JPS60255536A - Remote controller for working car equipped with boom - Google Patents

Abstract

PURPOSE:To prevent the idle revolution of an engine by energizing an engine to the increased-speed state when the boom-related operation is selection-operated and the speed increasing part is operated to the speed increasing side. CONSTITUTION:As for a remote controller for driving a crane, an elevation and extension operating lever 69, turning and erecting operation lever 70, main switch 72, and a confirmation lamp 73 are arranged onto the front surface of an operating box 68. In the operating box 68, a tilt sensor 74 for detecting the tilt angle of the operating box 68 is arranged, and said tilt angle acts to increase the engine speed. Said operating box 68 is formed to a size permitting transportation by hand and operation. The operation for an accelerator is permitted only by tilting the operating box through the turning of a wrist and the operation for the operating lever.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a remote control device for remotely controlling boom-related operations in a work vehicle having a boom.

In general, a work vehicle with a boom, such as a crane truck, has the following functions: swinging motion, raising and lowering motion, telescoping motion, and so on.

It is designed to move the hook up and down.

An operation box for remotely controlling such boom-related operations is provided and connected by wire.

This operation box is required to be able to perform more operations with just three hands.

Conventionally, there are devices that can be operated with one hand by reducing the number of operation buttons, levers, etc. for controlling the boom-related operations, but in order to adjust the speed of the boom-related operations, it is still necessary to operate the various operations described above. operation button,
It was necessary to rotate the accelerator control lever, which was provided separately from the levers, etc., and it was not possible to adjust the speed and operate various boom-related operations at the same time with one hand. Therefore, the boom-related actuating lever is operated after rotating the accelerator control lever in advance and holding the engine in an idling state until the desired rotation.

In view of the above, the present invention aims to provide a remote control device for a work vehicle having a boom that prevents idle rotation of the engine as much as possible and enables accelerator control only when a boom-related operation is selectively operated. purpose.

Hereinafter, two embodiments of the structure of the present invention will be described with reference to the drawings.

As shown in FIG. 1, 1 is a work vehicle with a crane,
A crane 5 is mounted on a chassis 4 between a driver's cab 2 and a loading platform 3.

The crane 5 has a disk-shaped swivel base 7 rotatably provided on a base 6 fixed to a chassis 4, and a support 8 is erected on the swivel base 7. At the upper end of the support column 8, a boom 9 is attached at its base end by a pin 10 to move it up and down.

The boom 9 is pivotally supported so that it can be raised and lowered, and the boom 9 has a telescopic boom 9b fitted into a first boom 9a so as to be retractable.

A hook 11 is suspended from the tip of the telescopic boom 9b. Further, the vehicle chassis 4 is provided with an outrigger 12 for fixing and holding the vehicle chassis 4.

The drive device of the crane 5 is connected to a traveling engine (not shown), as shown in the hydraulic circuit 13 in FIG.
Lifting means 14. Expanding means 15. Swivel means 16. and undulating means 17.

The elevating means 14 is a winch provided on the upper part of the support column 8, and the hook 11 is moved up and down via a wire (not shown) by rotation of a hydraulic motor that drives the winch. The telescoping means 15 is a telescoping cylinder provided within the boom 9, and is used to move the telescoping boom 9b in and out. The turning means 16 is a hydraulic motor and drives the turning table 7 to rotate.

The said raising and lowering means 17 is the first boom 9a, l! : A luffing cylinder installed between the swivel base 7 and the boom 9 to move the boom 9 up and down.

The hydraulic circuit 13 has a main passage 20 connected to a hydraulic pump 19, and a switching valve for boom-related operation, that is, a switching valve for the luffing means 21. Switching valve for rotating means 22° Switching valve for telescopic means 23. The switching valves 24 for the lifting means are connected in sequence. Further, supply passages 25 and 26 are branched in two directions from the main passage 20, and one supply passage 25 passes through a sequence valve 27 and then a check valve 21a.

