WO2014181893A1 - 作業車両の操舵装置および作業車両の操舵装置の制御方法 - Google Patents
作業車両の操舵装置および作業車両の操舵装置の制御方法 Download PDFInfo
- Publication number
- WO2014181893A1 WO2014181893A1 PCT/JP2014/064307 JP2014064307W WO2014181893A1 WO 2014181893 A1 WO2014181893 A1 WO 2014181893A1 JP 2014064307 W JP2014064307 W JP 2014064307W WO 2014181893 A1 WO2014181893 A1 WO 2014181893A1
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- WIPO (PCT)
- Prior art keywords
- lever
- switch
- steering
- state
- work vehicle
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand levers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/22—Alternative steering-control elements, e.g. for teaching purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/14—Steering gears hydraulic
Definitions
- the present invention particularly relates to a work vehicle including a steering device and a method for controlling the steering device of the work vehicle.
- the wheel loader is provided with a steering wheel in order to perform a steering operation during high-speed driving on public roads and work sites.
- the wheel loader is provided with a lever such as a joystick so that an efficient steering operation can be performed with a simple operation at a work site where a short distance traveling and a steering operation are repeated.
- Patent Document 1 discloses a wheel loader that enables a steering operation by both a rotation operation by a steering wheel and a lever operation by a lever.
- the steering operation may be performed unintentionally. Therefore, the steering wheel priority valve is operated to operate the steering wheel.
- a method that prioritizes operation has been proposed.
- a switch that enables the lever operation is provided.
- a configuration in which a plurality of switches are provided has been adopted.
- electrical circuit a configuration is adopted in which a plurality of switches are connected in series and a lever operation is determined to be possible when both the switches are turned on (enabled).
- the present invention has been made to solve the above-described problems, and is a work vehicle steering device capable of determining a switch in which an abnormality has occurred in a simple manner and control of the work vehicle steering device. It aims to provide a method.
- a steering device for a work vehicle includes a lever, a first switch, a lever support member, a second switch, and a control device.
- the lever is tilted for steering.
- the first switch sets the steering signal from the lever to a valid / invalid state.
- the lever support member is provided so as to be able to be flipped up from a predetermined position where the tilting operation by the lever is performed, and supports the lever.
- the second switch is turned on when the lever support member is positioned at a predetermined position, and is turned off when the lever support member is flipped up from the predetermined position.
- the control device sets the steering by the lever to be valid / invalid.
- the first switch has a plurality of terminals that conduct the steering signal from the lever according to the setting of the valid state and the invalid state, respectively, and are electrically connected to the control device in parallel with the second switch.
- the first switch conducts the steering signal from the lever in accordance with the setting of the valid state and the invalid state, and is electrically connected to the control device in parallel with the second switch.
- This is a configuration having a plurality of terminals to be connected. Therefore, the first and second switches are connected to the control device in parallel with each other, and the first switch is electrically connected to the control device in accordance with the setting of the valid state and the invalid state of the steering signal from the lever. Therefore, it is possible to determine a switch in which an abnormality has occurred by a simple method.
- control device determines an abnormal state based on signals input based on the first and second switches.
- control device can determine an abnormal state by a simple method because it determines an abnormal state based on a combination of signals input to the first and second switches.
- control device determines an abnormal state when signals input from a plurality of terminals are signals having the same potential based on the first switch.
- the steering device for a work vehicle further includes a first light emitting element that emits light according to a passing current, and a current supply circuit that can supply current to the first light emitting element.
- the control device activates the current supply circuit based on a combination of signals input based on the first and second switches.
- the operator can easily grasp and confirm that the tilting operation by the lever is enabled by the light emitting element.
- the work vehicle steering apparatus further includes a third switch.
- the third switch is connected to the current supply circuit in parallel with the first light emitting element, and adjusts the steering angle according to the operation amount of the lever.
- the steering angle can be adjusted according to the amount of lever operation by the third switch.
- the work vehicle steering apparatus further includes a second light emitting element.
