JPS6355224A - Slewing type working vehicle - Google Patents

Abstract

PURPOSE:To stop a slewing type working vehicle on a set stopping position by providing a device by which to select slewing automatic stop mode according to inclined angles on the basis of information from a detector to detect inclined angle to the horizontal face of a slewing base and then to indicate it to a mode setter. CONSTITUTION:As a slewing base 4 is inclined, a back-hoe 27 is turned to the uppermost end side of the sloped face. In this case, on the basis of information from a sensor 16 for inclines angles, a mode indicator 29 gives an indication on rapid mode during reduction speed to the mode setter 25 to stop the device 27 on a set stopping position. When the back-hoe 27 is turned to the lowermost end of the sloped face, on the basis of information from the sensor 16, the indicator 26 indicates a moderate mode during reduction speed to the setter 25 to stop it on a set stopping position.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a control device that provides a swivel base on a traveling vehicle body so as to be able to freely rotate left and right, and automatically stops the swivel base at a set stop position on either the left or right side. a swing type work vehicle, wherein the control device is provided with a mode setting unit that 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 the set stop position. Regarding.

[Conventional technology]

Conventionally, in the above-mentioned swing type work vehicle, only one swing automatic stop mode has been set in the mode setting section.

[Problem that the invention seeks to solve]

However, when working on a slope, etc., the inertia when rotating the work equipment installed on the swivel base changes as the swivel base tilts with respect to the horizontal surface. Since automatic stop control is performed in the stop mode, there is a risk that the swivel base may stop at a position closer to the set stop position or may overshoot.

An object of the present invention is to enable the swivel base to be stopped at a set stop position even if the swivel base is tilted.

[Means for solving problems]

A characteristic configuration of the swivel type work vehicle of the present invention is that a detection means for detecting the inclination angle of the swivel base with respect to a horizontal plane is provided, and based on information from the detection means, the swivel automatically stops according to the inclination angle of the swivel base. The present invention is provided with mode instruction means for automatically selecting a mode and instructing the mode setting section, and its effects are as follows.

[For production]

When the swivel base is tilted with respect to the horizontal plane, the automatic rotation stop mode corresponding to the tilt angle is automatically selected by the mode instruction means and instructed to the screen setting section. Even if the inertia during turning of a working device installed in the swivel table changes with the inclination of the swivel table, the swivel table can be stopped at a set stop position without stopping in front or overshooting.

[Effects of the Invention] Therefore, it is possible to accurately and efficiently stop the motor at the target stop position. Furthermore, for example, it is possible to provide a mode setting section with a plurality of artificial mode instructing means for individually instructing different automatic turning stop modes, and to artificially select and operate one of the artificial mode instructing means. However, in this case, there is a risk of overshooting and colliding with other objects due to an operation error or setting error.In contrast, the present invention automatically adjusts the swivel table even when working on a slope. Since the automatic rotation stop mode is set according to the oblique angle of the machine, it is easy to operate regardless of the conditions of the work place, and there is no setting error, which greatly improves safety.

〔Example〕

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

As shown in FIG. 3, the support arm (2a) of the discharge plate (2) is attached to a traveling machine base equipped with a crawler traveling device (1) so that it can be raised and lowered by a hydraulic cylinder (3), and the swivel base (4 ) is attached so that it can be rotated around the vertical axis (X, ) by a hydraulic motor (not shown), and the swivel base (4)
The first arm supporting pocket (5) is attached to the bracket (6) so that it can be rotated around the vertical axis by a hydraulic cylinder (6), and the first arm (7) is attached to the hydraulic cylinder (8). ), the first
The second arm (9) is attached to the arm (7) so that it can be swung by a hydraulic cylinder member, and the packet (B) is attached to the second arm (9) so that it can be swung by a hydraulic cylinder UK. This is a pack hoe work vehicle that can also be used as a dozer and can perform earth work and ground excavation work.

The bracket (5) has an inclination angle of the first swivel base (4) with respect to the horizontal plane as shown in Figure VG4.
A weight-type detection means αQ is installed to detect the inclination angle (ψ) with respect to the vertical direction in a direction perpendicular to the direction of the backhoe device (b) consisting of the backhoe device (b).

To configure the swing operation structure, as shown in Fig. 1, a potentiometer-type detection device (to) for detecting the operation state of the swing operation lever (1η) is attached to the rotation drive part of the swing base (4). A rotary encoder type detector 01 is attached to detect the rotation angle (θ) of the swivel base (4) with respect to the longitudinal reference 711<1> of the vehicle body.

