JPS63107626A - Slewing type working vehicle - Google Patents

Abstract

PURPOSE:To raise the safety of a slewing type working vehicle by a method in which pulse signals from a rotary encoder are measured by a counter circuit, and only when approximate values are obtained two times or more during the time of reading the measured values three times or more, the values are regarded as true ones and the working vehicle is automatically stopped. CONSTITUTION:A rotary encoder 12 sending out pulse signals as a slewing base 2 turns is connected to the medium shaft 11A of a gear speed-reducing machine 11 for slewing. A counter circuit 12 to measure the pulse signals and also to convert them into digital signals and a reader 21 to read the signals and also to detect the turning angle of the base 2 are also provided, and a potentiometer 15 to detect the operating condition is provided for the operating lever 14 for slewing. On the basis of information from the reader 21, only when approximate values are obtained at least two times, the values are regarded as true ones and a controller is operated. Also, when no approximate values are obtained two times or more, it is automatically notified. Safe and exact automatic stopping operations for slewing can thus be maintained.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a rotary encoder that emits pulse signals as the rotating base rotates, and measures the pulse signals from the rotary encoder and converts them into digital signals. and a reading means for reading a digital signal from the counter circuit to detect the rotation angle of the swivel base, and automatically stopping the swivel base at a set position based on information from the reading means. The present invention relates to a swing type work vehicle provided with a control means.

[Conventional technology]

Conventionally, in the above-mentioned swing type work vehicle, the reading means is configured to read the counter circuit only once at each set time, and to directly provide the read value to the control means as a true value.

[Problem that the invention seeks to solve]

However, because it is difficult to accurately match the timing at which readings are taken at each set time and the timing at which actual readings should be made, incorrect values may be obtained if the digital signals from the counter circuit are read during a transition period when they change sequentially as the turning operation is performed. There was a risk that the value would be read and given to the control means as a true signal, and an incorrect value would be set, especially when setting the automatic rotation stop position.

An object of the present invention is to read a true digital signal accompanying a turning operation from a counter circuit and to provide it to the control means.

[Means for Solving the Problems] A characteristic configuration of the swing type work vehicle of the present invention is that a reading instruction means is provided for causing the reading means to perform reading three or more times when reading the counter circuit at each set time, and between the means and the control means, determining means for determining whether or not there is a value that is approximated at least twice when reading at each set time based on information from the reading means; control command means is provided for operating the control means using the value as a true signal only when there is an approximate value at least twice based on the information from the determining means; The system is equipped with an alarm device that automatically alerts you if there is no such device, and its effects are as follows.

[For production]

In other words, in order to cause the reading means to read the counter circuit three or more times at each set time, even if the reading timing does not match, the digital signal in the transition period that changes sequentially from the counter circuit is first read. Even if the value is small (in both cases, after the second and third times, if multiple true values that are close to each other are output from the counter circuit, only those values will be used by the determination means and the control command means for the control operation of the control means). This prevents incorrect values from being set when setting the automatic rotation stop position.

〔Effect of the invention〕

Therefore, it is possible to prevent accidents such as setting an incorrect value and causing the swivel base to run out of control or come to an unexpected sudden stop, endangering the operator or causing it to collide with other objects. In addition, if a problem occurs with the rotary encoder, etc., the alarm device will automatically notify you based on the different signal values output from the counter circuit, allowing early maintenance. As a result, it became easier to maintain a safe and accurate turning automatic stop. [Example] Next, an example of the present invention will be described based on the drawings.

As shown in Figure 3, a pair of left and right crawler traveling devices (1
) A swivel base (2) is attached to a machine base equipped with a hydraulic motor (3) so as to be freely swivelable, and a boarding operation section (4) and a driving section (5) are provided on the swivel base (2). The excavation work device (8), which is constructed by attaching the excavation packet (7) to the tip of a work arm (6) which can be freely swung vertically and can be flexed and extended, is mounted on the front end of the swivel table (2). The excavator is attached so that it can be operated freely and constitutes a revolving excavation work vehicle.