The switching valves 21° 22 via 22a, 23a, 24a
．． 23, 24, and the other supply path 26 is connected to the oil drain side of the switching valves 21, 22 and 23, 24 via a relief valve 28. On the other hand, switching valve 2L 22, 23
．． From 24 there is a supply path 29°30.31. 32, each corresponding said undulation means 17. Swivel means 16. Expanding means 15. A lifting means 14 is connected. The hydraulic pump 19 is connected to a driving engine, and rotates at an increased speed by operating an accelerator, which will be described later, to increase the amount of oil supplied per unit time. The switching valves 21, 22, 23, 24 are of the 4-point, 3-position type, and have 9 manual levers 33, 34, 35, 36.
．． Spring 37, 38, 39. 40, and the main path 20 is blocked at the left and right positions.

On the other hand, a supply passage 46 is provided from the supply passage 25 via a buffer valve 45, and the supply passage 46 is connected to an accelerator operation solenoid valve 48. Oil drain path 5 via hydraulic cylinder 49 for accelerator operation
Connected to 0. Also.

Between the supply path 46 and the oil drain path 50, there is a solenoid valve 51 for standing operation. Solenoid valve for lodging operation 52. Solenoid valve 53 for right turn operation
．． Solenoid valve for left turning operation 54. Solenoid valve for extension operation 55. A solenoid valve 569 for contraction operation, a solenoid valve 572 for hoisting up, and a solenoid valve 58 for hoisting down operation are provided. Those solenoid valves 51~
58 are corresponding hydraulic cylinders 59 for up-and-down operation. Hydraulic cylinder for swing operation 60. Hydraulic cylinder 61 for telescopic operation
．． The hydraulic cylinders 59, 60, 61.62 are connected to a hydraulic cylinder 62 for lifting and lowering operations, and the hydraulic cylinders 59, 60, 61.62 are connected to a spring 63.6.
4,65.66, switching valve 21,22°23.24
The switching valves 21, 22, 23, 24 are connected to the spool of the valve via a control cable or the like, and the switching valves 21, 22, 23, 24 are switched by the operation of hydraulic cylinders 59, 60, 61, 62. Also,
The accelerator operating hydraulic cylinder 49 is connected to an accelerator lever of an engine (not shown) via a control cable or the like.
is linked to.

A remote control device 67 for remotely controlling the drive device of the crane 5 is linked by wire (see Fig. 1).
As shown in FIGS. 2 to 4, the remote control device 67 has a lifting/lowering/extending control lever 69 on the front side of a rectangular operating box 68. Swivel/lever operation lever 70. Main switch 72
．． Confirmation lamps 73 are respectively disposed, and the operation box 68 has an inclination sensor 74 (see FIG. 3) for detecting the inclination angle of the operation box 68. The tilt angle detected by the tilt sensor 74 has the effect of increasing the speed of the engine, as will be described later. The operation box 68 is formed in a size that can be grasped and operated with one hand.

The lifting/lowering/extending operation lever 69 drives and operates the lifting/lowering means 14 and the extending/retracting means 15, and is configured to automatically return to the vertical position. The base end of the lever 69 is connected to the intersection of half-arc-shaped guide rails 75 near 5 that are orthogonal to each other. One end of the guide rail 75°75 has a hinge 76
is connected to the inner surface of the operation box 68, and the other end is connected to a lifting potentiometer 77a and a telescopic potentiometer 77b.
It is connected to the. Further, the upper part of the lifting/lowering/extending operation lever 69 is provided with a neutral spring 79. Li15.7 is held neutrally by the lever 69, and the proximal end of the lever 69 is held neutrally by the ball joint 80 provided in the center of the lever 69.
5 is oscillated and guided, and the potentiometers 77a and 77b each output an elevation control signal Sl and an expansion/contraction control signal s2 corresponding to the oscillation angle.

Then, when the elevating/extending operation lever 69 is swung upward (in the Y direction in FIG. 2), the hook 11 is wound up, and
When the hook 11 is swung in the -Y direction in the figure, the hook 11 is lowered. Also, when the lifting/retracting operation lever 69 is swung to the right (X direction in Figure 2), the boom 9 retracts and the boom 9 is retracted to the left
When the boom 9 is swung in the -X direction in the figure, the boom 9 is extended.

