JPS62258023A - Slewing type working vehicle - Google Patents

Abstract

PURPOSE:To exactly and quickly stop the slewing base of a working vehicle on excavating and soil-discharging positions automatically by providing two setters to separately indicate a set stopping position for a controller by which automatically stop the slewing base on any of left and right-handed set stopping positions. CONSTITUTION:Two setters 12A and 12B to separately give indications are provided for automatic stoppage of a slewing base 3 on any of left and right- handed set stopping positions Qa and Qb. A mode setter 16 to set up a slewing automatic stop mode as a function for speed theta and slewing angle thetae during the deceleration is also provided for each. A discriminator 17 to judge whether any of the setters 12A and 12B sets up previously is provided. On the basis of the information, a slewing automatic stop mode on the excavation side is indicated to the mode setter 16 corresponding to the setter which previously sets up and a slewing automatic stop mode on the soil discharge side is indicated to the mode setter 16 corresponding to the setter which sets up later by a mode indicator 18 to be provided. The controllability and the operability can thus be enhanced.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a swivel base equipped with a working device on a traveling vehicle body so as to be rotatable to the left and right, and automatically moves the swivel base to either the left or right set stop position. The present invention relates to a swing-type working vehicle which is provided with a control device for stopping the vehicle, and is provided with two setting devices for separately instructing the control device to set left and right stop positions.

[Conventional technology]

Conventionally, in the above-mentioned swing-type work vehicle, the control device sets a swing automatic stop mode as a function of the speed during deceleration and the swing angle in order to automatically stop the swing base at both set stop positions indicated by the left and right setting devices. Only one mode setting section is provided, and in one mode set by the mode setting section, both setting stop positions are automatically stopped.

[Problem that the invention seeks to solve]

However, when excavation work is performed on one of the left and right set stop positions, and earth removal work is performed on the other, for example, early control is required so that the excavated soil is automatically stopped at the earth removal work position without overshooting. If the swing automatic stop mode is set in the mode setting section, when swinging from the earth removal work position to the excavation work position, it will be in an empty state without carrying excavated soil, so there will be unnecessary movement before the automatic stop. If the automatic rotation stop mode is set to automatically stop at the excavation work position in a short time, it may take too long to move the excavated soil to the excavation work position. As a result, overshoot may occur.

An object of the present invention is to enable different automatic turning stop modes to left and right set stop positions.

[Means for solving problems]

The present invention focuses on the fact that the left and right setting device usually sets the excavation work position first and then the earth removal work position, and the characteristic configuration of the swing type work vehicle is In the control device, in order to automatically stop the swivel base at both set stop positions indicated by the left and right setting devices, the mode setting section that sets the automatic swing stop mode as a function of the speed during deceleration and the swing angle is set to the left and right settings. Discrimination means is provided for each setting device to determine which of the left and right setting devices is set first, and the setting device corresponds to the setting device that was set first based on the information from the discrimination device. The present invention is provided with a mode instruction means for instructing a mode setting section to perform an automatic rotation stop mode on the excavation side and for instructing a mode setting section corresponding to a setting device set later to an automatic stop mode for the excavation side rotation. , its functions and effects are as follows.

[For production]

In other words, the automatic turning stop mode as a function of the speed during deceleration and the turning angle can be set differently for the left and right set stop positions by the mode setting sections provided separately for the left and right setting devices. In addition, by simply setting the left and right setting devices, the setting will be automatically set to stop automatically in the excavation side turning automatic stop mode to the setting stop position set earlier, and also to the setting stop position set later. is automatically set to automatically stop in the unloading side rotation automatic stop mode.

〔Effect of the invention〕

Therefore, it is possible to automatically stop the swing to the excavation position and the earth removal position accurately and quickly without taking unnecessary time, improving control performance and workability. The appropriate turning automatic stop mode can be determined automatically by simply setting the left/right setting device.For example, it is possible to set the left/right setting stop position and the left/right turning automatic stop mode separately, but compared to these This allows easy settings to ensure proper settings without any erroneous operations, further increasing safety.

〔Example〕

Next, embodiments of the present invention will be described based on the drawings.

As shown in Figure 3, the excavation work bag can be swung up and down as well as bent and stretched! (1) and the boarding operation section (2) are provided on a swivel base (3), and the swivel base (3) is attached to the traveling vehicle body (4) so as to be freely swivelable by a hydraulic motor (5).
It consists of a rotating excavation work vehicle.

To construct the swing operation structure, as shown in FIGS. 1 and 2, a potentiometer-type detection device (7) for detecting the operation state of the swing operation lever (6) is attached to the swing operation lever (6), and the swing base (
A rotary encoder type detector (8) for detecting the rotation angle (θ) of the swivel base (3) with respect to the longitudinal reference line (1) of the traveling vehicle body (4) is attached to the rotational drive unit (3).