As shown in Figure 1, the swing race (9) is fixed on the machine side.
In a gear reducer (11) supported on the swivel table side that interlocks the hydraulic motor (3) with a swivel drive gear (10) that meshes with an internal gear (9A) formed in the intermediate shaft (
A counter circuit (IIA) is interlocked with a rotary encoder (12) that continuously transmits pulse signals as it rotates, and measures the pulse signals from the rotary encoder (12) and converts them into digital signals. 20), and a reading means (21) for reading the digital signal from the counter circuit (20) at set time intervals of, for example, 20 m5ec to detect the rotation angle (θ) of the swivel base (2). , turning operation lever (14)
An operation state detection potentiometer (15) for detecting the direction of the swing operation and the amount of operation is attached thereto.

When the manual automatic changeover switch (16) is switched to the manual side, the lever (14) is operated at a speed commensurate with the operating state of the lever (14) and in a commensurate direction based only on the information from the potentiometer (15). The control valve (17) for the hydraulic motor (3) is automatically operated to rotate the swivel table (2), and the changeover switch (16) is
When the switch is switched to the automatic side, the lever (14) operation is used as a starting command based on the information from the potentiometer (15) and the reading means (21).
The operating valve (17) is configured to rotate the swivel base (2) at a predetermined speed and in a direction commensurate with the direction in which the lever is operated, and to automatically stop it at a position (θf) manually set by the setting device (18). ) automatic swing control means (
19), which enables automatic turning stop in addition to manual turning operation only by lever operation.
This is intended to improve the operability and efficiency of turning work.

When reading the counter circuit (20) at each set time, the reading means (21) reads the data at, for example, 50 μsec.
c. A reading instructing means (22) is provided to cause the reading to be performed three times or more within a period of time, and between the reading means (21) and the control means (19), the reading is performed at each set time based on information from the reading means (21). At the time of reading, a determination means (23) determines whether there is a value that has been approximated at least twice or not, and information from the determination means (23) that determines the value only when there is a value that has been approximated at least twice. is provided with a control command means (24) for operating the control means (19) as a true signal, and based on the information from the determination means (23), an alarm is automatically issued when there is no approximate value twice or more. A device (25) is provided.

That is, as shown in the flowchart of FIG. 2, the counter values in the left and right rotation directions from the counter circuit (20) are read separately for the first and second times by the reading means (21), and Difference between readings (CLI-Cl3)
Or, if (CRI-CR2) is larger than the set error value (E), perform the third reading and calculate the difference between the first and third readings (CLI-Cl3) or (CRI-CR3)
If it is larger than the error value (E), it is determined whether the difference between the second and third values is larger or smaller than the error value (E), and if it is larger, it is treated as an error and an action to be taken (alarm) is taken. . Then, the first and second readings or the first and third readings or two
If either the 2nd or 3rd reading value is smaller than the error value (E), those values will be considered as the true value and the current position (NP) will be calculated.
The above flow is repeated as the rotating base (2) rotates.

[Another example]

The reading instruction means (22) performs reading at each set time.
The reading may be performed three or more times.

The alarm device (25) can be of various types such as a buzzer or a flashing lamp.

[Brief explanation of the drawing]

The drawings show an embodiment of the swing-type work vehicle according to the present invention, and the first embodiment
2 is a control circuit diagram, FIG. 2 is a flowchart, and FIG. 3 is an overall side view of the revolving excavation vehicle. (2)... Swivel base, (12)... Rotary encoder, (19)... Control means, (2
o)...Counter circuit, (21)...
Reading means, (22)...reading instruction means, (23
)... Judgment means, (24)... Control command means, (25)... Alarm device, (θ)...
... Rotation angle, (θf) ... Setting position.

Claims (1)

[Claims] A rotary encoder (12) is provided that transmits a pulse signal as the swivel base (2) rotates, and a counter circuit (20) is provided that measures the pulse signal from the rotary encoder (12) and converts it into a digital signal. , reading means (2) for reading the digital signal from the counter circuit (20) and detecting the rotation angle (θ) of the swivel base (2);
1) and a control means (19) for automatically stopping the swivel base (2) at a set position (θf) based on information from the reading means (21), A reading instruction means (22) is provided for causing the reading means (21) to perform reading three or more times when reading the counter circuit (20) at each set time, and
21) and the control means (19), the reading means (2
a determination means (23) for determining whether or not there is a value that is approximated at least twice during reading at each set time based on information from 1); and information from the determination means (23); A control command means (24) is provided for operating the control means (19) using the value as a true signal only when there is an approximate value at least twice, and the determination means (23)
The rotating work vehicle is equipped with an alarm device (25) that automatically notifies you if there is no approximate value twice or more based on information from the.