JPS6346810B2

JPS6346810B2 -

Info

Publication number: JPS6346810B2
Application number: JP55122537A
Authority: JP
Inventors: Michiaki Igarashi
Original assignee: Komatsu Ltd
Current assignee: Komatsu Ltd
Priority date: 1980-09-04
Filing date: 1980-09-04
Publication date: 1988-09-19
Also published as: JPS5748044A

Description

[Detailed description of the invention]

本発明は旋回式油圧掘削機の走行レバー装置に
関する。旋回式油圧掘削機例えばローデイングシヨベル
は第１図に示すように車輛１の走行体２に旋回自
在に配設された旋回体３と、この旋回体３に起伏
自在に取付けられた作業機４とを備えており全周
方向に亘り作業を行ない得るように構成されてい
る。そして、操作レバー１０（第２図）を前、後
方向（第３図ａ）に操作すると旋回体３が右、左
方向に旋回し、左、右方向に操作するとアーム６
（第１図）が上、下し、操作レバー１１，１２
（第２図）を前、後方向に操作すると車輛１が前、
後進（第３図ｂ，ｃ）し、また、操作レバー１３
を前、後方向に操作するとブーム５（第１図）が
下、上し、左、右方向に操作するとバケツト７が
チルト、ダンプとなるように構成されている。か
かる制御は油圧−メカ方式により可変ポンプ及び
メインバルブ（図示せず）を駆動して行なうよう
になつている。しかしながら、前記ローデイングシヨベル１は
作業機４が車輛の前方向位置にある場合には走行
レバー１１，１２の操作方向と車輛の進行方向と
が一致しているが、作業機４が旋回して車輛の後
方向位置にある場合には走行レバー１１，１２の
操作方向と車輛の進行方向とが反応となる。この
ため、オペレータは経験による慣れ、或いは走行
体２の履帯の前後部の違いを目視により判断して
走行レバーを操作しなければならず、オペレータ
の疲労が増大し、安全性が低下し、作業効率が低
下する等の欠点があつた。本発明は上記従来の欠点を除去する目的でなさ
れたもので、走行体に対する旋回体の位置を検出
し、作業機の位置に拘らず走行レバーの操作方向
と車輛の進行方向とが一致するようにした旋回式
油圧掘削機の走行レバー装置を提供するものであ
る。以下本発明を添附図面の一実施例に基づいて詳
述する。第４図において、操作レバー１５〜１８は電気
式レバーで操作方向及び操作量（回動量）に応じ
た制御信号を出力するようになつており、操作レ
バー１５は旋回体３及びアーム６の制御（第５図
ａ）を、操作レバー１６はブーム５及びバケツト
７の制御（第５図ｂ）を、操作レバー１７，１８
は夫々左走行、右走行及び前後進の制御（第５図
ｃ，ｄ）を行なうようになつている。左走行用操
作レバー１７は例えば第６図に示すようにポテン
シヨメータ２０、レバー操作検出スイツチ２１等
で構成されている。ポテンシヨメータ２０はレバ
ー１７に連動しており当該レバー１７の位置（レ
バー角φ）に応じた走行信号V_Rを出力する。こ
の信号V_Rは第７図に示すように、レバー１７が
中立位置の場合には値V_Nであり、前進方向に操
作すると値V_N〜V_LMまで、後進方向に操作すると
値V_N〜０までレバー角φに応じて変化する。ス
イツチ２１はレバー１７を操作しているか否かを
検出するためのもので、レバー１７が中立位置に
ある場合には出力は０であり、レバー１７を前進
または後進方向に操作すると作動してオンとな
り、操作レバーオン信号V_sを出力する。右走行
用操作レバー１８も操作レバー１７と全く同様に
構成されており、レバー位置に応じた走行信号
V_R、及び操作レバーオン信号V_sを出力する。旋
回角検出器２３（第８図）は走行体２（第１図）
に対する旋回体３の旋回角θを検出するためのも
ので、センタスイベル（図示せず）に取付けられ
ており、旋回角θに応じた旋回角信号Vθを出力
する。この旋回角検出器２３は例えばポテンシヨ
メータで構成されている。そして、旋回角θは作
業機４が走行体２に対して正しく前方向にあると
きを0゜とし、右側方向、後方向、左側方向にある
ときを夫々90゜、180゜、270°（第８図）とする。こ
の旋回角θと検出器２３の出力Vθは第９図に示
すようになつており、90゜旋回位置でVθ＝V₁、
270゜旋回位置でVθ＝V₂、360゜近傍位置でVθ＝V₃
となるように構成されていいる。そして信号V_L，
V_R，V_sは制御回路３０（第１０図）に入力され
る。制御回路３０は信号V_sが入力されると動作
状態となり、走行信号V_L，V_Rに応じた制御信号
Sa，Sbを出力する。尚、この信号Sa，Sbは操作
レバー１７，１８が中立位置のときすなわち、
V_L＝V_R＝V_Nのときには出力されない。この信号
Saは増幅器３１で増幅された後油圧制御弁３４
に加えられる。油圧制御弁３４は入力信号Saに
応じて可変ポンプ３６の斜板角を制御し、当該可
変ポンプ３６の作動油の吐出量を制御する。極性
反転回路３２は作業機４が走行体２に対して前側
に位置しているときすなわち、旋回角θが270゜〜
0゜〜90゜の範囲（第８図）にあり、Vθが０〜V₁、
V₂〜V₃の範囲にあるときには操作レバー１７，
１８の前、後方向すなわち、信号V_L，V_Rの中立
時の値V_Nに対する大、小に応じて制御信号Sb（第
１１図）を出力する。このように旋回角が270゜〜
0゜〜90゜の範囲にあるときを旋回体３が走行体２
に対して同方向側を向いているとする。反対に作
業機４が後側に位置しており、旋回角θが270゜〜
180゜〜90゜の範囲にあり、VθがV₁V₂の範囲にある
場合には操作レバー１７，１８の前、後方向すな
わち、信号V_L，V_Rの中立時に対する大、小に応
じて制御信号Sb（第１２図）を出力する。このよ
うに旋回角が270゜〜180゜〜90゜の範囲にあるときを
旋回体３が走行体２に対して逆方向側を向いてい
るとする。すなわち、第１表のような関係になつ
ている。 The present invention relates to a travel lever device for a swing type hydraulic excavator. A rotating hydraulic excavator, for example, a loading shovel, as shown in FIG. 1, includes a rotating body 3 that is rotatably disposed on a traveling body 2 of a vehicle 1, and a working machine that is attached to this rotating body 3 so that it can be raised and lowered. 4, and is configured so that work can be performed over the entire circumference. When the control lever 10 (Fig. 2) is operated in the forward or backward direction (Fig. 3a), the rotating body 3 turns to the right or left, and if the control lever 10 is operated to the left or right, the arm 6
(Fig. 1) up, down, operating levers 11, 12
(Fig. 2) when operated in the forward or backward direction, vehicle 1 moves forward or backward.
Move backward (Fig. 3 b, c), and also press the operating lever 13.
When the boom 5 (FIG. 1) is operated forward or backward, the boom 5 (FIG. 1) is moved downward or upward, and when the boom 5 is operated left or right, the bucket 7 is tilted or dumped. Such control is performed by driving a variable pump and a main valve (not shown) using a hydraulic-mechanical system. However, in the loading shovel 1, when the work implement 4 is in the forward position of the vehicle, the operating direction of the travel levers 11 and 12 is the same as the direction of travel of the vehicle, but when the work implement 4 is turned When the vehicle is located at the rearward position of the vehicle, the operation direction of the travel levers 11, 12 and the direction of travel of the vehicle become a reaction. For this reason, the operator must operate the travel lever by getting used to it through experience or visually determining the difference between the front and rear tracks of the traveling body 2, which increases operator fatigue, reduces safety, and prevents work. There were drawbacks such as reduced efficiency. The present invention has been made for the purpose of eliminating the above-mentioned conventional drawbacks, and detects the position of the