JPS60133124A - Slewing type working vehicle - Google Patents

Abstract

PURPOSE:To prevent the occurrence of unexpected slewing, by a method wherein a safety device, which stops flewing only when a difference between the output voltage of the potentionmeter of a control lever for slewing and the arithmetic mean voltage of a hight voltage and a low voltage exceeds or is below a set value, is mounted to the control lever. CONSTITUTION:A potentionmeter 6 is coupled to a control lever 5 of a slewing table, the output of the potentionmeter 6 is connected in parallel to a first controller 10 for manual operation and second controller 13 for automatic operation through a safety device 15, and the outputs of the first and second controllers 10 and 13 are connected to a proportional control valve 8 for slewing through a selecting circuit 14. A main resistor R, with which a moving contact (a) of the potentiometer 6 makes slide contact, is connected to terminals (b) and (c) of a high voltage VH and a low voltage VL through a low resistor r1. Meanwhile, the output terminal of the potentionmeter 6 is connected to the terminals (b) and (c) through a high resistor r2 (R<r2). The safety device 15 outputs only when a difference between a reference voltage V0 and a voltage V of an output terminal is a specified width.

Description

DETAILED DESCRIPTION OF THE INVENTION Ki@man connects a potentiometer to an operating lever of a swivel base, detects the direction and amount of operation of the operating lever based on voltage information from the potentiometer, and detects the operating direction and amount of operation of the operating lever. a first controller for operating the control lever, and based on information from the potentiometer, the IQ swivel table is rotated in a direction that suddenly matches the operation state of the control lever;
and automatically operates the proportional control valve so as to stop the swivel base at a set angle relative to the vehicle body based on information from a sensor for detecting an angle relative to the vehicle body of the swivel base and a stop angle setter relative to the vehicle body of the swivel base. A second controller is provided to selectively connect the proportional control valve to the first and second controllers. The present invention relates to a swing-type working vehicle that can alternatively perform independent turning operations, and in particular relates to improvements in its control circuit.

Conventionally, when configuring the control circuit of the above-mentioned swing-type work vehicle, an eighth
As shown in the figure, in the potentiometer (8) linked to the operating lever (6), one end of the resistor (R) with which the movable contact (al) is in sliding contact is connected to the high voltage (VH) terminal (bl), and the other end is connected to the high voltage (VH) terminal (bl). is directly connected to the terminal (C) for low voltage (Vt, ), and when the lever (5) is in the neutral position, the movable contact (@
], the reference voltage (v
o) Take the lever (6) and the moving contact (8) so that
The phase of ki! At the same time, the first manual controller (101
and an output terminal (d)'t- to the second automatic controller a31.
Town auxiliary contact (a) K connection, with 11th and 2nd
Controller 1101, 1lalK output terminal (d
) The operating direction of the swivel base (3), that is, the direction of operation of the electromagnetic proportional control valve (8), is determined by determining whether the signal voltage (■) from () is larger or smaller than the reference voltage (vo). In addition to determining the valve operation direction, the fsl controller (10) determines the absolute difference between the output terminal (signal voltage ff from dl) and the reference voltage (vo). Based on the value, the swing speed, that is, the operation amount of the control valve (8) was determined.

In the figure (ε) is the set dead zone of the potentiometer (6) when the lever is operated in the neutral position.

However, if the potentiometer (6) is disconnected at point (7) or a) in the figure, the output terminal (d)
The signal voltage (V) from the swivel base (3 ) in an unexpected direction and under sudden manual operation, there is a risk that the swivel base will run out of control at an unexpected maximum speed, and if the wire is disconnected at point (i) in the figure, the power from the output terminal (d) will be lost. (Because the voltage (V) becomes extremely unstable, the swivel base becomes uncontrollable in the same way as described above.) In view of the above-mentioned circumstances, an object of the present invention is to provide a rational improvement to the circuit structure of a potentiometer. The purpose of this invention is to reliably prevent unexpected operation of the swivel base caused by a disconnection problem in the potentiometer.