The turning/levitating operation lever 70 is used to drive and operate the turning means 16 and the raising/lowering means 17.
Swing control signal S3 corresponding to a swing angle of 0. The mechanism that outputs the undulation control signal s4 is the elevating/extending operation lever 6.
It is constructed by the same mechanism as 9.

Then, move the rotation/levitation operation lever 70 upward (Fig. 2
When the boom 9 is swung in the direction), the boom 9 rises and moves downward
When the boom is swung in the -Y direction shown in the figure, the boom will lower. Furthermore, when the lever 70 is swung to the right (X direction in Figure 2), the swivel base 7 is rotated to the left, and when the lever 70 is swung to the left (in the -X direction in Figure 2), the swivel base 7 is rotated to the left. Rotate right.

Note that the turning/levitating operation lever 70 is capable of swinging at any angle other than the X and Y directions.

Different boom-related operations can also be performed simultaneously.

Tilt Sen! 1-74 is the left and right direction, that is, Y in FIG.
When rotated around the axis, the rotation of the engine increases in proportion to the rotation, increasing the amount of oil supplied to the hydraulic circuit 13 per unit time. The main switch 72 is a push button switch that allows various boom-related operations to be performed using the operation box 68. When the switch 72 is pressed, a confirmation lamp 73 lights up.

FIG. 6 shows boom-related operations (elevating, extending/contracting, turning) output from potentiometers 77a, 77b, 81a, and 81b provided on the operation box 68.

A circuit diagram showing a control signal for controlling the corresponding drive means (extension/contraction) is shown.

The potentiometers 77a, 77, b, 81a.

81b and the tilt sensor 74 are each connected in parallel.

Constant battery power supply 8 via main switch 72 each
2 is supplied. Potentiometers 77a, 77
Elevation control signal S outputted by b, 81a, 81b
l, expansion/contraction control signal s2. Turn control signal 33. The undulating control signal S4 and the signal from the reference signal generator 108 are input to control units 83, 84, 85, and 86 that control the operations of the corresponding elevation, telescopic, turning, and undulating electromagnetic valves 51 to 58, respectively.

Further, from the control units 83, 84, 85, 86, the signal S5 is sent to the signal matching circuit 87 when at least - boom related operation is selected, that is, when the control signals 81 to S4 are input. Output. On the other hand, a pulse signal S6 indicating the inclination angle of the operating box 68 is inputted from the inclination sensor 74 to the signal matching circuit 87, and these signals S
5. When S6 matches, via the signal-number circuit 87.

The accelerator operating solenoid valve 48 is operated.

The pulse signal S6 is a signal having a pulse width depending on the magnitude of the tilt angle.

FIG. 7 shows a specific circuit configuration of the control section and the signal/number circuit 87, and only the drive control of the lifting means 14 will be explained below.

The control section forms a switch signal for controlling the raising and lowering of the hook 11 according to the magnitude of the signal level output from the raising/lowering potentiometer 77a.

The switch signal is outputted with information on a speed signal corresponding to the swing angle of the operating lever.

The switch signal is sent to a comparator 88. 89.90. '
91 and four reference power supplies 96, 97, 98, 99 provided in the signal generator 108, and the speed signal is generated by two comparators 92, 93 and the signal generator 1.
Two sawtooth wave generators 100, 10 provided in 08
Generated by 1.

The reference power source 96 is set to a voltage of Vl (V<Vl<2V), with a preset predetermined voltage being V (see FIG. 8), and the reference power source 97 is set to a voltage of V2 (o<v2<y), the reference power source 9
8 is V3 (Vl<V3<2V).

The reference power source 99 is set to V4 (0<V4<V2). When the magnitude of the control signal S1 output from the lifting potentiometer 77a is between the V1 and V3, the output signals from the comparators 88 and 90 are rHJ level switch signals for hoisting operation. becomes. On the other hand, the sawtooth wave generator 100 has a bedescle of ■volts.