revolving body with respect to the traveling body so that the operating direction of the traveling lever and the traveling direction of the vehicle match regardless of the position of the work equipment. The present invention provides a travel lever device for a swing type hydraulic excavator. The present invention will be described in detail below based on one embodiment of the accompanying drawings. In FIG. 4, operating levers 15 to 18 are electric levers that output control signals according to the operating direction and operating amount (rotation amount), and the operating lever 15 is used to control the rotating body 3 and the arm 6. (Fig. 5a), the operating lever 16 controls the boom 5 and the bucket 7 (Fig. 5b), and the operating levers 17, 18
are designed to control left running, right running, and forward/backward travel (FIG. 5c, d), respectively. The left travel operating lever 17 is composed of a potentiometer 20, a lever operation detection switch 21, etc., as shown in FIG. 6, for example. The potentiometer 20 is interlocked with the lever 17 and outputs a running signal V _R corresponding to the position of the lever 17 (lever angle φ). As shown in FIG. 7, this signal V _R is at the value V _N when the lever 17 is in the neutral position, and when operated in the forward direction it reaches the value V _N ~V _LM , and when it is operated in the reverse direction it reaches the value V _N ~ It changes depending on the lever angle φ up to 0. The switch 21 is for detecting whether or not the lever 17 is being operated. When the lever 17 is in the neutral position, the output is 0, and when the lever 17 is operated in the forward or reverse direction, it is activated and turned on. The control lever on signal V _s is output. The right drive control lever 18 is configured in exactly the same way as the control lever 17, and a drive signal is generated depending on the lever position.
V _R and a control lever-on signal V _s are output. The turning angle detector 23 (Fig. 8) is connected to the traveling body 2 (Fig. 1).
This is for detecting the turning angle θ of the rotating body 3 with respect to the turning angle θ, and is attached to a center swivel (not shown), and outputs a turning angle signal Vθ corresponding to the turning angle θ. This turning angle detector 23 is composed of, for example, a potentiometer. The turning angle θ is 0° when the work equipment 4 is correctly located in the front direction relative to the traveling body 2, and is 90°, 180°, and 270° when it is located to the right, rear, and left, respectively. Figure 8). This turning angle θ and the output Vθ of the detector 23 are as shown in FIG. 9, and at the 90° turning position, Vθ=V ₁ ,
Vθ=V ₂ at 270° turning position, Vθ=V ₃ at near 360° position
It is configured so that and the signal V _L ,
V _R and V _s are input to a control circuit 30 (FIG. 10). The control circuit 30 enters the operating state when the signal V _s is input, and outputs control signals according to the running signals V _L and V _R.
Output Sa and Sb. Incidentally, these signals Sa and Sb are generated when the operating levers 17 and 18 are in the neutral position, that is,
No output occurs when V _L = V _R = V _N. this signal
Sa is amplified by the amplifier 31 and then the hydraulic control valve 34
added to. The hydraulic control valve 34 controls the swash plate angle of the variable pump 36 according to the input signal Sa, and controls the discharge amount of hydraulic oil from the variable pump 36. The polarity reversal circuit 32 is activated when the working machine 4 is located in front of the traveling body 2, that is, when the turning angle θ is between 270° and
It is in the range of 0° to 90° (Fig. 8), and Vθ is 0 to V ₁ ,
When it is in the range of V ₂ to _{V 3} , the operation lever 17,
A control signal Sb (FIG. 11) is outputted in the front and rear directions of 18, that is, depending on whether the signals V _L and _VR are large or small relative to the neutral value V _N. In this way, the turning angle is 270°~
When the rotating body 3 is in the range of 0° to 90°, the rotating body 3
Suppose that it is facing in the same direction as . On the other hand, work equipment 4 is located at the rear, and the turning angle θ is 270°~
In the range of 180° to 90°, and when Vθ is in the range of V ₁ V ₂ , the control levers 17 and 18 are moved forward and backward, that is, depending on the largeness and smallness of the signals V _L and V _R relative to the neutral state. The control signal Sb (FIG. 12) is output. When the turning angle is in the range of 270° to 180° to 90° as described above, it is assumed that the rotating body 3 faces in the opposite direction to the traveling body 2. In other words, the relationship is as shown in Table 1.

