JPS62100398A - Slow stop device for service car - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention provides a shift system equipped with a swivel base having a boom that is moved up and down by the operation of a hydraulic actuator on a traveling base, and a system for supplying and discharging hydraulic oil to the hydraulic actuator. An electric proportional control valve is installed to completely control the electric proportional i! ! This invention relates to a slow stop device for a working vehicle, which is equipped with a manual input means for arbitrarily setting a first control signal to a control valve No. 11, and which stops the boom from rising and falling when the boom reaches a certain angle. .

(Prior art and problems) When lifting a load using a crane truck or moving a packet attached to the tip of the boom of an aerial work vehicle, the boom is raised and lowered by operating a hydraulic actuator. Due to functional factors of the hydraulic actuator (i.e. when the hydraulic actuator is a hydraulic cylinder, the hydraulic cylinder reaches the end of its stroke) when the heave angle of the boom reaches a certain heave angle, for example the maximum heave angle; By connecting the hydraulic circuit that drives the actuator directly to the tank side, the raising and lowering movement of the hydraulic actuator is stopped.

The operating speed of the hydraulic actuator immediately before this stop is determined by the operator's operation, so if the operator is inexperienced or makes a mistake, the hydraulic actuator may suddenly stop. Problems such as load swinging (people falling from keratos) and mechanical damage to work vehicles had not been technically resolved.

(Objective of the Invention) An object of the present invention is to provide a novel gradual stopping device for a working vehicle that prevents the above-mentioned sudden stopping situation.

(Failure to solve the problem) The present invention aims to solve the above problems.

A swivel base having a boom metal that is raised and lowered by the operation of a hydraulic actuator is mounted on a traveling base, and an electric proportional control valve is provided to completely control supply and discharge of hydraulic oil to the hydraulic actuator, and the electric proportional control valve is connected to the electric proportional control valve. The work vehicle is provided with a manual input means for arbitrarily setting a first control signal, and is configured to stop the raising and lowering movement of the boom when the heave angle of the boom reaches a constant heave angle.

Lifting angle detection means 5 for detecting the heaving angle of the boom; working condition detecting means for detecting the working condition of the working vehicle; the electric proportional control based on the deceleration start heave angle set before the constant heave angle and the working condition; A storage means that stores a second control signal to the valve, compares the heave angle from the heave angle detection means with the deceleration start heave angle from the storage means, and when the heave angle exceeds the deceleration start heave angle; a first comparison output means for outputting a second control signal of the storage means; a second comparison output means for comparing the first control signal and the second control signal and outputting the smaller one to the electric proportional control valve; The structure is equipped with the following features.

(for production) Next, the present invention will be explained in detail.

When an operator inputs a first control signal km to the pneumatic proportional hook valve using the manual input means, the valve opens in response to the first control signal and the hydraulic actuator is driven. During this time, the boom's heave angle detection means is detecting the entire boom's heave angle. The comparison output means compares this undulation angle with all deceleration start undulation angles. When the heave angle exceeds the deceleration start heave angle, the first comparison output means outputs the second control signal stored in the storage means. This second control signal is compared with the first control signal by a second comparison output means.
When the control signal exceeds the second control signal, the second control signal is output to the electric proportional control valve, and when the second control signal exceeds the first control signal, the first control signal is output to the electric proportional control valve to slow the boom. Stop.

(Embodiment) FIG. 1 is a block diagram of a slow stopping device for a working vehicle showing one embodiment of the present invention.