- the second light emitting element is connected to the current supply circuit in parallel with the first light emitting element, and is connected in series with the third switch and emits light according to the passing current.
- the operator can easily grasp and confirm that the steering angle has been adjusted by the light emitting element in accordance with the operation amount of the lever.
- control device determines an abnormal state according to the input order of signals input based on the first and second switches.
- control device determines an abnormal state according to the signal input order, it is possible to prompt an operation in an appropriate order.
- the work vehicle steering apparatus further includes a notification unit.
- the notification unit notifies the abnormal state.
- a control method of a steering device for a work vehicle includes a first switch for setting a steering signal from a lever that is tilted for steering to be valid / invalid, and a tilting operation by the lever.
- a lever support member that is provided so as to be able to be flipped up from a predetermined position, and is electrically connected when the lever support member is positioned at a predetermined position, and is non-conductive in conjunction with the lever support member when it is lifted from a predetermined position. 2 is a method for controlling a steering device for a work vehicle, comprising two switches.
- the control method includes a step of operating the first and second switches, and a step of determining an abnormal state based on a signal input based on the operation of the first and second switches.
- the step of determining the abnormal state is determined as an abnormal state when the second switch changes from conducting to non-conducting and the first switch sets the lever to the valid state.
- the step of determining the abnormal state includes the first switch setting the lever to an effective state when the second switch changes from conducting to non-conducting. If it is, it is judged as an abnormal state. Therefore, it is possible to prompt an operation in an appropriate order for the first switch and the second switch.
- FIG. 1 is an overall configuration diagram of a wheel loader 1 on which a steering device according to an embodiment is mounted. It is a figure explaining the composition of steering device 20 based on an embodiment. It is a figure explaining operation
- FIG. 1 is an overall configuration diagram of a wheel loader 1 on which a steering device according to an embodiment is mounted.
- FIG. 1 is a side view of the wheel loader 1.
- the wheel loader 1 includes a body frame 2, a work machine 3, a pair of front tires 4, a driver's cab 5, an engine room 6, and a pair of rear tires 7.
- the body frame 2 has a so-called articulate structure, and includes a front frame 11, a rear frame 12, and a connecting portion 13.
- the front frame 11 is disposed in front of the rear frame 12, and is connected to the rear frame 12 by a connecting portion 13 so as to be rotatable in the left-right direction.
- the work machine 3 has a lift arm 15 and a bucket 16.
- the lift arm 15 and the bucket 16 are driven by pressure oil supplied from a hydraulic pump (not shown).
- the lift arm 15 has a base end rotatably supported by the front frame 11.
- the bucket 16 is rotatably attached to the tip end portion of the lift arm 15.
- the cab 5 is placed on the rear frame 12, and a steering wheel and a travel operation lever for steering operation, operation members for operating the work implement, various display devices, and the like are arranged therein. ing.
- FIG. 2 is a diagram illustrating the configuration of the steering device 20 based on the embodiment.
- the steering device 20 shown in FIG. 2 is a device for turning the vehicle by turning the front frame 11 with respect to the rear frame 12.
- the steering device 20 includes a steering wheel 21 that is rotated for steering, a travel operation lever 22 that is tilted for steering, and left and right steering cylinders 23L and 23R.
- the steering wheel 21 and the travel operation lever 22 are members (steering devices) operated for steering. By operating these members, the left and right steering cylinders 23L and 23R expand and contract, and the front frame 11 rotates with respect to the rear frame 12.
- the steering device 20 includes a steering valve 25, an orbit roll 26 as a steering wheel control valve, a lever electromagnetic control valve 27, and a steering wheel priority valve 71.
- Step 25 The steering valve 25 supplies hydraulic oil from the pump 30 to the left and right steering cylinders 23L and 23R in accordance with the pilot hydraulic pressure from the orbit roll 26 or the lever electromagnetic control valve 27.
- the direction control valve 25a constituting the steering valve 25 is switched to the left turning stage L when hydraulic oil is supplied to the left pilot port, and is turned right when hydraulic oil is supplied to the right pilot port. Switch to stage R.
