JPS60133123A - Slewing type working vehicle - Google Patents

Abstract

PURPOSE:To facilitate restoration from manual control to automatic control during manual control, by a method wherein the control button of a selecting cir cuit, which selectively connects a proportional control valve for slewing to a first control circuit for manual operation and a second control circuit for automatic operation, is automatically restorable to the second control side. CONSTITUTION:A working vehicle is provided with a first controller 10 which, by means of an output from a potentiometer 6 of a control lever 5 of a slewing table, automatically controls an electromagnetic proportional control valve 8 for forwardly and reversely controlling the slewing table, and a second controller 13 which automatically controls the proportional control valve 8 so that it slews and stops the slewing table according to an output from the potentiometer 6 and detecting signals from a slewing angle detecting sensor 11 and a slewing stop angle setter 12. The proportional control valve 8 is connected to the first and second controllers 10 and 13 through a selecting circuit 14, and a control button 15a, which is automatically restored to the second controller 13 side, is mounted to a selecting circuit 14. This permits easy shifting of automatic control to manual control during automatic control through push of the control button.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention connects a potentiometer to an operating lever of a swivel base, detects the operating direction and amount of operation of the operating lever based on voltage information from the potentiometer, and controls the swivel base. A first controller is provided to automatically operate an electromagnetic proportional control valve that performs forward/reverse operation and speed regulating operation in accordance with the operating state of the operating lever, and operates the operating levers based on information from the box potentiometer. The swivel base is set so as to rotate the swivel base in a direction appropriate to the state, and based on information from the swivel base's angle to the vehicle body angle detection sensor and the vehicle body stopping angle setting device of the swivel base. a second controller for automatically operating the proportional control valve so as to stop the proportional control valve at a corner; a circuit switch for selectively connecting the proportional control valve to the first and second controllers; The present invention relates to a swing-type working vehicle that can perform either a manual turning operation using a controller or an efficient automatic turning operation using a second controller, and more particularly relates to an improvement in the turning operation structure.

Conventionally, in the above-mentioned swing-type working vehicle, the operating tool of the circuit switching device has been configured to be self-maintaining in each switching state, but when manual operation is performed temporarily during automatic swinging, Even though the manual operation time is limited, the operation is difficult because it requires two separate operations: switching to the manual operation state and returning to the automatic operation state after the manual operation is completed. This is cumbersome, and since it is necessary to visually check the switching posture of the operating tool to confirm which operating state it is in, for example, when a temporary manual operation is repeated several times, etc. There was a risk that the operator could misunderstand the operating conditions and cause an unexpected accident.

An object of the present invention is to enable easy temporary switching of manual operation during self-turning, and to
The object is to enable the operator to accurately recognize the operating state.

The characteristic configuration of the present invention is such that the operation button of a circuit switch that selectively connects the swing proportional control valve to the first manual controller and the second automatic controller is placed at the connection position of the second controller. The operation and effects are as follows.

In other words, the manual operation mode can be activated only while holding the turning operation lever and pressing the operation button provided on it, and when you stop pressing the operation button, the automatic operation mode suddenly changes to automatic operation. It can be restored.

Therefore, compared to the previous method in which switching to manual operation state and returning to automatic operation state were performed using separate operations, temporary manual operation during self-turning can be performed at hand. It has become extremely easy to do this just by operating the button.

Moreover, since the manual operation state appears only while the operation button is pressed, the operator can reliably recognize which operation state the operator is in without having to visually confirm the operation state. Unforeseen accidents caused by misperception of the situation were avoided, and as a whole, a swing-type work vehicle with excellent swing maneuverability and safety was created.

Next, an embodiment will be described based on FIGS. 1 to 8.

In the swivel excavation work vehicle as shown in Fig. 1, a swivel platform (
To configure the turning operation structure for the traveling vehicle body (4) in 3), as shown in FIG. The valve controller (9) of the electromagnetic proportional control valve (8) that operates the motor (7) in forward and reverse directions and controls the speed of the potentiometer (6) is controlled based on voltage information from the potentiometer (6). , lever (5)
A first ml command that gives a command to the intermediate controller (9) to rotate the swivel base (3) in a direction commensurate with the direction of operation of the lever (6) and at a speed corresponding to the amount of operation from the neutral position of the lever (6). It is connected via a controller (10).

A rotary encoder-type rotation angle sensor (a sensor) is attached to the rotation drive unit of the swivel base (3) to detect the rotation angle (θ) of the swivel base (3) with respect to the traveling vehicle body (4). Based on the information from the sensor (ll) and the information from the potentiometer (6), in a state where the lever operation is the activation command, the lever (6) is moved in a direction commensurate with the operating direction of the lever (6) and in a preset direction. The swivel base (
3) and at the same time, sends a command to the valve controller (9) to stop the swivel base (3) at the rotation angle (θf) with respect to the vehicle body that is artificially set by the setting device 0. The first controller (10) is provided in parallel, and further,
A manually operated circuit switch 0 is provided to selectively connect the first controller 10 and the second controller 0 to the valve controller roller 9. 1 controller (10)
The configuration is such that a manual turning operation by the controller (13) and an automatic turning operation by the second controller (13) can be selectively performed.