The characteristic configuration of the present invention is that, in a potentiometer that detects sudden lever operation, the main resistor with which the movable contact comes into sliding contact, and the high voltage and low voltage terminals are large in amount, and the resistance of the main resistor and the low voltage terminals are large. and a large resistor with a resistance value greater than that of the main resistor between each of the high voltage and low voltage terminals and the output terminals for the 1st and 2nd controllers. , respectively, and when the absolute value of the difference between the reference voltage, which is the arithmetic mean value of the high voltage and the low voltage, and the voltage from the output terminal is larger than the set value and smaller than the set value, the swivel base The safety device 1 is provided with the safety device 1 to automatically stop the system, and its functions and effects are as follows.

In other words, if we explain the action based on Figure 2, c4)
The main resistor (8), the high voltage (VH) terminal (BL Et) and the low voltage (VL) terminal 1 (11) are connected to the small resistor (
rl), the change in the input voltage (vl) from the output terminal (di) during normal operation is reduced to a set voltage (Vt,') that is higher than the low voltage (Vt,).
(=Vo-ne) to a set voltage (VH' (=vo+α)) smaller than the high voltage (VH).

In addition, (V, ,) is the high voltage (VH) and low voltage CVL')
The signal is set to be emitted when the lever (b) is in the neutral position at a reference voltage that is the arithmetic mean value (V4). Moreover, - is a set value.

(b) Potentiometer (6) and the first. Second controller (
10+.

The output terminal (
d) signal from 11 EE (Vl and reference voltage (vo)
The absolute value (lv-vat) of the difference between the If input as is to the controller (101*θ) and the absolute value (IV-V, l) is larger than the set value (9), it is assumed that there is an abnormality, and both controllers flo) and Ql) are input. Convert the input signal voltage (■) to a reference voltage (Vo).

(c) In other words, a disconnection occurs at the (support) point or point 0 in the figure, and the voltage from the output terminal (dl) to low voltage (VL) or high voltage (
When the signal voltage (■ of VH) is transmitted, the safety device (I
Signal voltage input from @ to both controllers +101 and 01 (
The swivel base is automatically stopped by converting Vl into a reference voltage (Vll) that commands neutrality.

) On the other hand, the high voltage (Vl) terminal (bl and low voltage (V
By interposing a large resistor (r,) between each terminal 1G+ for L) and the output terminal (dl), when a disconnection occurs at point (ri) in the figure, a signal is generated from the output terminal (di). Make sure that the signal voltage (■) is approximately the reference voltage (VO±β).

Note that (b) is a setting value for setting an allowable error.

(e) In the safety device 0 clause, the output terminal (d
), calculate the absolute value (lv-vol) of the difference between the signal voltage (Vl and the reference voltage (■.), and calculate the absolute value (IV-V
If OI) is smaller than the set value (B), it is determined that the control lever (5) is in the neutral operation state or that there is a disconnection at point (R), and the safety device O@ controls both sides. Kishou, H
Convert the input signal voltage (■) into a reference voltage (VO) and stop the swivel base.

Note that (ε) in the figure is the set dead zone of the potentiometer (6) when the lever is operated in the neutral position.

As a result of the above, it is possible to reliably prevent the unexpected turning operation of the swivel table due to a wire breakage in the potentiometer (6), and also to prevent the operator from disconnecting the potentiometer (8) because the swivel table is automatically stopped regardless of lever operation. An embodiment of the rotating system will be described below with reference to FIGS. 1 and 2.

In the swivel excavation work vehicle shown in Fig. 1, a swivel platform (3) equipped with an excavation work device (l) and a boarding and driving section (2).
To configure the turning operation structure for the traveling vehicle body (4), as shown in FIG. ) in a direction commensurate with the operating direction of the lever (5), and
In order to rotate the swivel base (3) at a speed commensurate with the amount of operation from the neutral position of the lever (6), an electromagnetic proportional control valve (8) for forward/reverse switching and speed control for the swivel motor (7) is installed. A first controller is provided which gives commands to the valve controller (9).