- the direction control valve 25a is switched to the left turning stage L, the hydraulic oil from the pump 30 is supplied to the bottom side oil chamber of the left steering cylinder 23L and the rod side oil chamber of the right steering cylinder 23R, and the bottom of the right steering cylinder 23R.
- the hydraulic oil in the side oil chamber and the rod side oil chamber of the left steering cylinder 23L is returned to the tank 31 via the drain oil passage Pd.
- both pilot ports of the directional control valve 25a are communicated with each other through a throttle 25b.
- the hydraulic fluid in the other pilot port side oil passage is returned to the tank 31 via the orbit roll 26 and the drain oil passage Pd.
- the steering valve 25 includes an unload valve, a relief valve, a safety valve, and the like in addition to the directional control valve 25a.
- the orbit roll 26 has an input-side P port connected to a pilot hydraulic pump (not shown) such as a fan pump via a first input oil passage P01.
- the orbit roll 26 discharges hydraulic oil proportional to the amount of rotation of the steering wheel from the L port when the steering wheel 21 is rotated counterclockwise, and from the R port when the steering wheel 21 is rotated clockwise.
- the left pilot oil passage PL is connected to the L port on the output side, and the right pilot oil passage PR is connected to the R port.
- the left pilot oil passage PL is connected to the left pilot port of the directional control valve 25a constituting the steering valve 25. Further, the right pilot oil passage PR is connected to the right pilot port of the direction control valve 25a. Stop valves 34 and 35 are provided in the left and right pilot oil passages PL and PR, respectively. These stop valves 34 and 35 forcibly stop the supply of pilot hydraulic pressure to the steering valve 25.
- the input side T port of the orbit roll 26 is connected to the tank 31 via the drain oil passage Pd.
- the other pilot port side oil passage is connected to the drain oil passage Pd via this T port.
- the lever electromagnetic control valve 27 has an input-side P port connected via a second input oil passage P02 to a pump to which the first input oil passage P01 is connected.
- the lever electromagnetic control valve 27 discharges hydraulic oil input from the P port to the L port or R port on the output side in accordance with the operation of the travel operation lever 22.
- the left lever pilot oil passage PLl is connected to the L port, and the left lever pilot oil passage PLl is connected to the left pilot oil passage PL.
- the right lever pilot oil passage PRl is connected to the R port, and the right lever pilot oil passage PRl is connected to the right pilot oil passage PR.
- a steering wheel priority valve 71 is provided in the left lever pilot oil passage PLl and the right lever pilot oil passage PRl.
- the hydraulic oil from the lever electromagnetic control valve 27 is supplied to each pilot port of the steering valve 25 via the steering wheel priority valve 71 and the left and right pilot oil passages PL and PR.
- the steering wheel priority valve 71 is provided in the middle of the left and right lever pilot circuits PLl and PRl on the output side of the lever electromagnetic control valve 27. More specifically, a left lever pilot oil passage PLl and a right lever pilot oil passage PRl are connected to the output port of the lever electromagnetic control valve 27. The left lever pilot oil passage PLl is connected to the left pilot oil passage PL, and the right lever pilot oil passage PRl is connected to the right pilot oil passage PR.
- the steering wheel priority valve 71 is provided in the middle of the left and right lever pilot oil passages PLl and PRl.
- the steering wheel priority valve 71 is controlled according to an instruction from the controller 150 and is switched between the communication stage St and the cutoff stage Sb.
- the output port of the lever electromagnetic control valve 27 is connected to the left and right pilot oil passages PL, PR via the left and right lever pilot oil passages PL1, PR1. Further, at the shut-off stage Sb, the output port of the lever electromagnetic control valve 27 and the left and right pilot oil passages PL and PR are shut off.
- FIG. 3 is a diagram for explaining the operation of the steering device during a left turn.
- FIG. 3A shows the flow of the steering hydraulic oil (solid line) and the pilot hydraulic oil (broken line) when the steering wheel is rotated for turning to the left.
