JPS60226920A - Slewing type working vehicle - Google Patents

Abstract

PURPOSE:To enable an operation lever to return to a set stop position by a method in which an actual speed from the startup of slewing to the stoppage of slewing is given as a function from slewing angle and set slewing stop angle to the operation lever, and during the overrun period, an actual speed on the basis of overrun angle is given. CONSTITUTION:The pressure oil of an oil-pressure pump 6 is supplied through a control valve 7 to an oil-pressure motor 5 to operate the slewing base with a working machine. The control valve 7 is controlled by a controller 20 receiving the detected valves of a detector 15 for operations of slewing and lever and a detector 17 for the slewing angle of the slewing base and also the set value thetaf of setters 19A and 19B for the slewing stop angles of the slewing base. The actual speed V between slewing start angle thetas and stop angle thetaf of the slewing base is matched with a speed Vx to be previously given as a function of the slewing angle theta by the controller 20. Also, during the overrun period, the control valve 7 is controlled in such a way as to match the actual speed V with the functional speed Vx' of the overrun angle theta. The automatic slewing controllability can thus be raised.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a swivel base equipped with a working device, a hydraulic motor that rotates the swivel base, and a valve that drives the hydraulic motor in forward and reverse directions and operates to stop it. a detector for detecting the angle of the swivel base with respect to the vehicle body, a setting device for setting the position of the swivel base relative to the vehicle body at which the swivel base should be stopped, a device for detecting the operation state of the operation valve, and the hydraulic pressure. A valve that adjusts the amount of oil supplied to the motor, and a control device that automatically operates the valve and the control valve based on information from the angle detector relative to the vehicle body and the operation state detection device are provided, thereby simplifying the turning operation. This invention relates to a swivel type work vehicle that aims to increase efficiency and improve work efficiency.

[Prior Art] Conventionally, when configuring an automatic turning control device in the above-mentioned turning type work vehicle, based on information from an operation state detection device,
The swivel base is rotated in a direction that matches the operating direction, and based on the swivel angle information from the vehicle body angle detector,
Automatically moves to a preset stop position using the setting device.
In addition, the control device was configured to automatically operate the operating pulp and control valve so as to gradually slow down and stop the operation.

[Problems that Inventor's Dormitory is trying to solve] However, although the conventional configuration described above can smoothly stop the swing, the control device cannot control the swing speed at the start of the swing or during the swing. Since there is no proper control and the vehicle is left to its own devices, the rapid acceleration of the swivel base at the start of the turn can cause problems such as cargo falling, reactionary movement of the vehicle body, and poor riding comfort. When used on a slope, the turning speed during turning changes significantly due to the slope, resulting in problems such as reduced work efficiency and inability to reliably stop automatically at the set stop position. However, there was still room for improvement in terms of automatic operation.

An object of the present invention is to provide a rational improvement to an automatic control device, to enable stable turning over the entire set turning range, and to smoothly start and stop turning. The object of the present invention is to enable the swivel table to be quickly and smoothly automatically returned to a set stop position even when the swivel table unexpectedly overruns due to an accumulation of disturbances such as inclination.

[Means for Solving Problem c] A characteristic configuration of the swing-type work vehicle according to the present invention is that the automatic control device for swing controls the actual speed of the swing base between the rotation start position and the set stop position of the swing base. to a preset speed as a function of the angle relative to the vehicle body, and in a state in which the swivel base is overrun from the rest position;
In the direction of correcting the overrun, the pulp for forward/reverse drive and stop operation and the supply oil amount control valve are automatically adjusted so that the actual speed of the swivel base matches the speed preset as a function of the overrun angle. Since it is a device to be operated, its functions and effects are as follows.

[For production]

In other words, if the control target speed between the rotation start position and the set stop position is given as a parameter by the angle of the turning base relative to the vehicle body, the acceleration at the start of the turn and the braking deceleration at the stop of the turn will be smooth, and , a function with characteristics such that the speed during the turn becomes a stable efficiency speed is set in advance, and the function is calculated by calculating the function using information provided from the setting device and the angle detector relative to the vehicle body. In order to match the control target speed at each point in the swing obtained as a value with the actual speed in the swing at that point, the control device controls the operating pulp,
Then, by operating the control valve, the rotation is automatically controlled over the entire range from the rotation start position to the set stop position.

