WO2012053534A1 - Véhicule de travail - Google Patents

Véhicule de travail Download PDF

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Publication number
WO2012053534A1
WO2012053534A1 PCT/JP2011/074010 JP2011074010W WO2012053534A1 WO 2012053534 A1 WO2012053534 A1 WO 2012053534A1 JP 2011074010 W JP2011074010 W JP 2011074010W WO 2012053534 A1 WO2012053534 A1 WO 2012053534A1
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WO
WIPO (PCT)
Prior art keywords
pilot
switching position
switching
control unit
switching valve
Prior art date
Application number
PCT/JP2011/074010
Other languages
English (en)
Japanese (ja)
Inventor
耕平 岡崎
緒方　永博
実寛 高橋
Original Assignee
ヤンマー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤンマー株式会社 filed Critical ヤンマー株式会社
Publication of WO2012053534A1 publication Critical patent/WO2012053534A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/267—Diagnosing or detecting failure of vehicles

Definitions

  • the present invention relates to a work vehicle, and more particularly to a technique for displaying a combination of hydraulic actuators driven for each operation of a control lever device.
  • a working vehicle such as a backhoe or the like is configured to cause various working machines provided in the working vehicle to perform a desired operation or work by operating a plurality of hydraulic actuators with a plurality of operating lever devices.
  • the hydraulic actuator driven with respect to each operation of the control lever device in such a work vehicle is uniquely set by each work vehicle maker. Therefore, when the operator who was operating the working vehicle of one working vehicle manufacturer steers the working vehicle of another working vehicle manufacturer, there is a possibility that the operating lever device may be operated erroneously. Therefore, there is known a work vehicle capable of changing the setting (hereinafter simply referred to as "operation pattern") of the hydraulic actuator driven for each operation of the operation lever device to the operation pattern desired by the operator. . For example, it is like patent document 1.
  • the work vehicle described in Patent Document 1 displays the current operation pattern on the display unit provided in the operator's seat, and changes the control mode of each hydraulic actuator to the solenoid valve via the display unit and performs any operation. It is configured to be able to set in a pattern. As a result, the operator can easily change the operation pattern from the display unit, and by checking the operation pattern displayed on the display unit during work, erroneous operation of the operation lever device can be prevented.
  • the work vehicle described in Patent Document 1 switches the operation pattern by changing the control mode. Therefore, when noise or overcurrent is added to the control unit, the control signal is transmitted to the hydraulic actuator in an operation mode different from the operation pattern. there is a possibility. That is, there is a possibility that the hydraulic actuator is driven in an operation pattern not intended by the operator. For this reason, even if it is possible to prevent the erroneous operation of the operation lever device by displaying the operation pattern on the display unit, there is a problem that the malfunction of the hydraulic actuator due to noise, overcurrent or the like can not be reliably prevented.
  • this invention makes it a subject to provide the working vehicle which can prevent the malfunction and misoperation of a hydraulic actuator.
  • a plurality of direction switching valves for switching the flow of hydraulic oil supplied to a plurality of hydraulic actuators, and each of the plurality of direction switching valves are provided and supplied to the plurality of direction switching valves.
  • a plurality of pilot valves for switching the flow of pilot hydraulic fluid, a plurality of oil passages respectively connected to the plurality of direction switching valves, and a plurality of oil passages respectively connected to the plurality of pilot valves A pilot switching valve selectively switched from the predetermined combinations of the above, a switching position detection means for detecting a switching position of the pilot switching valve, a display unit arranged in the vicinity of a pilot seat, and the pilot seat
  • the pressure sensor includes a deposition pressure sensor for detecting a deposition pressure when the operator is seated, and a storage unit for storing the deposition pressure and the switching position, and the switching position is a predetermined line Wherein the control unit compares the switching position newly detected by the switching position detection means with the switching position stored in the storage unit. And the switch position is displayed
  • the detection means comprises a potentiometer.
  • the detection means is composed of a switch mechanism.
  • the oil passage is made such that the plurality of direction switching valves and the plurality of pilot valves become a predetermined combination (hereinafter simply referred to as “combination”). Since the communication is performed, the combination is not changed by disturbance such as noise or overcurrent. Also, even if the switching position of the pilot switching valve can not be confirmed from the cockpit, the operator can easily combine the directional switching valve and the pilot valve in order to display the combination on the display near the cockpit. It can be confirmed. Also, the pilot can easily recognize that the predetermined combination has been switched. Furthermore, since the combination is displayed in a predetermined display form by judging that the pilot has left the seat or has been replaced due to the fluctuation of the seat pressure, the combination is not mistaken. Therefore, malfunction and erroneous operation of the hydraulic actuator can be prevented.
  • combination a predetermined combination
  • the detection range of the potentiometer can be arbitrarily set as each switching position of the pilot switching valve, the setting of the detection range of the potentiometer is changed even for different switching positions of the pilot switching valve. It can correspond only by doing. Therefore, it is possible to reduce the production cost by sharing parts.
  • the present invention it is possible to reduce erroneous detection due to disturbance such as noise or overcurrent, so that a predetermined combination can be displayed accurately. Therefore, erroneous operation of the hydraulic actuator can be prevented.
  • FIG. 1 is a side view showing a piloted pilot valve according to a first embodiment of the present invention.
  • FIG. 1 is a side view showing a piloted pilot valve according to a first embodiment of the present invention.
  • FIG. 2 is a block diagram showing a control configuration according to the first embodiment of the present invention.
  • FIG. 6 is a block diagram showing another embodiment of the control configuration according to the first embodiment of the present invention.
  • FIG. 7 is a block diagram showing a control configuration according to another embodiment of the present invention.
  • A The figure which shows a warning * error screen among the screens displayed on the display apparatus which concerns on 1st embodiment of this invention.