In the figure, 1 is a luffing angle detector that detects the luffing angle of the boom, and 2 is a pump rotational speed detector that detects the rotational speed of a pump that fully supplies oil to the hydraulic cylinder, which is a hydraulic actuator that moves the entire boom up and down. This pump rotation speed detector 2 corresponds to the working state detection means in the claims. Reference numeral 3 denotes a manual input pipe section which arbitrarily sets a first control signal to an electric proportional control valve (to be described later) by operating a lever to arbitrarily change the 0 degree valve opening of this 'dairy air proportional III control valve. be. 4 is a 4 number generator, and when the pump rotational speed exceeds a certain rotational speed based on the signal from the front H pump rotational speed detector 2, it generates θ and θ' as shown in FIG.
? , when the rotation speed is below this constant rotation speed, θ1. as shown in FIG. θI is generated as the deceleration start undulation angle, and as shown in FIG. is a value corresponding to 0 degrees of valve opening), and when the pump rotation speed is below the constant rotation speed, a second control signal is generated in accordance with the characteristic line shown by line L+. Reference numeral 5 denotes a first comparison calculation unit, which determines whether the boom is raised or lowered from the heave angle signal continuously sent from the heave angle detector 1, and determines whether the boom is raised or lowered. When the pump is on its back and the pump rotation speed exceeds the constant rotation speed, the heave angle is equal to the deceleration start heave angle θ.
After exceeding the
When a control signal is output and the pump rotation speed is lower than the constant rotation speed, the heave angle is equal to the deceleration start heave angle θ;
2, the second control signal indicated by line L1 in FIG. 2 is output. Further, when the boom is lodging and the pump rotation speed exceeds the constant rotation speed, and the heave angle exceeds the deceleration start heave angle 0.1, the heave angle exceeds the deceleration start heave angle θ1. After that, the second control signal shown by line L1 in FIG. 2 is output. Reference numeral 6 denotes a second comparison calculation unit, which compares the first control signal V from the manual input unit 3 and the second control signal V from the first comparison calculation unit 5, vl.

V, whichever is smaller, is output to the electric proportional control valve 7, which will be described later. Reference numeral 7 designates an electric proportional control valve inserted in an oil path for supplying and discharging oil discharged from the pump to the above-mentioned hydraulic actuator, and as the control signal to the valve 7 increases, the opening degree of the valve increases. Increase. When the control signal is small, the amount of oil passing through the electric proportional control valve 7 is small and the operating speed of the hydraulic actuator is small.

Therefore, the first control signal from the manual input section 3 operated by the operator when the boom reaches a state where deceleration control is required during the raising and lowering movement of the boom increases the opening degree of the electric proportional control valve 7. Even though.

At this time, the second control signal from the first comparison calculation section is input to the electric proportional control valve 7 with priority over the first control signal, so that the hydraulic actuator can be slowly stopped.

In the above embodiments, the direction of the boom is detected based on the heave angle signal from the heave angle detector; You can do it like this. Further, in the three or more embodiments, a deceleration area is provided for each of the boom raising and lowering operations, but in view of the actual use of the work vehicle, a deceleration area may be provided for only one of the operations. Also, when in this deceleration region, the hydraulic actuator may be configured to slowly stop and slowly start.

Next, what is shown in FIG. 3 is a configuration diagram for the case where a microcomputer is used.

In FIG. 3, 1 is an undulation angle detector, 2 is a pump rotation speed detector, and 3 is a manual input section, which are the same as those shown in FIG.

10 is the undulation angle detector 11 pump rotation speed detector 2;
It is an input unit that converts the analog signal from the manual input unit 3 into a digital signal and inputs it. 11 is a CPU that performs calculation and control based on the input value, and 12 is a CPU that performs calculation and control of the cpcr concerned. 13 is a program ROM that stores the processing procedures of θ, .
θIt is data 10M that stores second control signals corresponding to the deceleration start angles of θ, θ', and the line, Lm, and 14 stores input values, etc. 15 is an output unit that converts the output signal sound digital signal from the microcomputer into an analog signal and outputs it to the electric proportional control valve 7; 16 is the configuration of each of the above microcomputers; This is a path line that connects elements.

Next, the process shown in FIG. 3 will be explained in accordance with the flowchart shown in FIG. 4.

First, step (the word step will be omitted below) S
+, the heave angle of the boom detected by the heave angle detector 1 is taken in via the input crab unit 1o, and the heave angle is read out. Next, at S, this luffing angle θ is temporarily stored in the RAM 14 and subtracted by the luffing angle that is subsequently captured.If the result is negative, it means that the boom is being raised; If the boom is being lowered, it will be read out.

Next, at Sl, the number of revolutions of the bomb detected by the pump revolution number detector 2 is taken in through the input unit 1o, and the number of revolutions of the pump is read out. Next, at 84, the deceleration start undulation angle stored in the data ROM 13 is read out depending on whether or not the rotation speed of this pump exceeds the above-described constant rotation speed. This deceleration start heave angle is determined to be 03' in FIG. 2, for example, when the boom is being raised and the pump rotational speed exceeds the above-mentioned constant rotational speed. Then, when it is not within the deceleration region, it returns to power again, and when it is within the deceleration region, it receives the first control signal from the manual input section 3 at S, via the input unit 10, and receives the first control signal V! Read out.