- FIG. 3B shows the flow of the steering hydraulic oil (solid line) and the pilot hydraulic oil (broken line) when the tilting operation is performed by the travel operation lever 22 for the left turn.
- the controller 150 instructs the steering wheel priority valve 71, and the steering wheel priority valve 71 is switched to the communication stage St.
- the hydraulic oil input from the second input oil passage P02 is output from the traveling operation lever 22 to the left lever pilot oil passage PLl.
- This hydraulic oil is supplied to the left pilot oil passage PL via the steering wheel priority valve 71, and is input to the left pilot port of the direction control valve 25a of the steering valve 25, as in the case of the rotation operation by the steering wheel 21 described above.
- the Therefore, the direction control valve 25a is switched to the left turn stage L.
- the pilot oil in the right pilot oil passage PR is returned from the drain T port of the lever electromagnetic control valve 27 to the tank 31 through the drain oil passage Pd.
- the flow of hydraulic fluid for steering is exactly the same as in the case of rotational operation by the steering wheel 21.
- FIG. 4 is a diagram illustrating the configuration of the operation panel 100 based on the embodiment. As shown in FIG. 4, an example of a standard screen on which information related to the engine state is displayed on the display 115 of the operation panel 100 is shown.
- An icon is a symbol that displays things in a simple pattern.
- various data represented by numerical values are displayed on the display 115 together with a plurality of icons.
- the upper side or the upper side of the display 115 is a ceiling side of the cab 5 and is a side indicated by an arrow U, and the lower or lower side is a floor side of the cab 5 and a side indicated by an arrow B.
- a plurality (six in this example) of function switches 116a, 116b, 116c, 116d, 116e, and 116f are arranged. If they are not particularly distinguished, reference numeral 116 is used, and if they are distinguished, reference numerals 116a and 116b are used.
- Function guides 130a, 130b, 130c, 130d, and 130f as guide indexes are displayed at positions corresponding to the respective function switches 116a, 116b, 116c, 116d, 116e, and 116f at the lower end of the screen of the display 115. ing. If they are not particularly distinguished, reference numeral 130 is used. If they are distinguished, reference numerals 130a and 130b are used.
- the plurality of function switches 116 are disposed below the display 115, the plurality of function switches 116 may be disposed at other locations.
- the plurality of function switches 116 may be disposed on the side or above the display 115.
- a plurality of function guides 130 are displayed on the screen of the display 115 corresponding to the positions corresponding to the function switches 116.
- a plurality of function guides 130 are displayed corresponding to the function switches 116 at the side edges of the display 115.
- Each function guide 130 is an index for guiding the function of the function switch 116, and in the embodiment, is displayed on the display 115 in the form of an icon. Each function guide 130 displays the function of the corresponding function switch 116 in the form of an icon. Each function guide 130 has a function assigned to the screen on which these are displayed.
- the function guide 130 allows the operator to intuitively grasp the function of the function switch 116 and select a desired function switch 116. Further, the function guide 130 displays the function of the function switch 116, thereby improving the visibility of the operator.
- the display 115 displays five meter-type gauge icons. These are a multi-gauge 131, an engine water temperature gauge 132, a hydraulic oil temperature gauge 133, a fuel gauge 134, and a mission oil temperature gauge 135. These icons have a pointer and a memory on an arc, and display various gauge sizes by rotating the pointer. In addition, the display 115 displays an energy saving gauge 136 that indicates an index of energy saving operation based on the fuel consumption, a clock 137 that displays time, and the like.
- the multi-gauge 131 is an index for displaying information on a plurality of types of engine states by switching with the function switch 116.
- the multigauge 131 can change information on the engine state displayed by the multigauge 131 by operating the function switch 116b.
- the example shown in FIG. 4 displays the rotational speed (the number of revolutions per unit time) of the engine mounted on the wheel loader 1.
- the display of the multigauge 131 may be switched so as to display the traction force.
- Examples of other information displayed by the multigauge 131 include hydraulic oil pressure, engine oil pressure, battery voltage, traction force, vehicle speed, clock, and engine rotation speed.
