JPS60115731A - Urgent stopper for automatic control operation of working machine - Google Patents

Abstract

PURPOSE:To quickly stop the operation of a working machine when an operating lever irrelevant to the work is operated by a method in which the operating condition of the operating lever and the working condition of the working machine are put through an urgent stopper circuit into a control circuit for the control valve of an oil-pressure shovel. CONSTITUTION:A control circuit 22 for switching control of the control valves 28, 29, and 30 of the actuators 9, 10, and 11 of an oil-pressure shovel receives input signals from operating levers 16, 20, sensor 21 for angles of boom, arm, and bucket, an operating panel 25, and an urgent stopper circuit 26 and sends out control signals through a signal output breaker 23. The urgent stopper circuit 26 receives the outputs of the lever operator of the sensor 21 and the operating panel 25. Even when the operating lever irrelevant to the work is operated during automatic control operation, output signal to the actuator can be automatically interrupted to prevent the occurrence of danger quickly.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for bringing an emergency stop to automatically controlled work in a working machine such as a bank hoe that performs automatically controlled work.

Conventional Technology When performing automatic control work by automatically controlling each part of a work machine such as a backhoe, it is possible to prevent danger by stopping the actuator part in an emergency due to a failure of the control circuit or some other reason. It may be necessary. In this case, conventionally, the operator would take his hand off the control lever, locate the power switch on the control panel for automatic control work installed on the inside wall (or right side) of the cabin, and turn on the signal output line of the actuator section. c: It is necessary to manually cut off the power to the control circuit to perform an emergency stop, which is cumbersome to operate, takes a considerable amount of time to stop, and has the disadvantage that it is not possible to sufficiently prevent danger. .

Purpose of the Invention The present invention provides that when the above-mentioned emergency stop is required, if an operating lever not directly related to the automatic control work in progress is operated,
The circuit to the actuator section is automatically cut off without the operator taking his hand off the operating lever or changing his direction, thereby simplifying the operation.
The purpose is to provide an emergency stop device that can quickly perform an emergency stop.

Structure of the Invention In order to achieve the above object, the present invention has a structure in which an operation not directly related to automatic control work during work is performed in the circuit from the control circuit that controls each part of the work machine to each actuator part. The present invention is characterized in that an emergency stop circuit is provided which cuts off the circuit to the actuator section when the lever is operated.

Embodiments Below, the structure of the present invention will be explained in detail based on illustrated embodiments. FIG. The two-part rotating body (3) is placed on the undercarriage (2) with
) is installed, and the driver's seat (4) is placed on this upper revolving body (3).
A bunim (5), an arm (6) and a bucket (
7) is equipped with an excavating machine (8).

(9), (10), and (11) indicate cylinders that rotate the boom (5), arm (6), and bucket (7).

In addition, a rotation angle detection sensor (12) is installed at the pivot joint of each boom (5), arm (6), and bucket (7).
(13) <14) are installed, and based on the rotation angle detected by these sensors (12)' (13) (14), each cylinder +91 (In) (1
1) Perform automatic control work by supplying pressure oil as appropriate.

FIG. 2 shows the arrangement and operating directions of each lever provided in the driver's seat (4). Operator seat l-(
15), an arm and swing operation lever (6) and a boom and lift/7 operation lever (17) are arranged on both left and right sides of the unit, and these operation levers (Hi) (
17), there is a control lever for left crawler travel (18).
) and the right side crawler running operation lever (1, 9) are arranged in parallel. In addition, operator sea 1- (1
A blade operation lever (20) is arranged on the left side of 5).

Among the above operating levers, in normal work without automatic excavation, the arm and turning operation lever (16) rotates when rotated in the front and back direction, and the arm (16) rotates when rotated in the left and right direction. The two-part revolving body (3) rotates at -. Similarly, in normal work, when the boom and bucket control lever (17) is rotated in the front-rear direction, either the boom (6) or the bucket throat (7j) rotates, and when it is rotated in the left-right direction, the boom (6) or bucket throat (7j) rotates. The other arm rotates.In automatic control work, these arms and the swing operation lever (
Automatic horizontal or vertical excavation is performed only by operating the boom and bucket operating lever (17) in the longitudinal direction.

B. 8 Circuit Description Next, the circuit for automatic control work and emergency stop will be explained based on FIG. 3. The circuit of this embodiment basically consists of a sensor section (21), a control circuit (22) , a signal output cutoff section (23), an actuator section (24), an operation panel section (25), and an emergency stop section (26). The rotation angle detection sensors (12), (13), and (14) of the boom (5), arm (6), and bucket (7) constitute a part of the sensor section (21), and their output sides are controlled. -0 connected to the input side of the circuit (22) and
As mentioned above, among the operating levers (16) to (20), the arm and swing operating lever (16) and the boom and bucket operating lever (17) can be automatically controlled by rotating them in the longitudinal direction. Therefore,
A potentiometer (2
6) The output side of (27) is also connected to the control circuit (22).