When the manual switching operation (9) that selectively switches between the manual turning operation state and the automatic turning operation state is in the manual turning operation state, the lever is controlled based on the information from the operation state detection device (7). In the direction corresponding to the operating direction of (6),
And the swivel table (
3) to the valve controller (B) of the electromagnetic proportional control valve (10) for swing operation, and on the other hand, when the manual switching device (9) is in the automatic swing operation state, the operation state Based on the information from the detection device (7) and the vehicle body angle detector (8), the lever (6) is moved in a direction corresponding to the operating direction and in a preset direction when lever operation is used as a start command. The rotating tube (
3), and furthermore, two setting devices (12A),
(12B), the set stop position for left turning (θa) or the set stop position for right turn (θb
) is provided with a control device (13) comprised of a microcomputer that automatically issues a command to the valve controller (B) to stop the swivel table (3) at the point (3).

In other words, by using the automatic turning operation state, as shown in Fig. 2, a constant excavation position (A) and a constant soil removal position (B
) with both settings '2?1 (12A
), (12B) and the activation command operation for the lever (6).

A left setting switch (a) with two push buttons for instructing the left and right resetters (12A) and (12B) to set values separately.
and a right side setting switch (b).

In the control device (13), a left and right setting device (12A)
.

Both set stop positions (θa) and (θb) indicated by (12B)
) to automatically stop the swivel base (3), turn the mode setting section (16) left and right to set the automatic rotation stop mode as a function of the speed during deceleration (θ°) and the remaining rotation angle (θe). Discrimination means (17) is provided separately for the setting devices (12A) and (12B) to determine which of the left and right setting devices (12A) and (12B) has been set first. Based on the information from 17), instruct the mode setting unit (16) corresponding to the previously set setting device (12A) or (12B) to the excavation side rotation automatic stop mode, and set the later set setting. vessel (12B) or (12
The mode setting section (16) corresponding to A) is provided with mote instruction means (18) for instructing the discharge side rotation automatic stop mode.

When either the excavation side or the earth unloading side automatic rotation stop mode is instructed by the mode indicating means (18) in the left and right mode setting parts (16) and (16), one of the excavation side lights up. The mode display lamp (19A) and the mode display lamp (19B) on the soil discharging side are provided separately for the left and right mode setting sections (16) and (16), respectively. (16).

(16) Mode changeover switch (20A), (20B) that changes the mode set in each mode to another mode.
are provided separately for the left and right mode setting sections (16) and (16). Therefore, for example, the right setting device (12B
) is set before left setting 2B (12A), the mode on the right side is automatically set to the excavation side and the mode on the left side is automatically set to the earth removal side, but neither the excavation side nor the discharge side adds much. If the load does not increase, in order to shorten the swing time as much as possible, operate the left side swing automatic stop mode on the unloading side to the excavation side swing automatic stop mode by operating the left mode changeover switch (2OA). It can be carried out.

Furthermore, a left/right mode switching switch (21) is provided for the left/right mode setting sections (16), (16) to switch the set mode between the left and right modes.

Next, operations are performed as shown in the flowcharts of FIGS. 5 to 9. In other words, the entire flow is shown in FIG. 5, and the operation status of each switch (a) and (b) is determined by sensing TB! In determining the operation mode, left and right modes are set as shown in the schematic flowchart of FIG. In the right stopped state mode setting, as shown in Fig. 7, the excavation side or earth removal side mode is set, and in the left stopped state mode setting, as shown in Fig. 8, the same flow as the above right side is performed. The mode for the earth removal side or the excavation side, which is opposite to the right side, is set. The operation control after setting the mode is as shown in FIG.
controlled according to

The display is shown on the excavation side (ramp 1,
lamp 3) or the discharge side (lamp 2, lamp 4) is turned on.

[Another example]

The aforementioned left and right mode selector switches (2OA).

(20B) or the left/right mode switching switch (21),
There may be cases where it is not provided.

[Brief explanation of drawings]

The drawings show an embodiment of the swing-type work vehicle according to the present invention, and the first embodiment
Fig. 2 is a schematic plan view of the work vehicle showing the turning state; Fig. 3 is an overall side view of the work vehicle; Fig. 4 is a graph showing the automatic turning stop mode; 9 to 9 are flowcharts, respectively. (1)... Working device, (3)... Turning platform, (4)... Traveling vehicle body, (12A), (
12B)...Setting device, (13)...Control device, (16)...Mode setting section, (17)
...Discrimination means, (18)...Mode instruction means, (θaL(θb)...Setting stop position,
(θ゛)... Speed, (θe)... Turning angle.

Claims (1)

[Claims] A swivel base (3) equipped with a working device (1) is provided on the traveling vehicle body (4) so as to be rotatable for left and right drive, and the swivel base (3) is placed at either the left or right set stop position (θa) or (θb). A control device (13) for automatic stopping is provided, and the control device (13)
In contrast, the swing type work vehicle is provided with two setting devices (12A) and (12B) for respectively instructing left and right set stop positions (θa) and (θb), and the control device (13) , the swivel base (
3), the mode setting section (16) for setting the turning automatic stop mode as a function of the speed during deceleration (■) and the turning angle (θe) is connected to the left and right setting device (12A).
, (12B), the left and right setting device (
12A) and (12B) is provided first.
Based on the information from 7), the previously configured setting device (1
Mode setting section (16) corresponding to 2A) or (12B)
mode instructing means ( 18) Swivel type work vehicle.