  • B The figure which shows the combination (operation pattern) screen among the screens displayed on the display apparatus which concerns on 1st embodiment of this invention.
  • A The figure which shows the excavation mode screen among the screens displayed on the display apparatus which concerns on 1st embodiment of this invention.
  • FIG. 5 is a flowchart showing a control procedure of a control unit of the display device according to the first embodiment of the present invention.
  • FIG. 7 is a block diagram showing a control configuration according to a second embodiment of the present invention.
  • the flowchart figure which shows the control procedure of the control part in, when the seating sensor of the display apparatus which concerns on 2nd embodiment of this invention is a landing pressure sensor.
  • the flowchart figure which shows the control procedure of the control part in, when the seating sensor of the display apparatus which concerns on 2nd embodiment of this invention is a limit switch.
  • a backhoe 1 which is a work vehicle according to a first embodiment of the present invention will be described using FIGS. 1 to 3.
  • the backhoe 1 will be described as an embodiment of the work vehicle, but the work vehicle is not limited to this, and may be another agricultural vehicle, a construction vehicle, an industrial vehicle, or the like.
  • the arrow F direction is defined as the front direction of the backhoe 1
  • the arrow L direction is defined as the left direction of the backhoe 1 to define the front, rear, left, right, and upper directions.
  • the backhoe 1 mainly includes a traveling device 2, a turning device 3, and a working device 4.
  • the traveling device 2 mainly includes a pair of left and right crawlers 5 and 5, a left traveling hydraulic motor 5L, and a right traveling hydraulic motor 5R.
  • the traveling device 2 can move the backhoe 1 forward and backward by turning the crawler 5 on the left side of the machine by the left traveling hydraulic motor 5L and driving the crawler 5 on the right side of the machine by the right traveling hydraulic motor 5R. .
  • the pivoting device 3 mainly includes a pivot base 6, a pivoting motor 7, a control unit 8, and an engine 9.
  • the swivel base 6 is a main structure of the swivel device 3.
  • the swivel base 6 is disposed above the traveling device 2 and is pivotably supported by the traveling device 2.
  • the turning device 3 can turn the turning base 6 with respect to the traveling device 2 by driving the turning motor 7.
  • a control unit 8 provided with various operation tools, an engine 9 as a power source, and the like are disposed.
  • the working device 4 mainly includes a boom 10, an arm 11, a bucket 12, a boom cylinder 13, an arm cylinder 14, and a bucket cylinder 15.
  • the boom 10 is pivoted at its one end to the front of the swivel base 6 and is pivoted by a telescopically driven boom cylinder 13. More specifically, when the boom cylinder 13 is extended, the boom 10 is pivoted upward, and when the boom cylinder 13 is retracted, the boom 10 is pivoted downward.
  • One end of the arm 11 is pivotally supported by the other end of the boom 10, and is pivoted by the telescopically driven arm cylinder 14.
  • the arm 11 when the arm cylinder 14 is extended, the arm 11 is rotated downward (the other end of the arm 11 approaches the boom 10) and when the arm cylinder 14 is contracted, the arm 11 is upward (The other end of the arm 11 is pivoted away from the boom 10).
  • One end of the bucket 12 is supported by the other end of the arm 11, and the bucket 12 is turned by a bucket cylinder 15 which is telescopically driven. More specifically, when the bucket cylinder 15 is extended, the bucket 12 is rotated downward (the other end of the bucket 12 approaches the arm 11) and when the bucket cylinder 15 is contracted, the bucket 12 is upward (The other end side of the bucket 12 is pivoted away from the arm 11).
  • the working device 4 constitutes an articulated structure that excavates soil and the like using the bucket 12.
  • the backhoe 1 which concerns on this embodiment is set as the working apparatus 4 which has a bucket 12 and performs digging operation, it is not limited to this, for example, the working apparatus 4 which has a hydraulic breaker and performs crushing work. It may be
  • a pilot seat 81 is provided substantially at the center, and the right operation lever device 82 and the left operation lever device 83 are disposed on the left and right sides thereof.
  • Each control lever device is configured to be able to operate the swing motor 7, the boom cylinder 13, the arm cylinder 14, and the bucket cylinder 15.
  • a display device 84 is provided on one side (right side in the present embodiment) of the pilot seat 81. The display device 84 is disposed such that the display portion faces the operator seated on the control seat 81.
  • the control unit 8 is provided with a throttle lever (not shown) for changing the throttle opening of the engine 9. The operator can change the output of the engine 9 by operating the throttle lever.
  • the display device 84 includes a frame 84a, an LED display unit 84b, a liquid crystal display unit 84c, a liquid crystal operation unit 84d, and a control unit 84e (see FIG. 6).
  • the frame 84 a is formed in a box shape having a substantially L-shape in side view.
  • the frame 84 a is disposed on the right side of the operator's seat 81 with its end facing upward such that its short side faces the operator's seat 81.
  • the LED display part 84b is provided in the short-side upper part of the frame 84a.
  • the LED display 84 b displays a plurality of figures representing the operation state of the backhoe 1, the presence or absence of a warning, and the like, and the LEDs are arranged in each figure.
  • the LED display unit 84b only a specific figure is turned on by turning on the corresponding LED under a predetermined condition.
  • the LED display unit 84b is configured to be able to transmit information to the driver.
  • the LED display unit 84b lights and displays the LED.
  • the present invention is not limited to this, and any light source that can be lighted can be used.
  • the liquid crystal display unit 84c which is a display unit, is disposed on the short side of the frame 84a and below the LED display unit 84b.
  • the liquid crystal display unit 84c is composed of a liquid crystal screen for displaying information.
  • the liquid crystal display unit 84c can check the operation state of the backhoe 1 by switching the liquid crystal screen to the display according to each operation mode by the operation of the liquid crystal operation unit 84d described later.
  • the liquid crystal display unit 84c is configured to be able to transmit information to the driver.