【表】この制御信号Sbは増幅器３３で増幅された後
油圧制御弁３５に加えられる。油圧制御弁３５は
制御信号が＋Sbのときには電磁方向切換弁３７
を走行体２の前進側に切換え、−Sbのときには後
進側に切換え、可変ポンプ３６から吐出される作
動油量に応じて走行用油圧モータ３８を前進又は
後進方向に回転駆動する。従つて、作業機４の走
行体２に対する位置に拘らず、走行用操作レバー
１７，１８の操作方向と車輛１の進行方向とを一
致させることができる。尚、本実施例においては旋回角検出器としてポ
テンシヨメータを使用する場合について記述した
が、これに限るものではなく旋回体と走行体との
間にリミツトスイツチを配設し、旋回角90゜、
270゜の位置を検出するようにしてもよい。以上説明したように本発明によれば、走行用操
作レバーの操作方向と車輛の進行方向とを一致さ
せることができるために車輛の走行方向の確認の
必要がなくなり、オペレータの目視による判断が
不要となり精神的疲労を軽減することができ、ま
た、誤つて逆方向に走行させることがなくなり安
全性が向上すると共に作業効率を向上することが
できる等の優れた効果がある。[Table] This control signal Sb is amplified by an amplifier 33 and then applied to a hydraulic control valve 35. When the control signal is +Sb, the hydraulic control valve 35 operates as the electromagnetic directional control valve 37.
is switched to the forward moving side of the traveling body 2, and when -Sb is switched to the reverse moving side, and the traveling hydraulic motor 38 is rotationally driven in the forward or backward direction depending on the amount of hydraulic fluid discharged from the variable pump 36. Therefore, regardless of the position of the working machine 4 with respect to the traveling body 2, the operating direction of the traveling operation levers 17 and 18 can be made to coincide with the traveling direction of the vehicle 1. Although this embodiment describes the case where a potentiometer is used as a turning angle detector, the present invention is not limited to this, and a limit switch may be provided between the rotating body and the traveling body to detect a turning angle of 90°,
The position at 270° may also be detected. As explained above, according to the present invention, it is possible to match the operating direction of the driving control lever with the traveling direction of the vehicle, so there is no need to confirm the traveling direction of the vehicle, and there is no need for the operator to make a visual judgment. This has excellent effects such as reducing mental fatigue, improving safety by preventing the vehicle from accidentally traveling in the opposite direction, and improving work efficiency.

