JPS6145031A - Working vehicle - Google Patents

Abstract

PURPOSE:To shorten the time period to stop a working vehicle in operation by using a system in which variations in the actions of a slewing base and an arm due to variations of their inertial moments are automatically corrected in such a way as to allow the initial stop position after the inception to approach a set stop vehicular angle as quickly as possible. CONSTITUTION:An electromagnetic control valve CU to control the bilateral turning of a slewing base 2 or an arm A is controlled by a controller 8 on the basis of a vehicular angle theta and set stop vehicular angle thetaf for slewing base, etc., and information of the operation and non-operation of an operating lever 6. In a setter 7, the speed V of slewing base, etc., at an angle theta0 exceeding the stop vehicular angle thetaf from the vehicular angle thetas at the beginning of roration is stored in a memory 8b as a function of the initial speed of the vehicular angle with an insensitive zone (epsilon), and also the deviation thetac between the vehicular angle thetar at zero speed and the set stop vehicular angle thetaf is stored. A function of speeds is corrected on the basis of both memories. Quick stoppage of working vehicle at a given position can be made possible.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to an electromagnetic proportional control valve that rotates and stops a swivel table or a working arm, a potentiometer that is linked to an operating lever, and a swivel table or a working arm. A sensor for detecting the angle of the arm relative to the vehicle body, means for setting the angle relative to the vehicle body at which the swivel table or work arm should be stopped, and a potentiometer;
A controller is provided that automatically operates the proportional control valve based on information from the sensor and the setting means, and the controller is configured to determine whether or not the operating lever is operated based on the information from the potentiometer, and to control the rotation of the proportional control valve. means for determining whether the table or work arm is being operated to rotate to the left or right;
Based on the information from the setting means, the speed of the swivel base or work arm at an angle beyond the angle to the vehicle body at which it should stop from the angle with respect to the vehicle body at the start of rotation is determined by the angle relative to the vehicle body of the swivel base or work arm. Initial speed function storage means for storing the initial speed function as a function and having a dead zone where the speed becomes zero near the angle relative to the vehicle body at which the vehicle is to be stopped; the operation command from the discriminating means; and the sensor and the initial speed function. Note I1. It is equipped with an output means for instructing the proportional control valve to operate and open based on the information from the means a, and when the swivel table or working arm is started with the operation lever, the rotation speed is automatically controlled and set. This invention relates to a work vehicle configured to be able to stop at any position.

[Conventional technology]

Conventionally, the speed of the swivel base or the working arm is controlled so that it stops at the angle relative to the vehicle body at which it should stop, and the angle relative to the vehicle body at which it should stop is determined simply based on the function set in the initial speed function storage means. It was designed to rotate in the opposite direction when it overruns (for example, Japanese Patent Application Laid-Open No. 59-88543).
(see publication).

[Problem that the invention seeks to solve]

However, if the moment of inertia of the swivel platform or work arm changes significantly, for example due to work on a slope or a change in the weight of excavated objects, in reality, the moment of inertia of the swivel table or work arm changes significantly, such as when working on a slope or due to changes in the weight of excavated objects. the action to be restored, or
The operation of stopping once in front of the vehicle body angle at which it should be stopped and then slowly adjusting the angle is performed every time the swivel base or work arm rotates, and it takes time for the swivel base or work arm to automatically stop. Further improvements were desired in terms of work efficiency.

The purpose of the present invention is to
The object of the present invention is to make it possible to quickly automatically stop the swivel table or work arm at a predetermined angle even if .about. changes significantly.

Means for Solving Problem C] The characteristic configuration of the present invention is that in the controller for the proportional control valve that governs the speed of the swivel table or the working arm, the actual speed becomes zero for the first time after the swivel table or the working arm is started. The deviation between the angle to the vehicle body when the vehicle is stopped and the angle to the vehicle body at which the vehicle should be stopped as instructed by the setting means is determined based on the information from the sensor for detecting the angle to the vehicle body of the swivel table or work arm and the setting means (7). Based on the information from the error storage means for recording and storing the speed of the swivel table or the working arm as a function of its angle relative to the vehicle body, the initial speed function recording means 1. , a modified speed interval v1. which sets a modified speed function in which the angle relative to the vehicle body in the initial speed function is replaced with the angle relative to the vehicle body modified in accordance with the deviation. Based on the setting means, the operation command from the determination means for determining the operation state of the operation lever, and the information from the sensor and the corrected speed function storage means, the operation command and opening instruction are given to the proportional control valve (
1 output means for normal use, means for identifying whether or not the activation toward the angle relative to the vehicle body to be stopped is the first time based on information from a potentiometer linked to the operating lever, and information from the identification means. Based on this, in the second and subsequent startups, based on the information u from the sensor and the setting means, the output means for correction is used until the actual speed of the swivel table or working arm reaches zero for the first time after startup, and then from t. Manipulate proportional theft 1bu↑ using the output means. The main advantage of the present invention is that it is provided with a means for interpreting the output signal in JZ format, and its effects are as follows.