  • the liquid crystal display unit 84c is displayed on the liquid crystal screen.
  • the present invention is not limited to this, as long as a plurality of pieces of information can be displayed arbitrarily.
  • the liquid crystal operation unit 84 d is disposed on the short side of the frame 84 a and on the lower side of the liquid crystal display unit 84 c.
  • the liquid crystal operation unit 84 d includes a plurality of operation buttons.
  • the liquid crystal operation unit 84 d is configured to be able to select a screen displayed on the liquid crystal display unit 84 c by operating the operation button.
  • the control unit 84e controls the LED display unit 84b and the liquid crystal display unit 84c.
  • the control unit 84e is integrally formed inside the frame 84a in proximity to the LED display unit 84b and the liquid crystal display unit 84c or with the later-described ECU 16 (see FIG. 6).
  • the direction switching valve 111 for the swing motor the direction switching valve 112 for the boom cylinder, the direction switching valve 113 for the arm cylinder, and the direction switching valve 114 for the bucket cylinder are collectively referred to It is described as "valve group 110".
  • the right front and rear pilot valves 121, the right and left pilot valves 122, the left front and rear pilot valves 123, and the left and left pilot valves 124 are collectively referred to simply as "pilot valve group 120".
  • the hydraulic circuit 100 mainly includes a direction switching valve group 110, a pilot valve group 120, a pilot switching valve 130, and a hydraulic pump 140.
  • the direction switching valve group 110 (the direction switching valve 111 for the swing motor, the direction switching valve 112 for the boom cylinder, the direction switching valve 113 for the arm cylinder, the direction switching valve 114 for the bucket cylinder) includes the swing motor 7, the boom cylinder 13, the arm cylinder 14 and the flow of hydraulic oil supplied to the bucket cylinder 15.
  • the turning motor direction switching valve 111 is a pilot-type direction switching valve capable of switching the direction of the hydraulic oil supplied to the turning motor 7 by sliding the spool by the pilot pressure.
  • the swing motor direction switching valve 111 When a pilot pressure is applied to the swing motor direction switching valve 111, the swing motor direction switching valve 111 is switched from the neutral position to one or another position.
  • the hydraulic oil supplied to the turning motor direction switching valve 111 via the oil passage 111a is supplied to the turning motor 7 via the oil passage 7a.
  • the swing motor 7 is rotationally driven in one direction by the hydraulic oil supplied via the oil passage 7a.
  • the hydraulic oil discharged from the turning motor 7 is returned to the turning motor direction switching valve 111 via the oil passage 7b.
  • the hydraulic oil supplied to the turning motor direction switching valve 111 via the oil passage 111a is supplied to the turning motor 7 via the oil passage 7b.
  • the swing motor 7 is rotationally driven in the other direction by the hydraulic oil supplied via the oil passage 7b.
  • the hydraulic oil discharged from the turning motor 7 is returned to the turning motor direction switching valve 111 via the oil passage 7a.
  • the hydraulic oil returned to the swing motor direction switching valve 111 via the oil passage 7a or the oil passage 7b is returned from the swing motor direction switching valve 111 to the hydraulic fluid tank 150.
  • the boom cylinder direction switching valve 112 is a pilot-type direction switching valve capable of switching the direction of the hydraulic oil supplied to the boom cylinder 13 by sliding the spool by the pilot pressure.
  • the configuration of the boom cylinder direction switching valve 112 is substantially the same as the configuration of the turning motor direction switching valve 111.
  • the boom cylinder direction switching valve 112 When the pilot pressure is applied to the boom cylinder direction switching valve 112, the boom cylinder direction switching valve 112 is switched from the neutral position to one or another position.
  • the hydraulic oil supplied via the oil passage 112a is supplied to the boom cylinder 13 via the oil passage 13a or the oil passage 13b.
  • the boom cylinder 13 is expanded and contracted by the hydraulic fluid supplied via the oil passage 13a or the oil passage 13b, and the boom 10 is pivoted upward or downward.
  • the arm cylinder direction switching valve 113 is a pilot type direction switching valve capable of switching the direction of the hydraulic oil supplied to the arm cylinder 14 by sliding the spool by the pilot pressure.
  • the configuration of the arm cylinder direction switching valve 113 is substantially the same as the configuration of the turning motor direction switching valve 111.
  • the arm cylinder direction switching valve 113 When the pilot pressure is applied to the arm cylinder direction switching valve 113, the arm cylinder direction switching valve 113 is switched from the neutral position to one or another position.
  • the hydraulic oil supplied via the oil passage 113a is supplied to the arm cylinder 14 via the oil passage 14a or the oil passage 14b.
  • the hydraulic fluid supplied via the oil passage 14a or the oil passage 14b extends and retracts the arm cylinder 14 and pivots the arm 11 upward or downward.
  • the bucket cylinder direction switching valve 114 is a pilot-type direction switching valve capable of switching the direction of the hydraulic fluid supplied to the bucket cylinder 15 by sliding the spool by the pilot pressure.
  • the configuration of the bucket cylinder direction switching valve 114 is substantially the same as the configuration of the swing motor direction switching valve 111.
  • the bucket cylinder direction switching valve 114 When the pilot pressure is applied to the bucket cylinder direction switching valve 114, the bucket cylinder direction switching valve 114 is switched from the neutral position to one or another position.
  • the hydraulic oil supplied via the oil passage 114a is supplied to the bucket cylinder 15 via the oil passage 15a or the oil passage 15b.
  • the bucket cylinder 15 is expanded or contracted by the hydraulic fluid supplied via the oil passage 15a or the oil passage 15b, and the bucket cylinder 15 is upward (a direction in which the other end side of the bucket 12 is separated from the arm 11) or downward (the other The end side is rotated in the direction in which it approaches the arm 11).