Then, the lever operation is started based on the information from the anti-slip base to vehicle body angle U) detection sensor (1) attached to the rotation drive part of the swivel base (3) and the information from the potentiometer (61). In the commanded state, the swivel base tall is rotated in a direction commensurate with the lever operation direction and in a preset speed change state, and the angle to the vehicle body (θf) is artificially set by the setting device. The second controller 1131 automatically gives a command to the valve controller 19) to stop the swivel base +31 at the first controller (1O).
is provided in parallel with the valve controller (9), and is further provided with a manually operated circuit switcher that selectively connects the eleventh and second controllers 1101 and 01 to the valve controller (9).
It is configured so that a manual turning operation by the controller (10) and an automatic turning operation by the second controller (j) can be selectively performed.

No. 111 Potentiometer (Constituting the circuit in section 61, a movable contact (a) connected in conjunction with the operating lever (5)
) is in sliding contact with the main resistor (R) and the high voltage (VH) terminal t.
b) and the terminal (C) for low voltage (Vt, ),
The main resistor (R) is also small in resistance value (for example, the main resistor (the main resistor is Ω/Ω, but what is 100 II)?). By this, the signal J from the output terminal (d) connected to the movable contact (a) is
The change range of i+electric field ('i') during normal operation is determined by setting a set voltage (Vt'-(V.-) higher than the low voltage (VL).
CM)) to a setter E smaller than the high voltage (VH).
E(VH',=(V.-α)).

(VD) is the reference voltage that is the arithmetic mean of the high voltage (VH) and the low voltage (vL), vH + VL, and the lever (5).
The phases of the lever (5) and the movable contact (a) are set so that when the reference voltage (VO) is in the neutral position, the reference voltage (VO) is transmitted from the output terminal (d).

Also, next to it is a set value determined by the resistance value of the small resistor (r1).

On the other hand, between the high voltage (VH) terminal (b) and the low voltage (Vt) terminal (c) and the output terminal (d), By inserting a large resistor (r2) with a large value (for example, the main resistor (7M1j is 7M1j) while the main resistor is /g, this will cause a disconnection at the point shown in the figure). When the output terminal (d) is turned on, a signal voltage E (V) of approximately the reference voltage (V, ±β) is transmitted from the output terminal (d).

(+3) is a setting value for setting the error error.

Then, the absolute value of the signal voltage FE (V) from the output terminal (d) and the reference voltage (VO) is calculated as (IV-VD+Kei),
And, based on the magnitude comparison between the calculated absolute value (IV-VllI) and the fixed set values (2) and (2), the calculated absolute value (I
When V-Vol) is a fixed value (to) and a fixed value of (+9) (β≦l v-vo I≦CM), the output terminal (
The signal voltage (V) from d) is directly applied to both controllers 1101.
, 11, and calculate the absolute value (IV-V
ffl) is larger than the set value (5) or smaller than the set value (5) (I v −vn+> o
i, IV-Vfl<β), both controllers 1101, (
13) is provided with a safety device (16) for inputting the signal voltage (■) of the reference voltage EE (vo) as a neutral command.

In the figure, the dead zone of the potentiometer (6) is set when the lever is operated in the neutral position.