- the function switch 116b is operated once, the information displayed on the multigauge 131 can be switched one by one.
- the display 115 displays a warning message in accordance with an instruction from the controller 150.
- FIG. 5 is a perspective view showing an internal configuration of the cab 5 based on the embodiment.
- the cab 5 includes a steering wheel 21, an operator seat 19, a left operation device 37, and the like.
- the operator seat 19 is a seat on which an operator (operator) who gets in and out of the cab sits and performs a driving operation, and is installed so as to be slidable back and forth.
- a steering wheel 21 that can be operated while an operator (operator) is seated is installed in front of the operator seat 19. An operator can operate the steering wheel 21 to execute the above steering operation.
- a left operation device 37 that is operated by an operator is installed.
- the left operating device 37 is arranged on the left side of the operator seat 19 as viewed from the operator seated on the operator seat 19.
- a travel operation lever 22 is provided on the upper surface of the left operation device 37. The travel operation lever 22 is tilted in the left-right direction when the forward direction of the vehicle body is the front, and a steering operation is performed.
- the left side operation device 37 is provided so as to be able to be flipped up from a predetermined position where the tilting operation by the traveling operation lever 22 is performed, and is provided to be rotatable in the vertical direction.
- FIG. 5B shows a state in which the left operating device 37 is flipped up from a predetermined position. In this state, the operator can get out of the seated operator seat 19. Conversely, it is possible to sit on the operator seat 19 from this state.
- the left side operation device 37 When the left side operation device 37 is fixed at a predetermined position, it cannot come out from the operator seat 19 or be seated on the operator seat 19 from the outside.
- FIG. 6 is a diagram illustrating a switch of the travel operation lever 22 based on the embodiment.
- FIG. 6A shows a case where the region (dotted line region) 200 in FIG. 5A is enlarged.
- the traveling operation lever 22 is supported on the front upper part of the left operation device 37. Further, the left operation device 37 is provided with a lever effective switch 202 for setting the steering signal from the traveling operation lever 22 to the valid / invalid state.
- an LED LD1 that is turned on when is enabled The operator can easily grasp and confirm that it has been made effective by providing the LED.
- the steering angle corresponding to the operation amount of the tilting operation by the traveling operation lever 22 is larger than when the adjustment switch 203 is turned off.
- FIG. 6B shows a state in which the left operation device 37 provided so as to be able to be flipped up is flipped up.
- the left operating device 37 is provided with a jump switch 204.
- the jumping switch 204 includes a switch main body 204A and a pressing unit 204B.
- the pressing unit 204B is attached to the lower side of the left operating device 37. When the left operating device 37 is fixed at a predetermined position, the pressing portion 204B is disposed so as to come into contact with the switch main body portion 204A and to push down the switch main body portion 204A.
- the push-up switch 204 is set to an effective state by depressing the switch body portion 204A by the pressing portion 204B. On the other hand, when the left operating device 37 is flipped up and released from being pushed down by the pressing unit 204B, the jumping switch 204 is set to an invalid state.
- the jumping switch 204 When the left operating device 37 is located at a predetermined position where the traveling operation lever 22 is tilted, the jumping switch 204 is turned on, and the left operating device 37 is flipped up from the predetermined position, so that the tilting operation by the traveling operation lever 22 is difficult. When the left operation device 37 is positioned at a proper position, the jumping switch 204 becomes non-conductive.
- the travel operation lever 22, the left operation device 37, the lever effective switch 202, the jumping switch 204, the adjustment switch 203, the LEDLD1, and the LEDLD2 are the “lever”, “lever support member”, and “first switch” of the present invention, respectively. ], “Second switch”, “third switch”, “first light emitting element”, and “second light emitting element”.
- FIG. 7 is a circuit diagram of the switch and controller of the travel operation lever 22 based on the embodiment.
- FIG. 7 shows the relationship between the controller 150 and the switch.
- the controller 150 has an output terminal O1 and input terminals I1 to I4.