[For production]

When the operating lever is operated for the first time with the angle with respect to the vehicle body at which the swivel table or working arm should be stopped set by the setting means, the initial speed function (X
), the speed of the swivel base or working arm is automatically adjusted, and it is automatically stopped at or near a set stop angle (Θf) relative to the vehicle body.

At that time, the error storage means detects the deviation between the angle to the vehicle body at which the swinging arm or the working arm first stopped and the set angle to the vehicle body, and calculates the angle to the vehicle body at the initial speed function (X). A corrected speed function is determined in which the angle relative to the vehicle body is corrected according to the deviation. In other words, as shown in Figure 2, on the graph where the angle to the vehicle body (○) is plotted on When the stopped angle (Θf) is exceeded, the first 11J3 velocity function (X) is shifted to the left (i4
The corrected speed function (obstacle) shown by the dotted line, such as the difference (Oc) or parallel movement, is calculated, and conversely, the angle to the vehicle body (Θr) or (
Θf), a modified velocity function (Z) shown by a chain line is obtained by translating the initial velocity function (X) to the right by a deviation (○C).

Then, after returning the swivel base or working arm to the angle relative to the vehicle body at the time of startup, when the operating lever is operated for the second time,
Until the swivel table or work arm stops for the first time after starting, the speed is automatically controlled based on the corrected speed function (Y) or (Z),
Thereafter, the speed is automatically controlled based on the initial 11 Jl speed function (x), and the vehicle is automatically stopped at or near the set stopping angle (Θf) to the vehicle body.

Furthermore, if the control lever is operated for the third time or later with the swivel base or work arm at the angle to the vehicle body at the time of start-up, automatic speed regulation and Automatic operation takes place. However, the modified speed function (Y
), (Z), whether a fixed value is used, one determined each time based on the previous deviation, or one calculated based on the deviation from the first time to the previous time averaged by an appropriate means. You can also make it something that is required every time.

[Effects of the Invention] As a result, even if the moment of inertia of the swivel base or working arm changes significantly, the set stop position vs. The angle V is adjusted so that the first stop position after starting is as close as possible to the proportional system J: [The automatic operation state of the valve is corrected to automatic QJ>. Being close to it, the time it takes for the swivel table or work arm to actually stop can be reduced as much as possible, allowing for more efficient work.

〔Example〕

Next, examples will be shown.

As shown in Fig. 3, the dozer (2) and dozer device (3) are attached to the crawler body (1), and the dozer (2) is attached to the crawler body (1).
At the same time, a boarding operation part (4) and a driving part (5) are installed, and a J bending work arm (A) is attached so as to be rotatable left and right by a pressure cylinder (C). It consists of an excavation work vehicle that can be used for dozer work.

As shown in Fig. 1, an electromagnetic proportional control valve (2) for rotating the swivel table (2) left and right and stopping the swivel table (2) is located between the hydraulic pressure regulator (M) and the hydraulic pump (P) for the swivel table (2). CV) and a brake valve (BV) are provided, and a potentiometer (PM) is linked to an operating lever (6) that faces the swivel base (2), and the angle of the swivel base (2) with respect to the vehicle body (1) is adjusted. A displacement sensor (S) is provided to detect the position, a means (7) is provided for setting the angle relative to the vehicle body at which the swivel base (2) should be stopped, and a potentiometer (S) is provided.
A microcomputer control τHW (8) is provided which automatically operates the proportional control etc. (C1l) based on information from the PM), sensor (S) and setting means (7).

The controller (8) is configured to operate as follows.
Please refer to the flowchart in FIG. 4.

Based on the information from the potentiometer (PM), it is determined whether the operating lever (6) is being operated or not, and whether the swivel base (2) is being operated to the left or right. Based on the information 6 from the setting means (7), as shown in FIG.
Angle (
The speed (Vθ) of the swivel base (2) at θ0) is a function of the angle (θ) of the swivel base (2) relative to the vehicle body, and the speed (Vθ) is set near the set stop angle relative to the vehicle body (Θf). It is configured so that the dead zone (ε) in which the
The proportional control valve (CV) is configured to be automatically operated based on When operated, the swivel base (2) is configured to be self-speed controlled based on the initial speed function (X) and automatically stopped at or near the set angle to the vehicle body (Θf).

Furthermore, when the operating lever (6) is manually operated in a predetermined direction for the second or third time or later in either left or right rotation of the swivel base (2), the actual speed of the swivel base (2) will change in the later stages of startup. Until it becomes zero, the angle to the vehicle body is determined based on the information from the potentiometer (PM) and sensor (S), and when the actual speed of the swivel base (2) becomes zero for the first time after the first startup. (er) and the set stopped angle to the vehicle body (Θf) (ef - Θr = Θc)
θ+eO), the angle to the vehicle body at the initial velocity function (X) (
The proportional control valve (CV) is automatically operated based on the modified speed function (Y) or (Z) replacing θ), and
After that, the potentiometer (PM) and sensor (S
), and based on the initial speed function (X), the proportional control valve (CV) is configured to be automatically operated, so that the swivel base (2) is automatically controlled, and at or near the set stop-to-vehicle angle (Θf), and
It is configured to automatically stop when there is little angle correction operation.