  • the pilot valve group 120 (right front and rear pilot valves 121, right and left pilot valves 122, left front and rear pilot valves 123, and left and left pilot valves 124) switches the flow of pilot hydraulic oil supplied to the direction switching valve group 110. is there.
  • the right front and rear pilot valve 121 is interlocked and connected with the right operation lever device 82 so as to switch the flow of pilot hydraulic fluid when the right operation lever device 82 is operated in the front and rear direction. That is, the right and left pilot valves 121 are configured to be able to switch the spool of one direction switching valve in the direction switching valve group 110 to one or another position by operating the right operation lever device 82 in the front and back direction .
  • the right and left pilot valves 122 are interlockingly connected with the right control lever device 82 so as to switch the flow of pilot hydraulic fluid when the right control lever device 82 is operated in the left and right direction.
  • the configuration of the right and left pilot valves 122 is substantially the same as the configuration of the right and left pilot valves 121.
  • the left and right front and rear pilot valves 123 are interlocked and connected with the left operation lever device 83 so as to switch the flow of pilot hydraulic fluid when the left operation lever device 83 is operated in the front and rear direction.
  • the configuration of the left front and rear pilot valve 123 is substantially the same as the configuration of the right front and rear pilot valve 121.
  • the left and right pilot valves 124 are interlocked and connected to the left control lever device 83 so as to switch the flow of pilot hydraulic fluid when the left control lever device 83 is operated in the left and right direction.
  • the configuration of the left and right pilot valves 124 is substantially the same as the configuration of the right front and rear pilot valves 121.
  • the operator steers the working machine of the backhoe 1 freely by switching the direction of the hydraulic oil supplied to the plurality of hydraulic actuators by operating the right operation lever device 82 and the left operation lever device 83.
  • the pilot switching valve 130 switches the combination of pilot valves communicated with the direction switching valve.
  • the pilot switching valve 130 is provided below the pilot seat 81 (see FIGS. 1 and 2). Further, pilot switching valve 130 is disposed in the middle of an oil passage connecting direction switching valve group 110 and pilot valve group 120.
  • the pilot switching valve 130 includes a casing 131 and a cylindrical rotary spool 132 rotatably inserted into the casing 131. As shown in FIG. 5, the rotary spool 132 is configured to be able to be held at a predetermined switching position P (position A, position B, position C, position D).
  • an oil passage 111b from the turning motor direction switching valve 111 As shown in FIG. 4, in the casing 131 of the pilot switching valve 130, an oil passage 111b from the turning motor direction switching valve 111, an oil passage 112b from the boom cylinder direction switching valve 112, and an arm cylinder direction switching valve 113.
  • Oil passage 113b from the above and oil passage 114b from the direction switching valve 114 for the bucket cylinder (hereinafter simply referred to as "direction switching valve oil passage group 110b"), oil passage 121a from the right Oil passages 122a from left and right pilot valves 122, oil passages 123a from left and right front and rear pilot valves 123, and oil passages 124a from left and right left and right pilot valves 124 (hereinafter simply referred to as "pilot oil passage group 120a”)
  • the rotary spool 132 of the pilot switching valve 130 is formed with an oil passage (not shown) that communicates the direction switching valve oil passage group 110b and the pilot oil passage group 120a in a
  • the pilot switching valve 130 causes the direction switching valve oil path group 110 b to communicate with the pilot oil path group 120 a by the rotary spool 132 in a predetermined combination.
  • An operation pattern A is a combination of the right operating lever device 82 and the left operating lever device 83 based on a predetermined combination of the direction switching valve oil passage group 110b and the pilot oil passage group 120a.
  • the directional control valve oil path group 110b communicates with the pilot oil path group 120a in a predetermined combination different from the combination in the operation pattern A by the rotary spool 132. Configured to be.
  • a combination of a predetermined combination of the direction switching valve oil path group 110b and the pilot oil path group 120a at this time is taken as an operation pattern B.
  • an operation pattern C is when the switching position P of the rotary spool 132 is at position C
  • an operation pattern D is when the rotary spool 132 is at position D.
  • the pilot switching valve 130 can selectively switch to one of the operation pattern A, the operation pattern B, the operation pattern C, or the operation pattern D by switching the rotary spool 132 to the predetermined switching position P.
  • the pilot switching valve 130 is a rotary type in which the rotary spool 132 is turned to switch, but the present invention is not limited to this.
  • the direction switching valve oil path group 110b and the pilot oil path group What is necessary is to switch the oil passage which respectively communicates with 120a.
  • the pilot switching valve 130 includes a potentiometer 133 which is a switching position detection unit of the rotary spool 132.
  • the potentiometer 133 is disposed in the pilot switching valve 130 such that the rotation center thereof is the rotation center of the rotary spool 132.
  • the potentiometer 133 is configured to output voltages of different values depending on the switching position P. That is, the potentiometer 133 can arbitrarily set the detection position by setting the voltage value to be detected.
  • the hydraulic pump 140 is driven by the engine 9 and discharges hydraulic oil.
  • the hydraulic pump 140 is a variable displacement type pump whose discharge amount can be changed by changing the swash plate angle of a movable swash plate (not shown).
  • the hydraulic oil discharged from the hydraulic pump 140 is supplied to the direction switching valve group 110 and the pilot valve group 120 via the oil passage 140a.
  • the ECU 16 controls the engine 9, the hydraulic pump 140, and the like.
  • the ECU 16 stores various programs for controlling the engine 9, the hydraulic pump 140, and the like. Further, the ECU 16 can perform a predetermined operation in accordance with these programs and the like, and can store the result of the operation and the like.
  • the ECU 16 may be substantially connected by a bus such as a CPU, a ROM, a RAM, an HDD or the like, or may be a one-chip LSI or the like.
  • the ECU 16 is connected to various sensors (not shown) provided on the engine 9 and a fuel injection device, and can control the engine 9.
