JPS6355223A - Safety device for slewing type working vehicle - Google Patents

Abstract

PURPOSE:To detect the disorder of sensor by a method in which it is judged whether signals for detection of turning angle of a rotator are sent out concurrently from some of auxiliary sensors, and if so, a display indicating the occurrence of trouble is given and a working command is given to the stopper of slewing base. CONSTITUTION:When auxiliary sensors 19A and 19B are discontinued or broken between them and a microcomputer M, a high potential is put in the input interface of the computer M and the same signal as signal for detecting turning angle is put in a trouble discriminating circuit 22. Whether the signal for detecting turning angle is sent out concurrently from two of the sensors 19A and 19B is judged by a judging means 23. If the signals are sent out concurrently, on the basis of information from the judging means 23, a command means 25 give a working command to a trouble displayer 24 and a slewing base stopper circuit 21.

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention provides a main sensor for detecting a rotation angle that is linked to a controller that automatically controls the speed of the swivel base, and a main sensor for detecting the rotation angle that is linked to a rotating shaft for driving the swivel base. A plurality of optical or magnetic auxiliary sensors are provided to detect the rotation angle based on the rotation of the rotating member attached to the shaft, and it is determined whether the difference between the information values from the main sensor and the auxiliary sensor is greater than or equal to a set value. Provide a means for determining the
The present invention relates to a safety device for a swivel type work vehicle, which is equipped with a notification device and a swivel table stop device that automatically operate when the temperature exceeds a set value based on information from the discrimination means.

[Conventional technology]

Conventionally, the above-mentioned safety devices did not have a means to detect damage to the auxiliary sensor.

[Problem that the invention seeks to solve]

Therefore, damage to the main sensor cannot be detected, and if not only the auxiliary sensor but also the main sensor is damaged at the same time, there is a risk that incorrect information will be input to the controller and the swivel base will run out of control. Ta.

An object of the present invention is to enable detection of damage to the auxiliary sensor.

[Means for solving problems]

In addition to the rotation of the rotating member, the auxiliary sensor is composed of an optical or magnetic sensor, and even when the auxiliary sensor is damaged such as a wire breakage, a signal for detecting the rotation angle of the rotating member is generated. The system focuses on the fact that the safety device is emitted from the auxiliary sensor, and the characteristic configuration of the safety device for swing-type work vehicles is as follows:
A determining means is provided for determining whether or not signals for detecting the rotation angle of the rotating member are simultaneously output from at least two of the auxiliary sensors, and based on information from the determining means,
If two or more of the auxiliary sensors emit the signals at the same time, there is provided a failure display means for automatically notifying the user, and a command means for automatically giving an operation command to the swivel stop device. The effect is as follows.

[For production]

Under normal conditions, when the tabs and auxiliary sensors are all intact, only one of the auxiliary sensors outputs a rotation angle detection signal as the rotating member rotates, but if the auxiliary sensor is damaged, , Regardless of the rotation of the rotating member, the signal for detecting the rotation angle is always output from the damaged auxiliary sensor, and as the rotating member rotates, one of the normal auxiliary sensors and the damaged auxiliary sensor are detected. A signal for detecting the rotation angle is simultaneously output from the auxiliary sensors, and when the determination means determines that signals are output from two or more auxiliary sensors at the same time, the failure display means and the swivel table stop device are automatically activated, and the auxiliary Not only can damage to the sensor be confirmed early, but the swivel table can be stopped automatically.

〔Effect of the invention〕

Therefore, in order for the operator to know about the malfunction of the auxiliary sensor at an early stage, the operator can repair the auxiliary sensor appropriately and quickly, accurately adjust the speed of the swivel base automatically using the controller, and prevent the swivel base from running out of control. 9. You will be able to avoid and maintain safe work.

〔Example〕

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

In the swivel type excavation work vehicle shown in Fig. 4, a swivel platform (3) provided with an excavation work device (1) and a boarding and driving section (2).
To configure the turning operation structure for the traveling device (4),
As shown in FIG. 1, a potentiometer (6) for detecting the operating state of the operating lever (5) is attached to the operating lever (5), and based on information from the potentiometer (6), the lever (5)
) for automatically operating the electromagnetic proportional control valve (8) for the swing motor (7) K so as to rotate the swing base (3) in a direction commensurate with the operating direction of the motor (7) and at a speed commensurate with the operating amount. 1 controller (9), and a main sensor for detecting the rotation angle of the traveling device (
Based on the rotation angle information (/7) from 16) and the information from the potentiometer (6), in a direction commensurate with the operating direction of the lever (5), with lever operation as a starting command, and The swivel base (3
) is controlled by the microcomputer M. Further, a circuit switch (2) for selectively connecting and switching the first and second controllers (9) and (2) to the proportional control valve (8) is provided. With this configuration, an artificial turning operation by the first controller (9) and an automatic turning operation by the second controller can be selectively performed.