In addition, when the swivel base overruns the set stop position for some reason, the return control target speed between the overrun position and the set stop position is set to a function that gives the overrun angle as a parameter. A function with characteristics such that the return function is quick and smooth is set in advance, and the calculation process for the return function is performed using information provided from the setting device and the vehicle angle detector in the same way as described above. The control device operates the operating pulp and the control valve so that the control target speed at each point in the return rotation obtained as a value matches the actual return speed at that point, and the speed is adjusted between the overrun position and the set stop position. The turning is automatically controlled over the entire return turning range.

[Effects of Invention/#l Planting] As a result of the above, it is possible to start and stop turning extremely smoothly within the set turning range, and to perform mid-turns stably and efficiently. As a result, it is possible to effectively prevent cargo spillage and deterioration of riding comfort caused by sudden acceleration, as well as reactionary movement of the vehicle body that causes errors in stopping position, as well as reduce turning speed caused by external disturbances such as ground slope. It is now possible to avoid a decrease in work efficiency and errors in stopping position due to instability of the machine.

Moreover, even if the swivel base should overrun for some reason, the overrun swivel base can be quickly and smoothly automatically returned to its original position, and automatically stopped at the set stop position. The automatic turning stop can be performed more accurately, efficiently, and without impairing smoothness, and overall, the automatic turning operability has been greatly improved.

[Example〕 Next, embodiments will be described based on the drawings.

As shown in FIG.
A turret driving unit (3) is provided and a backhoe device (4) is attached to the turret driving unit (3), thereby constructing a revolving excavation work vehicle.

As illustrated in FIG.
The oil passage is connected through an operating valve (7) that switches to left turn and stop, and the operating valve (7) is a proportional control valve that continuously adjusts the amount of oil supplied to the motor (5) in the drive operating position. It is also configured to be used as a type flow rate control valve (8).

and a pair of proportional electromagnetic valves (IOA) that perform switching operation and proportional adjustment operation of the operation valve (7) (flow rate adjustment valve (8)) with pilot pressure oil supplied from the control hydraulic pump (9); (IOB) is provided, and by commands to the valve controller Qυ for these electromagnetic valves (IOA) and (IOB), electric swing operation to the left and right sides, swing stop operation, and swing speed adjustment operation are performed. It is composed.

The middle part of the figure is a valve mechanism that prevents inertial free rotation of the swivel base (2) during the swing stop operation, and @ is the valve mechanism that prevents unreasonable motor drive when the swing load is overloaded. This is a safety valve mechanism that avoids this by short-circuiting the outbound oil path.

The turning operation lever (141) provided on the operating part (3) indicates its operation state (tsumushi, the operation valve (7), (8)
), a device 4 consisting of a potentiometer is attached to detect the operation state of the swivel table (2), and
When the automatic/manual selector switch (to) is in the manual state,
Based on the information from the operation state detection device W, the swivel base (2) is driven to rotate in a direction commensurate with the operation direction of the operation lever (141) and at a speed corresponding to the swing operation amount of the operation lever 04. Then, a command is given to the valve controller αυ using a voltage signal to operate the operation valves (7) and (8), and on the other hand, when the changeover switch (G) is in the automatic state, the operation state detection device Qf9. Then, based on the information from the angle detector relative to the vehicle body, the swivel base (
2) to automatically rotate and drive the setting device (19A).
, (19H) Stop position (θf) artificially set by K
Similarly, a command is given to the valve controller (6) to automatically stop the swivel base (2) when the operating valve (
The control device 4 for automatically operating the steps 7) and (8) is constructed from a microcomputer, and is configured to be able to selectively perform manual turning control and automatic turning control.

A biased push button switch @p is attached to the grip of the operating lever α◆, and the switch Cp and the automatic manual switching circuit in the control device are connected to the push button switch (2). ) is connected so that the swing control state becomes manual control when the button switch Qυ is in the ON state. The automatic turning control state is canceled as soon as the button is pressed, and manual turning control can be performed.

The side setting devices (19A) and (19B) are used to separately set the stop position when turning to the right and the stop position when turning to the left.