  • the ECU 16 is connected to the fuel gauge 17 and can obtain the remaining fuel amount Fl in a fuel tank (not shown) detected by the fuel gauge 17.
  • the ECU 16 is connected to the water temperature gauge 18 and can obtain the coolant temperature T of the engine 9 detected by the water temperature gauge 18.
  • the ECU 16 can be connected to various sensors and actuators (not shown) provided on the hydraulic pump 140 to control the hydraulic pump 140.
  • the ECU 16 is connected to the control unit 84e of the display device 84, transmits control signals for warning / error information, the remaining amount of fuel Fl, the cooling water temperature T, etc. to the control unit 84e, and inputs the control unit 84e. It is possible to obtain a signal.
  • control unit 84e included in the display device 84 will be specifically described.
  • the control unit 84e controls the display device 84.
  • the control unit 84e stores various programs for controlling the display device 84. Further, the control unit 84e can perform a predetermined operation according to these programs and the like, and includes a storage unit 84f that stores the result of the operation and the like.
  • the control unit 84e may be substantially connected by a bus such as a CPU, a ROM, a RAM, an HDD, etc., or may be configured by an LSI of one chip. Moreover, although the control part 84e was set as another structure with ECU16 mentioned later in this embodiment, it is not limited to this, You may be comprised integrally with ECU16. In this case, a potentiometer 133 or a switch mechanism 134 described later is connected to the ECU 16.
  • the controller 84 e is connected to the potentiometer 133 and can obtain the switching position P of the rotary spool 132 detected by the potentiometer 133.
  • the control unit 84e can store the acquired switching position P of the rotary spool 132 and the calculated result in the storage unit 84f.
  • the control unit 84e is connected to the LED display unit 84b, and can transmit a control signal to the LED display unit 84b. That is, the control unit 84e can turn on a predetermined LED in the LED display unit 84b by transmitting a control signal to the LED display unit 84b of the display device 84.
  • the control unit 84e is connected to the ECU 16, and can obtain control signals such as the remaining fuel amount Fl, the coolant temperature T, a warning, and error information from the ECU 16.
  • the control unit 84e is connected to the liquid crystal display unit 84c and the liquid crystal operation unit 84d, transmits a control signal to the liquid crystal display unit 84c, and can obtain an input signal from the liquid crystal operation unit 84d. That is, the control unit 84e can display information on the operation state of the backhoe 1 on the liquid crystal display unit 84c by transmitting the control signal to the liquid crystal display unit 84c.
  • a switch mechanism 134 may be configured to provide a contact between the position corresponding to the position A, B, C, D in the casing 131 and the rotary spool 132. .
  • the contact point on the rotary spool 132 side is connected to the predetermined contact point on the casing 131 side to detect the position of the rotary spool 132.
  • the switching position detection means is the potentiometer 133 or the switch mechanism 134.
  • the present invention is not limited to this, as long as the position of the pilot switching valve 130 can be detected.
  • a fuel gauge 17 and a water temperature gauge 18 are connected to the control unit 84e.
  • the configuration may be With such a configuration, the control unit 84e can acquire the remaining amount of fuel Fl in the fuel tank (not shown) detected by the fuel gauge 17 and the coolant temperature T of the engine 9 detected by the water temperature gauge 18 It is.
  • control unit 84e acquires a control signal of a warning / error to be displayed from the ECU 16, a warning / error screen 85 consisting of a predetermined figure, an error code, etc. based on the control signal. Is displayed on the liquid crystal display unit 84c.
  • the control unit 84e stores the switching position P of the rotary spool 132 detected by the potentiometer 133 after the display of the predetermined initial screen is stored in the storage unit 84f of the control unit 84e. If it has been changed in comparison with the switching position P of 132, the operation pattern screen 86 consisting of predetermined character information, graphics, etc. representing the operation pattern corresponding to the acquired switching position P of the rotary spool 132 is displayed on the liquid crystal display 84c. indicate. Note that the display of the operation pattern screen 86 is not limited to the display method in the present embodiment, and it is sufficient that the operation pattern is clearly indicated by highlighting and displaying the information by blinking display, enlarged display, or the like.
  • the control unit 84e causes the liquid crystal display unit 84c to display the digging mode screen 87 displayed at the time of the digging operation.
  • the excavation mode screen 87 information on time, operation time, operation pattern, remaining fuel amount Fl, and coolant temperature T is always displayed. That is, when the digging mode screen 87 is displayed, the operation pattern is always displayed.
  • the control unit 84e displays the menu screen 88 on the liquid crystal display unit 84c when acquiring the input signal input by the operation of the menu button of the liquid crystal operation unit 84d.
  • a plurality of mode selection buttons are displayed on the menu screen 88, and the menu screen 88 is configured to be switchable to the corresponding mode screen by selecting the mode selection button.
  • control unit 84e of the display device 84 configured as described above will be described with reference to FIG.
  • the control unit 84e acquires signals about the switching position P of the rotary spool 132, the remaining fuel amount Fl, the coolant temperature T, and the warning / error information, and when there is a warning / error, the screen regarding the warning / error is displayed on the liquid crystal display unit Display on 84c.
  • the control unit 84e causes the liquid crystal display unit 84c to display the operation pattern screen 86.
  • the control unit 84e displays the digging mode screen 87 after displaying the operation pattern screen 86 on the liquid crystal display unit 84c.
  • control aspect of the control part 84e is demonstrated concretely.
  • control unit 84e displays information on the liquid crystal display unit 84c in the following steps.
  • step S110 the control unit 84e determines whether it is necessary to display the initial screen (whether or not the information on the power of the work vehicle is turned on is acquired from the ECU 16). As a result, when it is determined that the initial screen needs to be displayed (the information that the power of the work vehicle is turned on is acquired from the ECU 16), the control unit 84e shifts the step to step S120. On the other hand, when it is determined that it is not necessary to display (the information that the power of the work vehicle is turned on is not acquired from the ECU 16), the control unit 84e shifts the step to step S130.