[Brief explanation of the drawing]

第１図はローデイングシヨベルの説明図、第２
図はローデイングシヨベルの操作レバーを示す
図、第３図ａ〜ｄは第２図の操作レバーの動作説
明図、第４図は本発明に係る旋回式油圧掘削機の
走行レバー装置の操作レバーを示す図、第５図ａ
〜ｄは第４図の操作レバーの動作説明図、第６図
は第４図の操作レバーの一実施例を示す構成図、
第７図は第６図の操作レバーのレバー角と出力信
号との関係を示す図、第８図は本発明装置に使用
する旋回角検出器の取付位置を示す図、第９図は
第８図の旋回角検出器の旋回角と出力との関係を
示す図、第１０図は本発明装置の制御系の一実施
例を示すブロツク図、第１１図及び第１２図は操
作レバー角と制御信号との関係を示す図である。１……ローデイングシヨベル、２……走行体、
３……旋回体、４……作業機、１５〜１８……操
作レバー、２０……ポテンシヨメータ、２１……
スイツチ、２３……旋回角検出器、３０……制御
回路、３１，３３……増幅器、３２……極性反転
回路、３４，３５……油圧制御弁、３６……可変
ポンプ、３７……電磁方向切換弁、３８……走行
モータ。 Figure 1 is an explanatory diagram of the loading shovel, Figure 2
The figure shows the operating lever of the loading shovel, Figures 3 a to d are explanatory diagrams of the operation of the operating lever in Figure 2, and Figure 4 shows the operation of the travel lever device of the swing type hydraulic excavator according to the present invention. Diagram showing the lever, Figure 5a
~d is an explanatory diagram of the operation of the operating lever in Fig. 4, and Fig. 6 is a configuration diagram showing an embodiment of the operating lever in Fig. 4.
7 is a diagram showing the relationship between the lever angle of the operating lever in FIG. 6 and the output signal, FIG. 8 is a diagram showing the mounting position of the turning angle detector used in the device of the present invention, and FIG. FIG. 10 is a block diagram showing an embodiment of the control system of the device of the present invention, and FIGS. 11 and 12 are diagrams showing the relationship between the turning angle and the output of the turning angle detector shown in FIG. FIG. 3 is a diagram showing the relationship with signals. 1... Loading shovel, 2... Traveling body,
3... Revolving body, 4... Work equipment, 15-18... Operation lever, 20... Potentiometer, 21...
Switch, 23...Turning angle detector, 30...Control circuit, 31, 33...Amplifier, 32...Polarity reversal circuit, 34, 35...Hydraulic control valve, 36...Variable pump, 37...Electromagnetic direction Switching valve, 38...travel motor.

Claims

[Scope of Claims] 1. Traveling control means having two operating operating levers for traveling and a turning operating lever, and controlling the forward and backward traveling and steering of the traveling body based on operation signals of the two operating operating levers for traveling. , a swing control means for controlling the swing of the rotating body on the traveling body by operating the swing operation lever, a swing angle for detecting a turning angle of the rotating body with respect to the traveling body; a detection means; a determination means for determining whether the rotating body faces in the same direction or in the opposite direction relative to the traveling body based on the output of the turning angle detection means; and a polarity reversing means for inverting the operation signal of the traveling operation lever and applying it to the traveling control means when it is determined that the traveling operation lever is running.