The control circuit (22) has an output side connected to the signal output cutoff section (22).
3) to each electromagnetic valve (28) (29) (30) of the actuator section (24).

These electromagnetic valves (28) (29) (30) are
Pressure oil from the hydraulic pump (31) is switched and supplied to the boom cylinder (9), arm cylinder (10) and hegat cylinder (11).

The signal output cutoff section (23) includes relay contacts (32) (33) (34) that connect and disconnect the circuit from the control circuit (22) to the electromagnetic valves (28) (29)'(30);
It is composed of electromagnetic coils (35) (36) (37) that operate these contacts (32) (33) (34>), and when these electromagnetic coils (35) (36) (37) are in an excited state, the control The signal line from the circuit (22) to the actuator section (24) is cut off.

Next, in the sensor section (21), the arm and swing operation lever (16) and the boom and bucket operation lever (17) that are not used for automatic control work are rotated in the left and right direction, and other operations are performed. Lever (18) (19
) For the forward and backward movements of (20), limit switches (38) to (42) are provided to detect these movements, and these limit switches (38) to (42)
The emergency stop signal detection unit (43) is configured by these five limit switches (38) to (
The output side of 42) is connected to 5 terminals of the 6 αj11 children in the OR gate (44) of the emergency f and stop section (26) through inverters (45) (45)... are doing.

The emergency stop section (26) has four operational amplifiers (46).
- (49) are provided, of which two horizontal operation operational amplifiers (46,) (47) are connected to the potentiometer (26) of the arm and rotation control lever (16) on their inverting input side. The output of the vertical working operational amplifier (46) (4
7), the output of the potentiometer (27) of the boom and packet control lever (17) is input to its reversal input side. The outputs of the horizontal operational amplifiers (46) and (47) are respectively connected to two input terminals of the three input terminals of the horizontal operational OR gate (50), and the other output is connected to two input terminals of the horizontal operational OR gate (50). The output of the operational amplifier (48) (49) is another vertical working O
It is connected to two of the three input terminals of the R gate (51). These operational amplifiers for horizontal work (46) (47) and operational amplifiers for vertical work (48)
(49) are the respective operation levers (16) and (17).
It determines whether or not the control levers (16) and (17) are being operated in the front and back direction and outputs them.
- (50) It is designed to be input to (51). Furthermore, the outputs of these OR gates (50) and (51) are input to AND gates 1- (52), respectively, and
The output of the gate (52) is connected to the limit switch (38).
It is connected to the input side of an OR gate (44) which receives inputs from (42). The output of this OR gate (44) is connected to the base side of a transistor (53), and an electromagnetic coil (54) is provided on the emitter side of the l-range disk (53).

(55) is 0N-O by this electromagnetic coil (55).
This is a relay contact that is turned FF, and this relay contact (55)
is the electromagnetic coil (35) of the signal output cutoff section (23).
(37), and when the transistor (53) becomes conductive, the electromagnetic coil (54) is energized, its relay contact (55) is turned OFF, and the signal output cutoff section (23)
The contacts (32) to (34) are also turned off.

In the operation panel section (25), there are a horizontal work switch (56) and a horizontal work LED (57), and a vertical work switch (58) and a vertical work LED (59).
are installed, and when each switch (56) (58) is turned on, the I-ED (57) corresponding to those switches (56) (58) is controlled by the control circuit (22).
(59) lights up, and I, ED (57) (5
9) is turned on, the signal output from the lit side is transmitted to the horizontal work OR game (50) and the vertical work OR game through the inverter (60) (6]) of the emergency stop section (26). It is designed to be input to one side of the gate (51).

Explanation of operation (automatic control work) Taking horizontal automatic control work as an example, first, when the horizontal work switch (56) is turned on, the control circuit (22
) detects this, the horizontal work LED (57) lights up, and at the same time, the H level signal input turns on the horizontal work O.
Input to R game 1- (50).

Next, when the arm and the swing control lever (16) are rotated in the front and back direction to perform horizontal automatic excavation, the output is input to the control circuit (22), and the speed and speed of the movement of the control lever (16) are inputted to the control circuit (22). A control signal corresponding to the direction is output to each electromagnetic valve (28) (29) (30), and based on this, the electromagnetic valve (28) (2!1) (30) is switched to each cylinder (91 (10) (II) is automatically operated to perform automatic excavation in the horizontal direction.

Of course, at this time, the contacts (32) to (34) of the signal output cutoff section (23) are in the ON state.