  • step S120 the control unit 84e displays a predetermined initial screen.
  • step S130 the control unit 84e acquires the switching position P of the rotary spool 132 of the pilot switching valve 130 detected by the potentiometer 133, and the remaining fuel amount Fl detected by the fuel gauge 17 and the coolant temperature detected by the water temperature gauge 18 T and warning / error information are acquired from the ECU 16 and stored in the storage unit 84 f. Further, in another embodiment shown in FIG. 8, the control unit 84 e acquires the switching position P of the rotary spool 132 of the pilot switching valve 130 detected by the potentiometer 133 and acquires the remaining fuel amount Fl detected by the fuel meter 17. The coolant temperature T detected by the water temperature gauge 18 is obtained, and the warning / error information is obtained from the ECU 16 and stored in the storage unit 84 f.
  • step S140 the control unit 84e determines whether there is a warning / error that needs to be displayed in the obtained warning / error information stored. As a result, when it is determined that there is a warning / error that needs to be displayed, the control unit 84e shifts the process to step S150. On the other hand, when it is determined that there is no warning or error that needs to be displayed, the control unit 84e shifts the process to step S160.
  • step S150 the control unit 84e displays a warning / error screen 85 about a warning / error that needs to be displayed on the liquid crystal display unit 84c based on the warning / error information based on the acquired and stored sensor (see FIG. 9 (a)).
  • step S160 the control unit 84e determines whether the switching position P acquired and stored has been changed as compared with the switching position P acquired and stored so far. As a result, when it is determined that the switching position P is changed in comparison with the switching position P acquired and stored so far, the control unit 84e shifts the step to step S170. On the other hand, when it is determined that the switching position P has not been changed in comparison with the switching position P acquired and stored so far, the control unit 84e shifts the step to step S180.
  • step S170 the control unit 84e causes the liquid crystal display unit 84c to display an operation pattern screen 86 representing an operation pattern corresponding to the switching position P of the rotary spool 132 of the pilot switching valve 130 that has been acquired and stored (FIG. )reference).
  • step S180 based on the switching position P of the rotary spool 132 of the pilot switching valve 130, the remaining fuel amount Fl, and the coolant temperature T, the control unit 84e displays the digging mode screen 87 on the liquid crystal display unit 84c. Display (see FIG. 10A). Thereafter, the control unit 84e returns the step to step S110.
  • the control unit 84 e changes the switching position P of the rotary spool 132 detected by the potentiometer 133 in comparison with the switching position P of the rotary spool 132 stored in the storage unit 84 f by repeating the above steps.
  • an operation pattern screen 86 representing an operation pattern corresponding to the new switching position P is displayed.
  • the ECU according to the second embodiment and the display device are different from the ECU 16 and the display device 84 (see FIG. 6) in the first embodiment in that a seating sensor 20 is provided as a means for detecting the seating of the operator. It is a point. Therefore, in the following, only differences from the ECU 16 and the display device 84 according to the first embodiment will be described, and members having substantially the same configuration as the ECU 16 and the display device 84 will be assigned the same reference numerals and descriptions thereof will be omitted. .
  • the seating sensor 20 detects the seating of the operator on the control seat 81.
  • the seating sensor 20 is disposed at the driver's seat 81.
  • the seating sensor 20 is a landing pressure sensor 20a that detects the landing pressure Sp generated on the seating surface of the pilot seat 81 by the seating of the pilot on the pilot seat 81, and a seating signal when the pilot is seated on the pilot seat 81 It comprises a limit switch 20b that outputs Sl.
  • the seating sensor 20 is the landing pressure sensor 20a.
  • the ECU 16 when the seating sensor 20 is the landing pressure sensor 20a, the ECU 16 is connected to the landing pressure sensor 20a and acquires the landing pressure Sp of the seat surface of the pilot seat 81 detected by the landing pressure sensor 20a. Is possible. Thus, when the applied pressure Sp detected by the applied pressure sensor 20a becomes equal to or less than a predetermined value, the ECU 16 determines that the operator is not seated on the pilot seat 81, and the applied pressure Sp detected by the applied pressure sensor 20a. When it becomes equal to or more than a predetermined value, it can be determined that the pilot is seated on the pilot seat 81.
  • the control unit 84e of the display device 84 controls the pilot again Assuming that the user is seated at the seat 81, as shown in FIG. 9B, an operation pattern screen 86 consisting of predetermined character information, a graphic, etc. representing an operation pattern corresponding to the acquired switching position P of the rotary spool 132 is displayed.
  • the display of the operation pattern is not limited to the display in the present embodiment, and may be any method as long as the operation pattern is clearly displayed by highlighting it by blinking display, enlarged display, or the like.
  • control aspect of the control part 84e in, when the seating sensor 20 is the applied pressure sensor 20a is concretely demonstrated using FIG.
  • the control unit 84e displays information on the liquid crystal display unit 84c in the following steps.
  • Steps S110 to S120 are the same as in the first embodiment, and thus the description thereof is omitted.
  • step S230 the control unit 84e obtains the switching position P of the rotary spool 132 of the pilot switching valve 130 detected by the potentiometer 133, and the remaining fuel amount Fl detected by the fuel gauge 17 and the coolant temperature detected by the water temperature gauge 18 T, warning / error information, and the applied pressure Sp detected by the applied pressure sensor 20a are acquired from the ECU 16 and stored in the storage unit 84f.
  • Steps S140 to S150 are the same as those in the first embodiment, and thus the description thereof is omitted.
  • step S160 the control unit 84e determines whether the switching position P acquired and stored has been changed as compared with the switching position P acquired and stored so far. As a result, when it is determined that the switching position P is changed in comparison with the switching position P acquired and stored so far, the control unit 84e shifts the step to step S170. On the other hand, when it is determined that the switching position P has not been changed in comparison with the switching position P acquired and stored so far, the control unit 84e shifts the step to step S270.