When the manual switching device ■ that selectively switches between the manual turning operation state and the automatic turning operation state is in the manual turning operation state, the V bar α in a direction commensurate with the direction of force operation, and
Lever CI? ) at a speed commensurate with the amount of operation of the swivel base (4).
Electromagnetic proportional control pulp for turning operation? D
While giving a command to the valve controller 4, on the other hand, when the manual switching device is in the automatic swing operation state,
Based on the information from the operation state detection device (7) and the vehicle body angle detector α, the lever is moved in the direction corresponding to the lever α force operation direction and at a preset speed when the lever operation is the activation command. The swivel base (4) is rotated in the changing state, and the two setters (23A) and (23B) are used to manually set the set stop position (θa) for left rotation or right rotation. A control device @ constituted by a microcomputer is provided which automatically gives a command to the valve controller 4 to stop the swivel base (4) at the set stop position It (θb) at the time.

In other words, by using the automatic turning operation state, as shown in FIG.
B) and both projectors (23A)
, (23B) at the beginning of the work and a start command operation for lever a (23B).

A push-button left side setting switch IIL for instructing the left and right membrane regulators (23A) and (23B) to set values separately.
I and right side setting switch (BL) are provided.

In the control device @, a left and right setting device (23A).

(23B) indicates both set stop positions M(θa), (θb
) to automatically stop the swivel base (4), the control device controls a mode setting unit (1) that sets an automatic rotation stop mode as a function of the speed Φ) during deceleration and the rotation angle (θ) of the remaining seat. (Incorporated), and automatically selects an automatic rotation stop mode according to the inclination angle of the swivel base (4) based on information from the detection means (16) and instructs the mode setting section (to). A mode indicating means @ is provided.

In detail, as shown in the graph of the automatic stop mode in Fig. 5, the automatic stop mode (x
= M), as the swivel base (4) tilts,
When turning the backhoe device (b) to the slope amount and end side, the mode instruction means (
When automatically instructing the mode setting unit (2) by E) to turn the backhoe device toward the lowest end of the slope, the mode instruction means selects a gentle mode during deceleration (r>M) due to the large inertia. (To) automatically instructs the mode setting section @ to stop at the front position or to set the set stop position (θa) t (θb) without overburning.
Automatically controlled to stop automatically.

[Another example]

The mode is instructed to the mode setting section by the mode instruction means (1) every time the swivel table (4) stops rotating, at the beginning of the turn, or constantly by feeding back the tilting state of the backhoe device (b). However, as shown in the flowchart of FIG. 7 and the automatic stop mode (a) of FIG. 5, the turning speed <b) may be changed while being calculated.

For example, when turning the pack hoe device, as shown in Figure 6, when passing through the maximum slope point of the slope ■ and stopping at the lowest point ■ of the slope, the initial stage of the turn is when the slope is strong. Using the mode (RTBL), change to the mode (RTBL) when the slope is weak in sequence and row t(!=N-M)
, at the stopping point, the horizontal mode (R, position), (' =
The mode is changed in a continuous Q manner so as to follow M') (Mode (a) in Figure 5).

The present invention can be used with any revolving type work vehicle other than a backhoe.

The detection means M may be attached to the swivel base (4) or the traveling device (1) instead of being attached to the pufget (5).

[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
The figure is a system diagram of automatic rotation stop control, Figure 2 is an explanatory diagram showing the rotation range, Figure 3 is an overall side view of the backhoe, Figure 4 is a partially omitted front view showing the tilted state, and Figure 5 is an automatic A graph of the stop mode, FIG. 6 is an explanatory diagram showing the turning direction on a slope, and FIG. 7 is a flowchart of control in a separate embodiment. (4)... Swivel base, (1→... detection means, (c)... control device, (2)...
Mode setting section, (E)...Side instruction means, (
θa), (θb)...Setting stop position, (Me...
... Speed, ((5I) ... Turning angle.

Claims (1)

[Claims] A swivel base (4) is provided on the traveling vehicle body so as to be rotatable for left and right drive,
Move the swivel base (4) to either the left or right set stop position (θ_
a), (θ_b) are provided with a control device (24) that automatically stops the swivel base (4) at the set stop positions (θ_a), (θ_b).
■) The mode setting section (25) for setting the automatic rotation stop mode as a function of the rotation angle (θ) is connected to the control device (25).
24) is a swivel type work vehicle installed on the swivel platform (4).
) detecting means (16) for detecting the inclination angle with respect to the horizontal plane.
and based on information from the detection means (16),
A swivel type work vehicle is provided with a mode instruction means (26) for automatically selecting a slewing automatic stop mode according to the inclination angle of the swivel base (4) and instructing the mode setting section (25).