A sawtooth wave S7 with an amplitude V and a constant period is generated. The sawtooth wave generator 101 generates a sawtooth wave S8 having an amplitude of ■ and the same period as the sawtooth wave output from the sawtooth wave generator 100. At this time, the comparator 92 compares the amplitude of the sawtooth wave S7 and the control signal S1, and outputs a speed signal having an amplitude of ■ and a wide pulse width corresponding to the magnitude of the control signal S1. The signal and the switch signal are AND
A hoisting command signal S9 for instructing hoisting of the hook 11 is outputted via the gate 94. Then, the hoisting command signal S9
operates the hoisting operation solenoid valve 57 via the amplifier 102.

By the way, when the magnitude of the control signal S1 is between the V4 and V2, the output signals from the comparators 89 and 91 become "H" level lowering operation switch signals. At this time, the amplitude of the sawtooth wave S8 and the control signal S
1 is compared by a comparator 93, and a speed signal having an amplitude V and a wide pulse width corresponding to the magnitude of the control signal S1 is output. A lowering command signal SIO instructing lowering of the hook 11 is outputted via the lowering command signal SIO. So.

The lowering command signal SIO operates the lowering operation solenoid valve 58 via the amplifier 103.

On the other hand, the output signals S5 of the comparators 88, 90 and 89, 91 are output from the AN
(D game) 104, 105. AND gates 104 and 105 have the tilt sensor +7
A pulse signal 436 from 4 is input, and when the signal S1 is output from the lifting potentiometer 77a, a signal at the rHJ level is output in accordance with the time when the pulse signal S6 is at the rHJ level. Then, OR game ZO6; causes the accelerator to be operated via the amplifier 107.

Therefore, in this example, the accelerator can be operated by simply tilting the operating box by rotating the wrist while operating the operating lever, and the accelerator can be operated with one hand in addition to the boom-related operations.

Note that in the two examples, a crane truck is illustrated as the work vehicle having a boom, but it may also be a high-altitude work vehicle or the like. Also,
The present invention can also be applied to a conventional remote control case in which an accelerator operation dial is provided.

The present invention provides an operation section for remotely controlling the boom-related operations, a control section for receiving an output signal from the operation section and supplying a signal for controlling a corresponding electromagnetic control valve, and controlling the engine to an accelerated state. and a speed increasing section that biases at least one
Since the engine is energized to the speed-increasing state only when two boom-related operations are selected and the speed-increasing section is operated to the speed-increasing side, it is possible to prevent the engine from running idle.

[Brief explanation of the drawing]

The drawings illustrate an embodiment of the present invention, in which Fig. 1 is a side view of a working vehicle having a boom, Fig. 2 is a front view of a remote control device, and Fig. 3 is a section line shown in Fig. 2. 4 is a cross-sectional view taken along cutting line IV-IV shown in FIG. 2, FIG. 5 is a hydraulic circuit diagram of the drive device, and FIG. 6 is a control block that controls the drive device. 7 is a diagram showing a specific circuit of the control section, FIG. 8 is a graph showing the relationship between the reference power supply voltage and the output signal level from the potentiometer, and FIG.
The figure is a graph explaining the output signal from the control section. 4... Vehicle chassis 5... Crane 7... Swivel base 9... Boom 13... Hydraulic circuit 14... Lifting means 15... Extension/contraction means 16... Swivel means 17... Lifting means 67
・・・Remote control device 74...A rotation sensor Fig. 7 Fig. 3 Fig. 4 Fig. 6 Fig. 7 σz'/2

Claims (1)

[Scope of Claims] 1) In a work vehicle having a swivel base mounted on the vehicle body and a telescoping boom pivotably supported on the swivel base, an operation unit for remotely controlling the boom-related operations; A control section configured to receive an output signal from the operating section and supply a signal for controlling a corresponding electromagnetic control valve, and a speed increasing section that energizes the engine to a speed increasing state, and at least one boom-related 1. A remote control device for a work vehicle having a boom, characterized in that an engine is energized to a speed-increasing state only when an operation is selectively operated and a speed-increasing part is operated to the speed-increasing side. 2) The remote control device for a work vehicle having a boom according to claim 1, wherein the speed increasing section is a tilt sensor disposed in the operating section and detecting a tilted state of the operating section.