  • Steps S170 to S180 are the same as those in the first embodiment, and thus the description thereof is omitted.
  • step S270 the control unit 84e determines whether or not the acquired applied pressure Sp has become equal to or higher than the predetermined value again (is the applied pressure Sp fluctuated) or not. As a result, if it is determined that the applied pressure Sp has become equal to or less than the predetermined value again (the applied pressure Sp has fluctuated), the control unit 84e shifts the step to step S280. On the other hand, when it is determined that the applied pressure Sp does not reach the predetermined value again after the applied pressure Sp becomes equal to or less than the predetermined value (the applied pressure Sp does not change), the control unit 84e shifts the step to step S180.
  • step S280 the control unit 84e causes the liquid crystal display unit 84c to display an operation pattern screen 86 representing an operation pattern corresponding to the switching position P of the rotary spool 132 of the acquired pilot switching valve 130 (FIG. 9 (b)). reference). Thereafter, the control unit 84e shifts the process to step S180.
  • the control unit 84 e repeats the above-described steps when the landing pressure Sp of the pilot seat 81 detected by the landing pressure sensor 20 a becomes equal to or higher than a predetermined value (the landing pressure Sp fluctuates).
  • the operation pattern screen 86 is displayed on the liquid crystal display unit 84c, judging that the pilot has left the pilot seat 81 once or has been replaced.
  • the backhoe 1 is a turning motor that is a plurality of direction switching valves that switches the flow of hydraulic oil supplied to the turning motor 7, the boom cylinder 13, the arm cylinder 14, and the bucket cylinder 15 that are a plurality of hydraulic actuators.
  • the direction switching valve group 110 including the direction switching valve 111, the boom cylinder direction switching valve 112, the arm cylinder direction switching valve 113, and the bucket cylinder direction switching valve 114, and the direction switching A pilot valve comprising a plurality of pilot valves for switching the flow of pilot hydraulic oil supplied to the valve group 110, which are right and left pilot valves 121, right and left pilot valves 122, left and right pilot valves 123, and left and right pilot valves 124.
  • Group 120 and the directional control valve group 110 A plurality of oil passages 111b, an oil passage 112b, an oil passage 113b, and an oil passage 114b, which are connected in series, and a plurality of oil passages for a plurality of pilots connected respectively to the pilot valve group 120.
  • a pilot switching valve 130 for selectively switching communication between a pilot oil path group 120a including an oil path 122a, an oil path 123a, and an oil path 124a from a plurality of predetermined combinations, and switching of the pilot switching valve 130
  • a potentiometer 133 which is a switching position detecting means for detecting the position P
  • a liquid crystal display portion 84c which is a display portion disposed in the vicinity of the pilot seat 81, and an applied pressure Sp when the operator is seated on the pilot seat 81 Seating sensor 20, and a storage unit 84f for storing the applied pressure Sp and the switching position P, and the liquid crystal under the predetermined conditions for the switching position P
  • the control unit 84e is a switching position P where the switching position P newly detected by the potentiometer 133 which is the switching position detection means is stored in the storage unit 84f.
  • the switching position P is displayed in a predetermined display mode when it has been changed in comparison with the above or when the applied pressure Sp stored in the storage unit 84f becomes lower than the predetermined value and becomes higher than the predetermined value again. It is displayed on the liquid crystal display unit 84c which is a unit.
  • the direction switching valve oil path which is an oil path so that the direction switching valve group 110 and the pilot valve group 120 become a predetermined combination. Since the group 110b and the pilot oil path group 120a communicate with each other, the operation patterns A, B, C, and D, which are the combinations, are not changed by disturbances such as noise and overcurrent.
  • the operator can easily confirm the operation pattern because the operation pattern is displayed on the display device 84 near the pilot seat 81. can do. Also, with this configuration, the pilot can easily recognize that the predetermined combination has been switched. Furthermore, by configuring in this way, the operation pattern is misidentified in order to display the operation pattern in a predetermined display form, judging that the operator has left the seat or has been replaced due to the fluctuation of the landing pressure Sp. There is no Therefore, malfunction and erroneous operation of the swing motor 7, the boom cylinder 13, the arm cylinder 14, and the bucket cylinder 15 can be prevented.
  • the detection means is composed of a potentiometer 133.
  • the detection range of the potentiometer 133 can be arbitrarily set as each switching position P of the pilot switching valve 130. Therefore, potentiometers for different switching positions P of the pilot switching valve 130 can be used. It can respond only by changing the setting of the detection range 133. Therefore, it is possible to reduce the production cost by sharing parts.
  • the ECU 16 when the seating sensor 20 is the limit switch 20b, the ECU 16 is connected to the limit switch 20b, and can obtain a seating signal S1 output from the limit switch 20b. Accordingly, when the seating signal Sl output from the limit switch 20b is not detected, the ECU 16 determines that the operator is not seated on the pilot seat 81, and detects the seating signal Sl output from the limit switch 20b. If so, it can be determined that the pilot is seated at the pilot seat 81.
  • an operation pattern screen 86 consisting of predetermined character information, graphics, etc. representing an operation pattern corresponding to the acquired switching position P of the rotary spool 132 is displayed.
  • the display of the operation pattern is not limited to the display in the present embodiment, and may be any method as long as the operation pattern is clearly displayed by highlighting it by blinking display, enlarged display, or the like.
  • the control unit 84e displays information on the liquid crystal display unit 84c in the following steps.
  • Steps S110 to S120 are the same as in the first embodiment, and thus the description thereof is omitted.