Examples by C] Next, another example will be described.

When the operating lever (6) is manually operated in a predetermined direction for the third time or later in either left or right rotation of the swivel base (2), to find the corrected speed function, (a) the previous deviation ( ○C) Configure the controller (8) to modify the initial velocity function in accordance with (U) 1
The controller (8) is configured to modify the initial velocity function in accordance with the deviation (θC) obtained by averaging the deviation (θC) from the previous time to the previous time by an appropriate means (for example, arithmetic averaging), Other suitable means may be used.

The present invention can also be applied to automatic speed regulation and automatic stopping of a working arm (^) attached to the swivel table (2) or the vehicle body (1) so as to be rotatable left and right.

Based on the manual operation of the operating lever (6), the proportional control valve (CV
) is automatically operated by the controller (8) can be changed as appropriate, by storing an appropriate program in the controller (8), and the configuration of the controller (8) can also be changed as appropriate. can be changed to

The type and specific configuration of the excavation work vehicle are not critical, and a backhoe type, face whitebell type, tie medium wheel type, or any other suitable configuration may be used.

[Brief explanation of drawings]

1 to 4 show embodiments of the present invention, FIG. 1 is a circuit diagram showing the operation system of the swivel base, FIG. 2 is a graph showing the speed control state of the swivel base, and FIG. is a side view of the work vehicle, No. 4
The figure is a flowchart showing the operating state of the swivel base. FIG. 5 is a functional block diagram. (2)... Swivel base, (6)... Operation lever, (7)... Setting means, (8)...
・Controller, (8a) Discrimination means, (8b)...Initial velocity function notation 1 means, (8c) Output means, (8d)・
...Error storage means, (8e) correction speed function setting means, (8f) ...correction output means, (8g).
...Identification means, (8h) ...Selection means,
(A)... Working arm, (CV)...
・Control valve, (gate)...Potentiometer, (
S)...Sensor.

Claims (1)

[Claims] An electromagnetic proportional control valve (CV) that rotates the swivel table (2) or the working arm (A) left and right and stops the operation lever (6
), a potentiometer (PM) interlocked with the swivel base (
2) or a sensor (S) that detects the angle of the working arm (A) relative to the vehicle body, the swivel base (2) or the working arm (A);
means (7) for setting an angle (Θf) relative to the vehicle body at which the vehicle should be stopped;
In addition, the potentiometer (PM) and the sensor (S
) and a controller (8) that automatically operates the proportional control valve (CV) based on information from the setting means (7), and determine whether or not the operating lever (6) is operated;
and means (8a) for determining whether the swivel table (2) or the work arm (A) is being operated to rotate left or right, based on information from the setting means (7), The speed (Vθ) of the swivel platform (2) or the working arm (A) at an angle (Θo) exceeding the angle (Θf) relative to the vehicle body at which it should stop from the angle relative to the vehicle body (Θs) at the start of rotation is The speed (V
An initial velocity function (X) with a dead zone (ε) where θ) becomes zero
Based on the operation command from the initial speed function storage means (8b) and the discrimination means (8a), and the information from the sensor (S) and the initial speed function storage means (8b), the proportional A work vehicle equipped with an output means (8c) for issuing operation commands and opening instructions to a control valve (CV),
The controller (8) is provided with an angle relative to the vehicle body (Θr) when the actual speed becomes zero for the first time after the swivel base (2) or the work arm (A) is activated, and an angle relative to the vehicle body to be stopped (Θr). Θf) deviation from (Θf−Θr=Θ
c) based on the information from the sensor (S) and the setting means (7); Corrected speed to set corrected speed functions (Y) and (Z) in which the angle to the vehicle body (Θ) in the initial speed function (X) is replaced with the angle to the vehicle body (Θ + Θc) corrected according to the deviation (Θc). The function setting means (8e) operates the proportional control valve (CV) based on the operation command from the discrimination means (8a) and the information from the sensor (S) and the modified speed function storage means (8e). A correction output means (8f) for issuing commands and opening instructions, and based on information from the potentiometer (PM), identifies whether or not it is the first activation toward the vehicle body angle (Θf) to be stopped. In the second and subsequent activations based on the information from the means for determining (8g) and the identification means (8g), the turning is performed for the first time after activation based on the information from the sensor (S) and the setting means (7). The correction output means (8f) is used until the actual speed of the table (2) or the working arm (A) becomes zero, and thereafter the output means (8c) is used.
), the work vehicle is provided with means (8h) for selecting an output signal to operate said proportional control valve (CV).