In the automatic swing control, in order to drive the swing base (2) to swing at a preset swing speed pattern, as shown by the solid line in FIG. Control target speed (V
X) (in other words, the change pattern of the control target speed (VX)) as a function of the angle (θ) of the swivel base (2) relative to the vehicle body (VX(θ
)) The control device 4 is equipped with a circuit for pre-memorizing the information as a setting device (19A).

Calculation for memory function (Vx(θ)) using stop position information (θf) from (19B), rotation start position information (θ8) and turning angle information (θ) from vehicle angle detector αη The control target speed (VX) at each point in the turn obtained as a function value by the processing is made to match the actual turning speed (■) at each point in the turn, which is also calculated based on the angle information from the angle detector aη relative to the vehicle body. A control device (e) is configured to perform automatic turning control by operating the operation valves (7) and (8) while performing feedback processing between the calculated actual speeds.

To set the function (Vx(θ)'), acceleration is performed to increase the control target speed (VX) to the set efficiency speed (Vm) while rotating by a certain angle from the rotation start position (θa). part (a), a deceleration part (b) that reduces the control target speed (Vx) from the set efficiency speed (Vm) to O while rotating by a certain angle until reaching the set stop position (θf);
), and the control target speed (Vx) over the entire rotation range from the end of the acceleration part (-) to the deceleration part (b).
8 of the constant speed part (e) to maintain the set efficiency speed (Vm)
In addition to dividing the function (Vx(θ)) into the acceleration part (11), the acceleration at startup and the constant speed part (
c) A multidimensional function with characteristics that allows a smooth transition to the deceleration part (b), and a constant speed part ((+)
By adopting the same multidimensional functions that have characteristics such as smooth transition from 1 to 2 and smooth deceleration during braking, the turning speed can be automatically controlled over the entire set turning range to improve turning efficiency. This is so that automatic turning can be started and stopped smoothly while maintaining a high height, and stable automatic turning can be performed without being affected by external disturbances such as ground slope.

On the other hand, due to some reason when the rotation automatically stopped, the rotation base (2
) overruns the set stop position (θf), the control target speed (Vr) (in other words Then, the return control target speed (vx
') as a function (Vr(θ)) of the angle (θ) relative to the vehicle body (overrun angle) of the swivel base (2) in the overrun state, the automatic turning function (Vx(θ)
) is configured in the control device so as to store the stop position information (θf) from the setting device (19A) and (19B>), and the overrun information from the vehicle body angle detector (7). The return control target speed (v
r) and the actual return turning speed (
The control device (H) operates a circuit that performs automatic return turning control by operating the operation valves (7) and (8) while feedback processing the calculated actual speed (G) so that the calculated actual speed (G) matches the
In addition to this.

To set the return function (Vm(θ)), the return control target speed is (You can adjust V from the set speed (Vn).
The deceleration portion (d) is reduced to
When the return angle to θf) is larger than the constant angle, a return function (v7( θ
)) and set the deceleration part for return (d)
In addition, a multidimensional function is used that has characteristics such that the transition from the constant speed return portion (C) and deceleration during braking is smooth, and the set speed of the constant speed return portion (-) is used. Efficiency speed is adopted for (Vn), so that even in the event of an overrun for some reason, the swivel base (2) can quickly and automatically return to its original set stop position (θf) and automatically stop automatically. It is possible to do so.

0 (2) to explain other additional devices shown in FIG. 2 is for each setting device (19
A) The automatic turning range set in (19B) is indicated by a number of lamps (
22A) is displayed by selective lighting, and the reference marker (22B) for these scales and the lamp (22B) in the lighting state are displayed.
This is a display device that displays the rotation phase with respect to the set stop position (θf) in the relative positional relationship with 2A).

2) is an auxiliary body-to-vehicle angle detector composed of a fault interrupter, and controls the body-to-body angle information given from this and the body-to-body angle information given from the aforementioned body angle detector (17). By comparing within the device four,
It is configured to check whether the original angle detector (17) relative to the vehicle body is operating normally.