In the above-mentioned horizontal automatic control work, since at least the horizontal work LED (57) is lit, the output of the horizontal work OR game (50) is H, but the output of the other vertical work OR game 1- Since the output of (51) is I, the output of AND gate (52) is L.

In addition, the arm and swing operation lever (16) that operates each limit switch (38) to (42) and the boom and bucket operation lever (17) are operated in the left and right direction, and the other operation levers (18) to (20) ) are all in the neutral position, so 1. Inverter (/+5)
(45)... is input via OR game l-(4
The input levels of 4) are all I, therefore, the OR
The output level of the gate (44) is -.

Therefore, the transistor (53) is not conductive, and as described above, the contacts (32) (33) of the signal output cutoff section (23)
(34) is in the ON state.

C. Operation explanation (emergency stop) In order to perform an emergency stop from this state, operate the arm and swing operation lever (16) or the boom and packet operation lever (17) in the left and right direction, or use the other operation lever (18). ) to (20) in the forward and backward directions and actuates any one of the limit switches (38) to (42), the input level of one of the OR gates (44) becomes I.
(As a result, its output also becomes H, and the transistor (5
3) becomes conductive, the electromagnetic coil (54) is excited, and its contact (55) is opened. Therefore, the signal output cutoff section (
The contacts (32), (33), and (34) of 23) are also opened, and the output to the solenoid valves (28), (29, and 30) is blocked, and these solenoid valves (28), (29), and
(30) returns to neutral and each cylinder (91(10)
(11) stops.

In addition, even if the limit switches (38) to (42) are not activated, if the boom and bucket control lever (17) not directly related to horizontal automatic work is operated in the front-back direction, the operational amplifier for vertical work (48)
(49) determines that it is in the operating state, and one input signal of (51) becomes H, so its output becomes H, and the AND gate (52) output becomes H, so OR gate (for vertical work) The output of the gate (44) similarly becomes 1 (and the transistor (53) becomes conductive. Therefore, the contacts (32) to (34) of the signal output cutoff section (23) open,
Arm cylinder +91 (10) (11,) stops.

In other words, operations of operating levers that are not directly related to the work during such horizontal automatic control work include operating the arm and swing operating levers (16) in the left and right direction, and the boom and bucket operating levers (17). When operating the front/back or left/right direction, use the other operating lever (1B) (19
) (20) is operated in the front and back direction. When any of these operations is performed, the output of OR gate 1- (44) becomes (), so the transistor (53) becomes conductive and the actuator section (24) is cut off, therefore, the arm and swing operation lever (1
An emergency stop can be performed by operating an appropriate operating lever other than the front-back direction operation in 6), and the emergency stop operation can be performed easily and quickly. Furthermore, in this case, when operating the arm and turning operation lever (16), an emergency stop can be made by simply tilting it in the left-right direction, so there is no need to even change the grip of the lever.

The above describes an emergency stop when horizontal automatic control work is being performed, but the same applies when vertical automatic control work is being performed. In other words, if you perform any operation other than the forward/backward operation of the boom and hekeso 1- control lever (17), the OR game 1- (4
4) If one input signal becomes H level and its output becomes H
Then, the transistor (54) becomes conductive and the contact of the signal output cut-off part (23) is opened in the same way, so that each cylinder (Q)
(10) (I+) stops.

Effects As explained above, according to the present invention, when any operating lever not directly related to the automatic control work is operated, a signal is sent from the control circuit to the actuator section. Because the output is automatically shut off, compared to the conventional operation of manually shutting off the signal output line to the actuator section and the power line of the control circuit, there is no need to take your eyes off to make a decision, and in some cases it may be necessary to hold the lever. There is no need to change anything, it is easy to make instantaneous decisions, and you can quickly stop each actuator to prevent danger.
This has the effect of allowing you to

[Brief explanation of the drawing]

Fig. 1 is an overall side view of a backhoe that performs automatic control work, Fig. 2 is a schematic plan view showing the arrangement of each operating lever in the driver's seat and its operating direction, and Fig. 3 is an embodiment of the present invention. FIG. 2 is a circuit diagram for automatic control work and emergency stop; (8) - Excavation work equipment, (16) to (20) - Operation lever, (22) - Control circuit, (24) - Actuator section, (23) - Signal output cutoff section, (26) - Emergency stop (43) - Emergency stop signal detection section. Patent Applicant: Yanmar Diesel Co., Ltd. Representative Patent Attorney Hisashi Tarumoto

Claims (1)

[Claims] The circuit from the control circuit that controls each part of the work machine to each actuator 1 and the actuator section (if you operate a control lever that is not directly related to the automatic control work in progress while on the move, the circuit to the actuator section will be cut off). An emergency stop device for automatically controlled work in a work machine, characterized by having a circuit for emergency stop.