As shown in FIGS. 1 to 3, a part of the rotation angle detection sensor equipped with the main sensor α is comprised of one of the gear type reduction gears α interlocked with the swing motor (7). A main sensor (16) composed of a rotary encoder is interlocked and connected to the two rotational axes α through a universal joint α force for protection, and the detected information value from the main sensor α0 is used for the automatic rotation described above. The configuration is such that the rotation angle information (to) for operation is input to the second controller @, and one detected rotating member (to) attached to the rotation shaft (to) two photo-interfooter type auxiliary sensors (19A) for detecting the rotation angle of the rotating member (to) by detecting the passage of the rotating member (to) as the rotating member rotates;
(19B) is provided on the rotation trajectory of the rotating member (to).

And those two auxiliary sensors (19A).

The rotation angle information value from (19B) and the rotation angle information value from the main sensor -α are compared to determine whether the difference between them exceeds the setting, and if the difference exceeds the setting, a buzzer type notification is issued. A trouble determination circuit function is incorporated into the microcomputer M to automatically activate the device m and the swivel table emergency stop circuit connected to the second controller (6) in the microcomputer M. 16) Reliably detects electrical and mechanical faults such as wire breakage and damage to the universal joint (B), and prevents the swivel base (3) from running out of control due to input of false detection information caused by these fault pulls. death,
In addition, the configuration is such that the operator can quickly recognize the puffer fish μ.

In addition, when the auxiliary sensors (19A) and (19B) are disconnected or damaged with the microcomputer (incorporated), a high potential (H1 signal) is input to the input interface of the microcomputer M, and the rotating member Since the signal similar to the signal for detecting the rotation angle (to) (the H1 signal issued when the rotating member (g) cuts off the tab or photo interface cover) is input to the trouble determination circuit, A determining means for determining whether or not signals for detecting the rotation angle of the rotating member (to) are simultaneously output from two of the auxiliary sensors (19A) and (19B) is provided in the microcomputer M. Based on the information from the means (e),
Fault indicating means (goods) that automatically informs when two auxiliary sensors (19A) and (19B) emit the above-mentioned signals at the same time.
, and a command means (to) for automatically giving an operation command to the swivel table stop circuit (2).

Therefore, the μm check for damage to the auxiliary sensors (19A) and (19B) is incorporated into the main sensor system damage check routine and processed as shown in FIG.

[Another example]

The swivel base emergency stop circuit (c) is referred to as a swivel base stop device, and the trouble determination circuit (goods) is referred to as a determining means.

As the main sensor (16), various types of rotation angle sensors such as a variable resistance type potentiometer can be used in addition to a rotary encoder.

For the auxiliary sensors (19A) and (19B), various types of optical or electromagnetic sensors can be applied, such as a photo interfugeta, an electromagnetic proximity switch, or a phototube sensor, and the number of sensors can also be varied. It can be changed as appropriate depending on the μ determination processing form.

Further, the notification device (e) can be of various types, such as a flashing hood instead of a buzzer, and the failure indicating means can be a buzzer, a flashing hood, or the like.

The safety device according to the present invention can be applied not only to the pack hoe shown in FIG. 4, but also to swing-type working vehicles for various uses such as agricultural and construction purposes.

[Brief explanation of drawings]

The drawings show an embodiment of the safety device for a swing-type work vehicle according to the present invention, in which Fig. 1 is a control system diagram, Fig. 2 is a partially cutaway sectional view of a part of the rotation angle detection sensor, and Fig. FIG. 4 is a cross-sectional view of the auxiliary sensor, FIG. 4 is an overall side view of the revolving work vehicle, and FIG. 5 is a flowchart for checking damage to each sensor. (3)... Swivel base, @... Controller, (
g)...Rotation axis, αQ...Main sensor
, (g)...Rotating member, (19A). (19B)... Auxiliary sensor, (1)...
...Notification device, (2)...Swivel stop device, (
B)...Discrimination means, S...Judgment means,
(Foundation)...Failure display means, (to)...
means of command.

Claims (1)

[Claims] A main sensor (16) for detecting a rotation angle, which is linked to a controller (12) that automatically controls the speed of the swivel table (3), is connected to the rotation shaft (15) for driving the swivel table, and is attached to the rotation shaft (15). an optical or magnetic auxiliary sensor (19A) for detecting the rotation angle based on the rotation of the rotating member (18);
9B), a discriminating means (22) for discriminating whether the difference between the information values from the main sensor (16) and the auxiliary sensors (19A) and (19B) is greater than or equal to a set value; This is a safety device for a swivel type work vehicle, which is equipped with an alarm device (20) and a swivel table stop device (21) that automatically operate when the temperature exceeds a set value based on information from the rotating member (22). 18) The signal for detecting the rotation angle is
A determining means (23) is provided for determining whether or not the output is simultaneously output from at least two of the auxiliary sensors (19A) and (19B), and based on information from the determining means (23) The auxiliary sensor (19A), (
19B) is equipped with a malfunction display means (24) that automatically notifies when the above-mentioned signals are issued at the same time, and a command means (25) that automatically gives an operation command to the swivel stop device (21). car safety equipment.