- the controller 150 sets the steering by the traveling operation lever 22 to be valid / invalid based on a signal input based on the switch of the traveling operation lever 22.
- the lever effective switch 202 is provided between the ground voltage GND connected to the node N2 and the controller 150.
- the lever effective switch 202 is a single-pole double-throw switch having a plurality of terminals connected to the controller 150.
- the lever effective switch 202 has an ON circuit and an OFF circuit because it has a plurality of single-pole double-throw terminals, and outputs a signal corresponding to the state of the switch to the controller 150.
- the ON circuit side of the lever effective switch 202 is connected to the input terminal I2. Further, the OFF circuit side of the lever effective switch 202 is connected to the input terminal I3. The input terminals I2 and I3 are pulled up by the power supply voltage Vcc.
- the input terminal I2 of the controller 150 is electrically coupled to the node N2 connected to the ground voltage GND. Therefore, the input terminal I2 detects the “L” level.
- the input terminal I3 of the controller 150 is in an open state, it is pulled up by the power supply voltage Vcc and detects the “H” level. As a result, the steering signal from the traveling operation lever 22 is set to an effective state.
- the input terminal I2 of the controller 150 is in an open state, so that it is pulled up by the power supply voltage Vcc and detects the “H” level.
- input terminal I3 of controller 150 is electrically coupled to node N2 connected to ground voltage GND. Therefore, the input terminal I2 detects the “L” level. As a result, the steering signal from the traveling operation lever 22 is set to an invalid state.
- the input terminals I2 and I3 detect the “L” level and the “H” level, respectively.
- the switch is operated to the OFF circuit side, the input terminals I2 and I3 detect the “H” level and the “L” level, respectively.
- the controller 150 can determine that the controller 150 is in an abnormal state (failure) because signals having the same potential are input from the input terminals I2 and I3.
- the controller 150 can determine that the controller 150 is in an abnormal state (failure) because signals having the same potential are input from the input terminals I2 and I3.
- the controller 150 can determine that the controller 150 is in an abnormal state (failure) because signals having the same potential are input from the input terminals I2 and I3.
- the controller 150 can determine that the abnormal state is caused by the above, and therefore, the steering by the traveling operation lever 22 is set to be invalid. Is possible.
- the jumping switch 204 is provided between the controller 150 and the ground voltage GND connected to the node N2 in parallel with the lever effective switch 202, and is connected to the input terminal I4.
- the jumping switch 204 is pulled up by the power supply voltage Vcc because the left operating device 37 is opened (non-conducting) when the left operating device 37 is flipped up from a predetermined position, and the input terminal I4 is at “H” level. Is detected.
- the left operating device 37 is fixed at a predetermined position where the traveling operation lever 22 is tilted, it is electrically coupled to the node N2 connected to the ground voltage GND. Therefore, the input terminal I4 detects the “L” level.
- the controller 150 sets the steering by the traveling operation lever 22 to be effective when the lever effective switch 202 is switched to the ON circuit side (the steering signal is in an effective state) and the jump switch 204 is turned on.
- the controller 150 sets the steering by the traveling operation lever 22 to be invalid. In this case, priority is given to steering by the steering wheel.
- controller 150 activates the activating unit 152 when the lever effective switch 202 is operated to the ON circuit side (effective state of the steering signal) and the jumping switch 204 is turned on. Specifically, controller 150 outputs an activation signal (“H” level) from output terminal O1 when both signals input from input terminals I2 and I4 detect “L” level.
- Node N0 is connected to power supply voltage Vcc through activation unit 152.
- LEDLD1 is provided between power supply voltage Vcc and ground voltage GND, which are electrically connected via activation unit 152.
- LEDLD2 and adjustment switch 203 are provided between node N0 and ground voltage GND in parallel with LEDLD1.
- the intermediate node N1 between the LEDLD2 and the adjustment switch 203 is pulled up by the power supply voltage Vcc and connected to the input terminal I1.
- the activation unit 152 is activated in response to a signal from the controller 150, and electrically couples the node N0 and the power supply voltage Vcc.