In other words, by determining whether the input signal voltage (V) is larger or smaller than the reference voltage (Vo), the operating direction of the swivel base (3), that is, the operating direction of the control valve (8) is determined. The first and second bottle control devices (101, H1, and 1') to determine: In addition, the rotation speed is determined based on the absolute value of the difference between the input signal voltage (v) and the reference voltage (VO). , that is, the first controller (10
), by installing a safety device (+6) that operates as described above, a disconnection occurs in the potentiometer (6) at point (7) or (a) in the figure, which causes the lever (5) to break. Regardless of the operation, even if a low voltage (Vt, ) or high voltage (Vo) signal voltage (Vl) is transmitted from the output terminal (d), a disconnection will occur at point (i) in the figure.
Even if the signal voltage (V) input from the movable contact (a) to the output terminal (d) becomes unstable due to this, the swivel base (3) cannot be operated in the manual operation state or the automatic operation state. It is configured to be able to automatically stop regardless of the situation, thereby reliably preventing unexpected turning operation of the swivel base (3) due to a disconnection in the potentiometer (6).

Next, another embodiment will be described.

In the potentiometer (6), the main resistance W (R),
The specific resistance values of the small resistor (rl) having a smaller resistance value and the large resistor (r2) having a larger resistance value than the main resistor (R) can be changed in various ways.

The signal voltage (v) from the output terminal (d) and the reference voltage (Vo
) is larger than the set value (α) and smaller than the set value (β), the concrete circuit of the safety device 051 for automatically stopping the swivel base (3) The configuration can be improved in various ways.

Also, the specific values of fixed values (α) and (β) can be changed as appropriate.
f ability.

The present invention is directed to swing work vehicles for various uses such as agricultural use and construction use.

[Brief explanation of the drawing]

1 and 2 show an embodiment of the present invention, with FIG. 1 being an overall side view of a revolving excavation vehicle, and FIG. 2 being a control circuit diagram. FIG. 8 is a control circuit diagram showing a conventional example. (3)...Swivel base, (5)...Turn/control lever, (6)...Potentiometer, (8)...
Electromagnetic proportional control valve, (10)...First controller, (Applicable...vehicle body angle detection sensor, decoy...
Vehicle stopping angle setting device, (I town - 2nd controller, Q4)
−−−−−−Circuit switch, 0 clauses...Safety device,
(v)・・・Voltage, (VH)・Old・High voltage, (
Vt, )・・・Low voltage, (VO) −−−−−−
Reference voltage, (a) town...movable contact, (b)...
High voltage terminal, (C1...Low voltage terminal, (d
)...Output terminal, (R)...Main resistor, (rl)...Small resistor, (r,)...
・Large resistor, (α), (β)...Setting value. Agent Patent Attorney Osamu Kitamura

Claims (1)

[Claims] A potentiometer (
6) Automatically adjust the operating valve (8) of the operating lever (6) to match the operating state of the operating lever (5) based on the voltage information (V) from the potentiometer (6). A first controller (10) to be operated is provided, and the swivel base (3) is rotated in a direction corresponding to the operating state of the #J operating lever (6) based on information from the potentiometer (6). And, based on the information from the vehicle body angle detection sensor of the swivel base (3) and from the vehicle body stopping angle setting device Shino of the swivel base (3), the vehicle is stopped at the vehicle body angle set by the swivel base fil ft. , a second controller l131 that automatically operates the proportional control valve (8) is provided, and the proportional control valve (8) is connected to the first and second controllers tiol, +13.
), the rotary work vehicle is equipped with a circuit switch 11n selectively connected to the potentiometer (6),
The movable contact (+1) is in sliding contact with the main resistor (R) and the high voltage (
VH) and low voltage (Vt) terminals (b). Similarly to (C), the main resistor (R) ↓ is a small resistor (rt) t-1 with a lower resistance value, and the high voltage (
VH) and low voltage (Vt, ) terminals (b), (C
) The eleventh and second controllers t101. (131
A large resistor (rt) t-1 with a large resistance value is interposed between the output terminal (d) of the main resistor (R) and the high voltage (VH) and the low voltage ( The absolute value (IV-Vol) of the difference between the reference voltage (VO) which is the arithmetic mean value of Vt, ) and the voltage (V) from the output terminal (d) is set 1f71
The swivel type work vehicle is equipped with nine safety devices for automatically stopping the swivel base (3) when tmzp is also large and smaller than a set value (β).