  • step S330 the control unit 84e acquires the switching position P of the rotary spool 132 of the pilot switching valve 130 detected by the potentiometer 133, and the remaining fuel amount Fl detected by the fuel gauge 17 and the coolant temperature detected by the water temperature gauge 18 T, warning / error information, and a seating signal S1 output from the limit switch 20b are acquired from the ECU 16 and stored in the storage unit 84f.
  • Steps S140 to S150 are the same as those in the first embodiment, and thus the description thereof is omitted.
  • step S160 the control unit 84e determines whether the switching position P acquired and stored has been changed as compared with the switching position P acquired and stored so far. As a result, when it is determined that the switching position P is changed in comparison with the switching position P acquired and stored so far, the control unit 84e shifts the step to step S170. On the other hand, when it is determined that the switching position P has not been changed in comparison with the switching position P acquired and stored so far, the control unit 84e shifts the step to step S370.
  • Steps S170 to S180 are the same as those in the first embodiment, and thus the description thereof is omitted.
  • control unit 84e determines whether or not seating signal Sl has been detected from the state where seating signal Sl has not been detected. As a result, when it is determined that the seating signal Sl is detected from the state where the seating signal Sl is not detected, the control unit 84e shifts the process to step S280. On the other hand, when it is determined that the seating signal Sl is not detected from the state where the seating signal Sl is not detected, the control unit 84e shifts the process to step S180.
  • step S280 the control unit 84e causes the liquid crystal display unit 84c to display an operation pattern screen 86 representing an operation pattern corresponding to the switching position P of the rotary spool 132 of the acquired pilot switching valve 130 (FIG. 9 (b)). reference). Thereafter, the control unit 84e shifts the process to step S180.
  • control unit 84e detects the seating signal Sl from the state where the seating signal Sl output from the limit switch 20b is not detected by repeating the above-described steps, the operator has left the pilot seat 81 once, Alternatively, the operation pattern screen 86 is displayed on the liquid crystal display unit 84c, judging that the pilot has taken over.
  • the detection means is constituted by the switch mechanism 134 as another embodiment.
  • the switch mechanism 134 By configuring in this way, it is possible to reduce false detection due to disturbance such as noise or overcurrent, so that the operation patterns A, B, C, and D that are a predetermined combination can be displayed accurately. Therefore, erroneous operation of the swing motor 7, the boom cylinder 13, the arm cylinder 14, and the bucket cylinder 15 can be prevented.
  • the present invention is applicable to a work vehicle provided with a display device that displays a combination of hydraulic actuators driven for each operation of the control lever device.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

L'invention concerne un véhicule de travail qui permet d'empêcher une panne de l'actionneur hydraulique et une panne du dispositif de levier d'actionnement. Dans une pelleteuse (1), une unité de commande (84e) est conçue de manière à afficher une position de commutation (P) dans une configuration d'affichage prédéterminée sur une unité d'affichage à cristaux liquides (84c), qui est l'unité d'affichage, dans le cas où une position de commutation (P) nouvellement détectée par un potentiomètre (133) qui est le moyen de détection de position de commutation, a été modifiée par rapport à une position de commutation (P) stockée dans une unité de mémoire (84f), ou dans le cas où une pression appliquée (Sp) stockée dans l'unité de mémoire (84f) a atteint une valeur prédéterminée ou moins et est revenue à la valeur prédéterminée ou plus.
PCT/JP2011/074010 2010-10-22 2011-10-19 Véhicule de travail WO2012053534A1 (fr)

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JP2010-238053 2010-10-22
JP2010238053A JP2012092500A (ja) 2010-10-22 2010-10-22 作業車両

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Publication number Priority date Publication date Assignee Title
WO2018189705A1 (fr) 2017-04-13 2018-10-18 Cadila Healthcare Limited Vaccin pcsk9 à base de nouveaux peptides
CN112127414A (zh) * 2020-09-25 2020-12-25 柳州柳工挖掘机有限公司 挖掘机控制方法及系统和操作模式切换方法及系统

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Publication number Priority date Publication date Assignee Title
CN108026715B (zh) 2015-09-15 2021-06-18 住友建机株式会社 挖土机

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JPH06228988A (ja) * 1993-01-29 1994-08-16 Hitachi Constr Mach Co Ltd 油圧機械のロック機構
JPH09217383A (ja) * 1996-02-14 1997-08-19 Hitachi Constr Mach Co Ltd 遠隔操作式建設機械
JP2004100711A (ja) * 2002-09-04 2004-04-02 Komatsu Ltd レバーの操作パターン切換装置
JP2006144296A (ja) * 2004-11-17 2006-06-08 Hitachi Constr Mach Co Ltd 作業機械の操作パターン切換装置
JP2009235720A (ja) * 2008-03-26 2009-10-15 Kubota Corp 作業機の表示装置

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JPH10236197A (ja) * 1997-03-03 1998-09-08 Furukawa Electric Co Ltd:The 着座センサ付きシート

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Publication number Priority date Publication date Assignee Title
JPH06228988A (ja) * 1993-01-29 1994-08-16 Hitachi Constr Mach Co Ltd 油圧機械のロック機構
JPH09217383A (ja) * 1996-02-14 1997-08-19 Hitachi Constr Mach Co Ltd 遠隔操作式建設機械
JP2004100711A (ja) * 2002-09-04 2004-04-02 Komatsu Ltd レバーの操作パターン切換装置
JP2006144296A (ja) * 2004-11-17 2006-06-08 Hitachi Constr Mach Co Ltd 作業機械の操作パターン切換装置
JP2009235720A (ja) * 2008-03-26 2009-10-15 Kubota Corp 作業機の表示装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018189705A1 (fr) 2017-04-13 2018-10-18 Cadila Healthcare Limited Vaccin pcsk9 à base de nouveaux peptides
CN112127414A (zh) * 2020-09-25 2020-12-25 柳州柳工挖掘机有限公司 挖掘机控制方法及系统和操作模式切换方法及系统

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