Next, at By, the second control signal ``Mushroom'' stored in the data ROM 13 is read out. Next, S@ is the first control signal V.

and the second control signal ■Mushroom. Then, at S@, when the first control signal V+ exceeds the second control signal V, the second control signal vl is applied, and when the second control signal V exceeds the first control signal v1, the first control signal V.

However, the electric proportional control valve 7
Output to. Therefore, as the boom approaches the stop target during the raising and lowering movement of the boom, the raising and lowering speed of the boom decreases, allowing the boom to come to a slow stop.

In the above embodiments, the pump rotation speed detector is used as the working state detection means, but the engine rotation speed may also be detected. In addition, since the proportion of shock due to inertia force generated on the work vehicle when it is stopped differs depending on the amount of extension of the boom, a boom length detector is adopted as the means for detecting the working condition, and the second Line L shown in the figure
A second control signal corresponding to 1°Lx may be stored for each elevation angle. Furthermore, a boom hoisting speed detector is adopted as a working state detection means, and the boom hoisting speed is divided into, for example, several stages, and for each stage, the line L+ shown in FIG.
A second control signal corresponding to Lm may be stored at each undulation angle. In addition, the line L+ shown in FIG.
Of course, the second system signal corresponding to Lm may be stored for each undulation angle.

(Effect of the invention) In this invention, when stopping the raising and lowering movement of the boom,
The effect is great because it ensures a gradual stop.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a slow stop device for a working vehicle shown in one embodiment of the present invention, FIG. 2 is a graph explaining deceleration control, and FIG. 4 is a diagram showing a system configuration composed of a microcomputer, and FIG. 4 is a flowchart of the microcomputer shown in FIG. 3. 7: Electric proportional control valve, 3: Manual input section, 1: Luffing angle detector, 2: Pump rotation speed detector, 4: Function generator, 5:
1st comparison calculation unit, 6: 2nd comparison calculation unit 2: Applause Z: 340 1985/De day 1/incident 0 display 1,1. . . E60-239990'
W2, Name of the invention, Operational stop device 3, Relationship with the case of the person making the amendment Patent Applicant 5, Date of amendment order Showa year/month
From Hyuga (Dispatched on Monday/Date, Showa) 6. Specification to be amended 7. Contents of amendment (1) The scope of claims is amended as shown in the attached sheet. (2) Delete ``On the traveling base'' in line 7 of page 2 of the specification and ``equipped with a swivel base'' in lines 8 to 9 of page 2. (8) Delete "on the traveling base" in the second line of page 4 of the specification and "J mounted on the swivel base" in the fourth negative third line. λ Claims Controls the supply and discharge of oil An electric proportional control valve is provided, and a manual input means is provided for arbitrarily setting the 1st m1J control signal to the electric proportional control valve, and the boom is raised and lowered when the heave angle of the boom reaches a constant heave angle. In a work vehicle that is designed to stop: a heave angle detection means for detecting the heave angle of the boom; a working state paddy detection means for detecting the working state of the work vehicle; a deceleration start heave angle set before the constant heave angle; A storage means stores a second control signal to the electric proportional control valve based on the working state, and a heave angle from the heave angle detection means is compared with a deceleration start heave angle from the storage means to determine the heave angle. exceeds the deceleration start undulation angle, the second I of the storage means
! i, a first comparison output means for outputting the control signal, and a second comparison output means for comparing the first control signal and the second control signal and outputting the smaller one to the electric ratio f11 control valve. Features a slow stopping device for work vehicles.

Claims (1)

[Claims] (1) A swivel base having a boom that is raised and lowered by the operation of a hydraulic actuator is mounted on the traveling base, and an electric proportional control valve is installed to control the supply and discharge of hydraulic oil to the hydraulic actuator. A working vehicle is equipped with a manual input means for arbitrarily setting a first control signal to a control valve, and is configured to stop raising and lowering the boom when the heave angle of the boom reaches a certain heave angle, wherein the heave angle of the boom is a heave angle detection means for detecting the working state of the working vehicle; a work state detecting means for detecting the work state of the working vehicle; 2, a storage means storing the control signal, compares the heave angle from the heave angle detection means with the deceleration start heave angle from the storage means, and when the heave angle exceeds the deceleration start heave angle, the memory means A first comparison output means for outputting a second control signal, and a second comparison output means for comparing the first control signal and the second control signal and outputting the smaller one to the electric proportional control valve. Features: Slow stopping device for work vehicles.