- the activation unit 152 when the activation unit 152 is activated, a current is supplied to the LED LD2 to light up.
- the input terminal I1 detects the “L” level.
- the adjustment switch 203 when the adjustment switch 203 is not operated, the input terminal I1 is pulled up by the power supply voltage Vcc to detect the “H” level.
- the controller 150 sets the steering angle corresponding to the operation amount of the tilt operation by the travel operation lever 22 according to the detection of the “L” level for the input terminal I1.
- the lever effective switch 202 and the jumping switch 204 are respectively connected to the controller 150 in parallel.
- the lever effective switch 202 has a single-pole double-throw multiple terminal, and the controller 150 can determine an abnormality based on a signal from the lever effective switch 202.
- the circuit configuration based on the above-described embodiment makes it possible to determine the abnormality of the travel operation lever 22 switch by a simple method.
- jumping switch 204 it is also possible to consider an abnormality as a switch having a single-pole double-throw type multiple terminal, similar to the lever effective switch 202. Thus, it may be difficult to apply a single-pole double-throw type switch having a plurality of terminals because of the conductive / non-conductive structure.
- the abnormality of the switch is determined according to the procedure (signal input order) of operating the switch of the travel operation lever 22.
- the controller 150, the power supply voltage Vcc, and the activation unit 152 are examples of the “control device” and the “current supply circuit” of the present invention, respectively.
- FIG. 8 is a diagram illustrating the state transition of the switch of the travel operation lever 22 based on the embodiment.
- FIG. 8 includes an initial state ST0, an intermediate state ST1, a valid state ST2, and abnormal states ST3 and ST4.
- the initial state ST0, the intermediate state ST1, and the valid state ST2 are also referred to as normal states in contrast to abnormal states.
- the lever effective switch 202 is non-conductive (OFF) and the jump switch 204 is non-conductive (OFF).
- the state shifts to the intermediate state ST1.
- the state shifts to the effective state ST2.
- the controller 150 sets the steering by the travel operation lever 22 to be effective. Then, the LED LD1 is turned on. In other states, the controller 150 disables steering by the travel operation lever 22.
- the state shifts to the abnormal state ST3.
- the abnormal state ST3 it is notified that the switch state is abnormal. Specifically, a message indicating that the switch state is abnormal is displayed on the display 115 of the operation panel 100. Or you may make it alert
- the state transition is determined as an abnormal operation because the lever effective switch 202 is not turned off (OFF) and the jump switch 204 is turned off (OFF).
- This state is a state in which the left operating device 37 is flipped up while the lever effective switch 202 is kept conductive (ON).
- the state in which the left operating device 37 is flipped up is a state in which it is difficult for the operator to operate the travel operation lever 22, and a switch operation of the lever effective switch 202 is also difficult. Therefore, since it is an abnormal operation, it is possible to prompt the operator to operate the switch in an appropriate order by setting the state to an abnormal state.
- As an operation in an appropriate order of the switches first, it is possible to prompt an operation to turn the lever effective switch 202 non-conductive (OFF) and then the jump switch 204 non-conductive (OFF).
- FIG. 9 is a diagram illustrating combinations of switch states of the travel operation lever 22 that are determined to be abnormal based on the embodiment.
- FIG. 10 is a diagram for explaining a warning display displayed on the display 115 of the operation panel 100.
- a case where a warning message 118 is displayed on the display 115 is shown.
- a warning sound together with the warning message.
- a predetermined symbol may be turned on, a color may be changed, or a blink may be performed.
- the operation panel 100 is an example of the “notification unit” in the present invention. Referring to FIGS. 9B and 9C, there are shown diagrams for explaining a case where the switch of the traveling operation lever 22 that is determined to be abnormal has failed.
- FIG. 9B shows a case where the jumping switch 204 has failed. Specifically, when the lever effective switch 202 is in the conductive (ON) state and the jump switch 204 is switched from the conductive (ON) to the non-conductive (OFF) due to a failure, as described above. In addition, the controller 150 can determine that the state is abnormal.