(To) is activated by a command from the trouble detection circuit built into the control device (A) when a trouble occurs in the vehicle body angle detector aη or the control device itself, or each switch (
This is a buzzer that automatically operates for a predetermined short period of time in response to a command from the control device - to notify the switching when 9) + o9 person), o9g), @, ni) is operated. .

In (a), when the set stop position (θf) deviates from the ground due to reaction movement of the vehicle body (1), the swivel base (2) is manually rotated to the ground position where it should have stopped. By turning ON the fixed setting device (19A)
), the two stopping positions set by (19B)'
This is a shift correction switch for automatically correcting (θf) within the control device (E) at the same time by the amount of shift movement of the vehicle body (1).

(7) is activated by manual operation of the engine stop pedal (2!6A) installed in the operating section (3) or by a command from the trouble detection circuit in the control device (■).
This is a device that makes an emergency stop.

2) is a speed regulator that changes the swing speed level during automatic swing control and manual swing control by changing the voltage level of the voltage signal given from the control device (E) to the valve controller (6). Yes, for example, in the automatic swing control shown by the solid line in Fig. 8, the valve controller ") αυ
When the voltage level of the voltage signal applied to is halved, an automatic turning control state as shown by the two-dot broken line in the same figure is obtained.

(to) each switch Oa, (to), setting device (19A
) I (19B) is a lamp that displays the operating status.

[Another example]

Next, another embodiment will be described.

Specific change pattern of turning speed (Vx) between rotation start position (θB) and set stop position (θf) set in advance as a function (VX (θ)) of angle (θ) relative to the vehicle body, and overrun The specific change pattern of the return turning speed (vx'), which is preset as a function (vr(θ)) of the angle (θ) relative to the vehicle body (overrun angle) in this state, can be changed in various ways.

Also, control is performed so that the actual speed of the swivel base (2) matches the speeds (Vx) and (Vn) set by these functions (Vx(θ))l(V!'(θ)). Various improvements can be made to the specific control configuration.

An operation valve (7) for switching the swivel table (2) to right rotation, left rotation, and stop, and a control valve (8) for changing the rotation speed by changing the amount of oil supplied to the motor (5). A different configuration may be used, and the specific operating configuration of the control device for these pulps (7) and (8) may be variously changed.

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

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is an overall side view, FIG. 2 is an operation system diagram, and FIG. 8 is a graph showing an automatic turning control state. (2)...Swivel base, (4)...Work device, (5)...Motor, (7)...Operation valve, (8)... ... Control valve, (g) ... Operation state detection device, Qη ... Angle detector with respect to the vehicle body, (
19A), (19B)... Setting device, (7)...
・・Control device, (θ) ・・・Angle to the vehicle body, (θS
)...Rotation start position, (θf)...Stop position,
('') + (''')...Setting speed, (g)...
...Actual speed, (Vxfθ)), CVi(θ))...
····function. Agent Patent Attorney Osamu Kitamura

Claims (1)

[Claims] A swivel base (2) equipped with a working device (4), and a swivel base (2) equipped with a working device (4);
2), a hydraulic motor (5) for rotating the hydraulic motor (5), and a valve (7) for driving the hydraulic motor (5) in forward and reverse directions and for stopping the same, and detecting the angle of the swivel base (2) with respect to the vehicle body. setting devices (19A) and (19B) for setting the position (θf) relative to the vehicle body at which the swivel base (2) should stop;
), a device aυ for detecting the operating state of the operating valve (7), a valve (8) for adjusting the amount of oil supplied to the hydraulic motor (5), the angle detector α'θ relative to the vehicle body, and the operating state of the operating valve (7). Based on the information from the status detection bag fifQ5, the valve (7)
and a control device (7) that automatically operates a control valve (8), wherein the control device (a) is configured to control the rotation start position (θ8) of the swivel base (2). ) to the stop position (θf) on the swivel base (2).
to match the speed (Vx) set in advance as a function (Vx (θ)) of the angle (θ) with respect to the vehicle body, and in a state in which the swivel base (2) overruns the stop position (θf). , in the direction of correcting the overrun, adjust the actual speed (g) of the swivel base (2) to a preset speed (VX) as a function (VX'(θ)) of the overrun angle (θ). As shown, the valve (7) and the control valve (
3) A rotating work vehicle that is a device that automatically operates.