JPS60133129A - Working vehicle - Google Patents

Abstract

PURPOSE:To unify a control circuit, by installing an information selecting mechanism which selects only information to a controller from either of sensors for a slewing table and a working arm in linkage with a control device which switches the control object to control lever to a slewing table and a working arm. CONSTITUTION:A potentionmeter 12 which detects the control state of a control lever 11 is connected as a control instruction transmitter to a controller 10. A detecting sensor 13 for an angle alpha of a slewing table to a car body and a detecting sensor 14 for an angle beta of a working arm to a slewing table are connected to the controller 10. An information selecting mechanism 18, which based on information from a change-over state detecting sensor 17 additionally attached to a control device 16 of a flow passage flow switching value 8, automatically selects only information from the sensor 13 when the valve 8 is in a condition wherein it controls a slewing motor 8 and only information from the sensor 14 when the valve 8 is in a condition wherein it controls a hydraulic cylinder 7 and which inputs said information to the controller 10, is incorporated in the controller 10.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a rotating platform and a lever that selectively operates a working arm attached to the rotating platform so as to be able to swing left and right, with a potentiometer interlockingly connected to the lever that selectively operates the rotating platform or the working arm, so that the rotating platform or the working arm can be rotated in the forward and reverse directions. An electromagnetic proportional control valve for operation and speed control is provided, and the rotary base or work arm is rotated in a direction corresponding to the operating state of the operating lever based on information from the potentiometer, and Angle of the swivel base relative to the vehicle body or l
Setting the swivel base or work arm based on the information from the swivel base angle detection sensor of the work arm and the stop angle of the swivel base relative to the vehicle body or the swivel base stop angle setter of the work arm relative to the vehicle body angle. Alternatively, a controller is provided to automatically operate the proportional control valve so as to stop at the set swivel base angle, so that swivel work and work by swinging the work arm left and right can be performed efficiently and easily. In particular, this article relates to improved automatic operation structures for working vehicles.

Conventionally, in the above-mentioned work vehicle, the automatic operation structure includes a controller (IOA) that automatically operates the electromagnetic proportional control valve (5A) for the swing motor (6), and a swing base, as shown in FIG. A sensor 113) that detects the angle (α) of the swivel base relative to the vehicle body, and a setting device (
A controller (IOB) that automatically operates the electromagnetic proportional control valve (5B) of the hydraulic cylinder (7) for swinging the work arm left and right, and a counter-swivel base for the work arm. A sensor (14) that detects the angle (β)
), and an automatic control circuit for the left and right swinging of the work arm, which is included in the setting device (20B) for setting the stop angle (βt)' of the work arm relative to the rotating base, and each of these separate automatic control circuits,
The operating lever (++) is connected to the interlocking potentiometer θ by a circuit switch (wi) so that it can be selectively connected.

However, since each automatic control circuit 1 is required separately, there is a problem in that the manufacturing cost increases significantly.

An object of the present invention is to provide a rational improvement to the automatic operation structure, to unify the automatic control circuit, and to make it possible to reliably operate both the rotation and the left/right swing of the work arm. .

The characteristic tank I2t of the present invention is linked to an operating tool that switches the operation target of the operating lever to the swivel base or the work arm, and transmits information given to the controller VC to the swivel base's angle detection sensor relative to the vehicle body and the work arm's angle detection sensor. The present invention is provided with an information selection mechanism that independently selects information from one side of the swivel angle detection sensor, and its functions and effects are as follows.

In other words, the automatic operation modes for turning and rolling the work arm to the left and right are the same depending on the information from the potentiometer, angle detection sensor, and stop angle setter, respectively, and the automatic operation modes for turning and swinging the work arm to the right and left are Focusing on the fact that the rotation is performed alternatively, information from the two angle detection sensors is selected and given to the controller, so that the controller for turning, the controller for left and right swinging of the work arm, and the controller for tl. The controller can be used in a dual-purpose configuration, and the automatic control circuit can be unified.

Furthermore, by linking the selection of information from both angle detection sensors to the operating tool that switches the operation target of the operating lever to the swivel base or the work arm, it is possible to switch between the automatic swing operation state and the automatic work arm operation state. Since this can be done reliably just by operating the tool, it is possible to accurately and automatically operate both the rotation and the left-right swing of the work arm, even though the controller is used in common as described above.

As a result of the above, the manufacturing cost of the automatic operation structure is extremely low, and a work vehicle with excellent automatic operation performance has been created.

Next, embodiments will be described based on the drawings.

In the excavation work vehicle shown in FIG. In configuring the left-right swing operation structure for the swivel table (3), as shown in FIG.
The swing hydraulic motor (6) and the work arm left-right swing hydraulic cylinder (7) are connected to each other via a flow path switching valve (8) so that they can be selectively connected, and the proportional control valve (6) is controlled by a valve controller. (In addition to providing an automatic controller (10) that sends a valve operation signal to 91, an operation lever (II) K and a potentiometer t12 that detects its operation state) are interlocked and connected, and the potentiometer μ''4f: operation command It is connected to the controller (10) as a transmitting device.