To configure the circuit switching device 04), an automatically restoring operation button (15a) of the auxiliary switch (16), which is always energized to the OFF state side, is thinly attached to the upper end of the grip part of the turning operation lever (5). , on the other hand, switching between ON state and OFF state 2
The main changeover switch is configured to be held in the main position (
The operating tool (16a) of 16) is attached to the control panel, and the operating voltage signal from the OR circuit (l'7) which takes the voltage signals from both switches 115) and (16) as input signals is in a HIGH state. When the first controller (10) is in the LOW state, the operated side changeover switch (1→ , both controllers LIO
I, 03) and the valve controller (9), as shown in Fig. 8, when the manual turning operation is to be performed continuously, the main changeover switch 0 is switched to the ON state, and When performing automatic turning operation, set the main changeover switch to 0.
→ to the OFF state to perform manual/automatic switching, or if you want to perform a temporary manual turning operation during an automatic turn with the main changeover switch 0@ turned OFF, the operation lever ( 6) The operation button attached to (
Main changeover switch 0I only while pressing 15a)
The structure is such that a manual turning operation state can be achieved without requiring any additional operations.

Next, another embodiment will be described.

4 and 5 to configure the circuit switch ll4I.
As shown in the figure, the auxiliary switch (1'5'), which is operated by the automatic recovery type operation button (15a) attached to the operation lever (5), is turned on by pressing the button (15a).
It is configured to be switched to the FF state side, and when the operating voltage signal from the AND circuit (lτ) which uses both type pressure signals from the auxiliary switch (Iff) and the main changeover switch H as input signals is in the HIGH state. Automatic second controller Q3
1 to the valve controller (9), and connect both controllers t101, H and the valve controller (9) so that the first manual controller (10) is connected to the valve controller (9) in the event of a LOW state. An operated side changeover switch (1g) between the two may be configured.

In addition, as shown in Fig. 6, the switch operated by the self-recovery type operation button (15a) attached to the operation lever (5) without the self-holding type main changeover switch (
The operation button (15a) is activated only based on the signal from the
) is pressed and operated, the operated side selector switch (
18'') may be configured to be switched to the manual operation state, and in addition, in the circuit switch (I4), the second controller θ3) for automatic swing operation may be switched to the valve controller (9).
Various improvements can be made to the specific electric circuit of the operating button (15a) provided on the turning operating lever (6) and biased so as to automatically restore to the K-connecting side.

INDUSTRIAL APPLICABILITY The present invention can be applied to swing-type working vehicles for various uses such as agricultural and construction purposes.

[Brief explanation of drawings]

1 to 3 show an embodiment of the present invention, FIG. 1 is an overall side view of the rotating excavation work east, FIG. 2 is a control circuit diagram,
FIG. 8 is a table showing switching patterns in poor control conditions. 4 and 5 show another embodiment of the present invention, FIG. 4 is a control circuit diagram, and FIG. 5 is a table showing switching patterns. FIG. 6 is a control circuit diagram showing another embodiment of the present invention. (3)... Swivel base, (6)... Operation lever, (6)... Potentiometer, (8)...
...Solenoid proportional control valve, (10) ...First controller, (It) ...Angle detection sensor relative to the vehicle body, Vehicle stopping angle setting device, (11...
...Second controller, (+4)...Circuit switch, (1sa)...Operation button. Agent Patent Attorney Osamu Kitamura

Claims (1)

[Claims] A potentiometer (
6), and detects the operating direction and operating amount of the operating lever (5) based on voltage information from the potentiometer (6), and also performs forward/reverse operation and speed control operation of the swivel base (3). A first controller (10) is provided for automatically operating the electromagnetic proportional control valve (8) in accordance with the operating state of the operating lever (5), and the potentiometer (6)
1. The swivel base (3) is configured to rotate the swivel base (3) in a direction that matches the operating state of the operating lever (5) based on information from the vehicle body angle detection sensor (11) of the swivel base (3).
and automatic operation of the proportional control valve (8) so as to stop the swivel base (3) at the set angle relative to the vehicle body based on information from the stop angle setting device (1) of the swivel base (3) relative to the vehicle body. a second controller (131) to selectively connect the proportional control valve (8) to the first and second controllers (ro+, (+a)); In a car, the circuit switcher (14J operation button (15g)
The swing type work vehicle is provided with the operation lever (5) biased so as to automatically restore the second controller Q to the connected position.