching valve (branch) that can be switched between the flow path gap position, flow path throttle position, and flow path closed position to adjust the amount of oil supplied and open and close the flow path. This is how it was done.

Moreover, in carrying out the present invention'fr, the reference rotational position with respect to the vehicle body If
The present invention may be used to perform only one of the following: deceleration and stopping to the target rotational position relative to the vehicle body.

In addition, a valve (1) adjusts the amount of oil supplied to the hydraulic motor (3).
5A) The start timing of the operation to decrease k may be determined based only on the rotational position of the swivel base +11 with respect to the rotational position relative to the vehicle body at which it should be stopped.

Misfire J can be applied to various types of swivel platform work vehicles such as bank hook work vehicles as well as face shovel work vehicles.

[Brief explanation of drawings]

Fig. 1 is a side view of the Punk Hoku work vehicle, Fig. 2 is a block diagram showing the specific structure of the automatic deceleration and stop structure of the swivel table, and Fig. 3 is a graph showing the relationship between the rotational position of the swivel table and the turning/tasting speed.
4 and 5 are circuit diagrams of other embodiments, respectively. (1)...Swivel base, (3)...Hydraulic morph, (Ill...--Activated ml switching valve, (
11)...IJ-F valve, (15A)...-
Supply oil amount control valve, (15B)...River channel opening/closing intermediary, (1
→・・・Pulp operation status detection device, η・・・・
...Acceleration detection device, (Foundation)...Speed detection device.

Claims (1)

[Claims] Hydraulic motor (3) for driving the swivel table and the construction of that motor (3)! l! A relief valve (1, (II)) that acts as a buffer against the hydraulic motor (3) is provided between a pair of flow paths connecting the valve (10) for switching the IJ state, and A valve (15A) is provided to adjust the amount of oil supplied, and a SENTU 06) is provided to detect the rotational position of the swivel base (1) relative to the vehicle body, and a rotation position relative to the vehicle body at which the swivel base (1) should be stopped is set. device 07) or r/'i (+8)
, and the device O that detects the operation state of the switching valve (10), the swivel base +1
A control mechanism is provided to automatically operate the control valve (15A) to the decreasing side before reaching the set rotational position relative to the vehicle body while the + is rotating toward the set rotational position relative to the vehicle body. A working vehicle with a swivel platform, wherein the control valve (15A
), a device for detecting the acceleration of the swivel base +11 toward the decreasing side in the operating state of the control valve (nIJ);
The swivel table t1 of the straight line 11f1 where A) is switched to the operating state.
A device for detecting the rotational speed of the + is provided respectively, and a ? A tight flow path opening/closing valve (15B) for stopping the water supply is provided on the upper side of the flow path (17, lHa-Iff) than the hydraulic relief valve (l), and the acceleration detection device and the .!Based on the information from each rolling speed detector @□□□ +1'J
ia The smaller the acceleration, the greater the rotational speed force; dog tl
If you change the timing for closing the opening/closing valve (15B), set the opening/closing valve B.
) automatic closing mechanism? A working vehicle with a swivel platform, which is completely characterized by the fact that it is equipped with