Then, the traveling vehicle body (
4) First sensor-1 that detects the rotation angle (α) with respect to
A second sensor O→ is provided to detect the horizontal swing angle (79) of the work arm (2) with respect to the swivel base (3), and both sensors -1- are connected to the controller (10) i' (and Based on the information from the switching state detection sensor (?-0?) attached to the operating tool 01 of the flow path switching valve (8), the flow path switching valve (8) changes to the operating state wB of the swing motor (6). At some point, only the information from the first sensor α barrel is automatically selected from among the information from both sensors (13) and (14) and inputted to the controller (10), and the flow path switching valve (8) is When the working arm hydraulic cylinder (7) is in operation, the information selection mechanism tUa that automatically selects only the information from the second sensor N and inputs it to the controller (101) is activated by the controller (101).
0), and is also equipped with a switching state detection sensor (1).
A control state switching mechanism (+@ is the controller t10) K is built in to switch the controller (101) between the swing control state and the work arm control state based on the information from 7).

In other words, as shown in FIG. 8, by switching the operating tool (+6) to the turning operation state, the potentiometer
and a controller based on information from the first sensor 01 +
101 By automatic operation of the proportional control valve (6) by VC, the swivel base (3) is rotated in a direction commensurate with the operating direction of the operating lever (I) and in a preset swing speed change state. , so as to stop the swivel base (3) at the angle to the vehicle body (αf) artificially set by the setting device (2dl),
By switching the operating tool 06) to the working arm operating state, the potentiometer (I) and the second sensor 04
) Automatic operation of the proportional control valve (6) by the controller (1O) based on information from the controller (1O) causes the left and right swing speed to move in a direction commensurate with the operating direction of the control lever (+1) and at a preset left/right swing speed. When the work arm (2) is swung left and right in the changing state, the angle to the rotating platform (β
f) It is configured to stop the working arm (2).

Next, another embodiment will be described.

As shown in Fig. 4, an electromagnetic proportional control valve (5A) for the swing motor Tel VC and an electromagnetic proportional control valve (5B) for the hydraulic cylinder (7) for horizontal swinging of the work arm are provided for each VC. Control valve (5A).

(5B) is connected to one controller (1o), and the information selection that automatically selects the information given to the controller from one of the eleventh and second sensors (lull, θ) The control state switching mechanism (1) for switching the mechanism and the controller (IOL between the swing control state and the work arm control state) is selected from the controlled object changeover switch (16') K provided in the controller (101). It may be configured to perform switching operation.

In addition, as shown in Fig. 4, a setting device (2OA) for setting the stopping angle (αf) of the swivel base (3) relative to the vehicle body and a work arm (
2) Setting device (BO) for setting the stopping angle (βf)
B) may be provided separately.

Furthermore, when the swing motor (6) and the hydraulic cylinder (7) for horizontally swinging the work arm are operated by one electromagnetic proportional control valve (5), the swing base (3) and the work arm (2) When operating automatically under the same set speed change state,
It is also possible to provide only the information selection mechanism 08) and omit the control state switching mechanism.

Zero launcher #g is intended for work vehicles used in various fields such as agriculture and construction, which are equipped with work arms for various purposes on a swivel base.

[Brief explanation of drawings]

1 to 8 show an embodiment of the present invention, in which FIG. 1 is an overall side view of an excavating vehicle, FIG. 2 is a control circuit diagram, and FIG. 8 is a 70-chart. FIG. 4 is a control circuit diagram showing another embodiment of the present invention.
FIG. 5 is a control circuit diagram showing a conventional example. (2)... Working arm, (3) Old... Swivel base, (5)... Electromagnetic proportional control valve, (1o)...
...Controller, (11)...Operating lever, θno...Potentiometer, Suzuki...Su・Vehicle body angle detection sensor, (+41... Swivel angle detection cm-1+181... Operating tool, (18)...
...Selection mechanism, bite...Setting device, (α)...
... Angle to the vehicle body, (β) ...... Angle to the turning platform, (
αf)...Setting versus vehicle body angle, (βf)・Old...Setting versus turning angle. Agent Patent Attorney Osamu Kitamura

Claims (1)

[Claims] A potentiometer 0″4 is interlocked and connected to a lever (11) that selectively operates a swivel base (3) and a work arm (2) attached to the swivel base so as to be able to swing left and right.
Alternatively, an electromagnetic proportional control valve (5) for forward/reverse operation and speed regulating operation of the work arm (2) is provided, and the potentiometer 0
Based on the information from the swivel base (3) or the work arm (2), the control lever (1) is moved in the direction that corresponds to the operating state of the operating lever (1).
), and detects the angle (α) of the swivel base (3) relative to the vehicle body or the angle (β) of the work arm (2) relative to the swivel base (II, 04) and the swivel base. The swivel base (3) or work arm (2) is set based on the information from the stopping angle with respect to the vehicle (3) or the stopping angle with respect to the swivel base setter (e) of the work arm (2). (αf)
Alternatively, a work vehicle is provided with a controller (10) that independently operates the proportional control valve (5) so as to stop the proportional control valve (5) at a set rotation angle (βf), and the control lever (11) is operated by In conjunction with the operating tool (l) that switches to the front ε swivel table (3) or the work arm (2), the information given to the controller (1O) is automatically transferred to the information from one of the two sensors. A work vehicle equipped with an information selection mechanism for selection.