- the controller 150 when the lever effective switch 202 is in the conductive (ON) state and the jumping switch 204 is switched from the non-conductive (OFF) to the conductive (ON) due to a failure, the controller 150 as described above. Can be determined to be in an abnormal state.
- the lever effective switch 202 when the lever effective switch 202 is in a non-conductive (OFF) state, if the jump switch 204 is switched from non-conductive (OFF) to conductive (ON) due to a failure, it is not determined as an abnormal state. As described above, since the controller 150 is in an intermediate state, it is possible to prevent erroneous operation. Steering by the travel operation lever 22 is set to be invalid, and steering by the steering wheel has priority.
- FIG. 9C shows a case where the lever effective switch 202 has failed.
- the controller 150 Since it is detected that a failure or the like has occurred in the lever effective switch 202 based on signals input to the input terminals I2 and I3, it is possible to determine that the state is abnormal. It is possible to detect an abnormality of the lever effective switch 202 and prevent an erroneous operation. Steering by the travel operation lever 22 is set to be invalid, and steering by the steering wheel has priority.
- a wheel loader has been described as an example of a work vehicle.
- the present invention can also be applied to a work vehicle such as a hydraulic excavator or a bulldozer and is provided with a travel operation lever. Anything can be applied.
- 1 wheel loader 2 body frame, 3 working machine, 4 front tire, 5 cab, 6 engine room, 7 rear tire, 11 front frame, 12 rear frame, 13 connecting part, 15 lift arm, 16 bucket, 19 operator seat, 20 steering device, 21 steering wheel, 22 travel control lever, 23L, 23R steering cylinder, 25 steering valve, 25a directional control valve, 26 orbit roll, 27 lever electromagnetic control valve, 30 pump, 31 tank, 34, 35 stop valve 37 left side operation device, 71 steering wheel priority valve, 100 operation panel, 115 display.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
- Steering Controls (AREA)
Abstract
Description
以下、「作業車両」の一例であるホイールローダについて、図面を参照しながら説明する。
図1は、一実施形態に基づくステアリング装置が搭載されたホイールローダ1の全体構成図である。なお、図1はホイールローダ1の側面図が示されている。
図2は、実施形態に基づくステアリング装置20の構成を説明する図である。
ステアリング弁25は、オービットロール26又はレバー用電磁制御弁27からのパイロット油圧に応じて、左右のステアリングシリンダ23L,23Rにともにポンプ30からの作動油を供給するものである。
オービットロール26は、入力側のPポートが、第1入力油路P01を介してファンポンプ等のパイロット油圧用のポンプ(図示せず)に接続されている。このオービットロール26は、ステアリングホイール21を左回転した場合はLポートから、ステアリングホイール21を右回転させた場合はRポートから、ステアリングホイールの回転量に比例した作動油を吐出するものである。出力側のLポートには左パイロット油路PLが接続され、Rポートには右パイロット油路PRが接続されている。
レバー用電磁制御弁27は、入力側のPポートが、第2入力油路P02を介して、第1入力油路P01が接続されたポンプに接続されている。レバー用電磁制御弁27は、走行操作レバー22の操作に応じて、Pポートから入力された作動油を出力側のLポート又はRポートに吐出するものである。Lポートには左レバー用パイロット油路PLlが接続され、左レバー用パイロット油路PLlは左パイロット油路PLに接続されている。また、Rポートには右レバー用パイロット油路PRlが接続され、右レバー用パイロット油路PRlは右パイロット油路PRに接続されている。そして、左レバー用パイロット油路PLl及び右レバー用パイロット油路PRlにステアリングホイール優先弁71が設けられている。
ステアリングホイール優先弁71は、レバー用電磁制御弁27の出力側で左右のレバー用パイロット回路PLl,PRlの途中に設けられている。より詳細には、レバー用電磁制御弁27の出力ポートには左レバー用パイロット油路PLl及び右レバー用パイロット油路PRlが接続されている。左レバー用パイロット油路PLlは左パイロット油路PLに接続され、右レバー用パイロット油路PRlは右パイロット油路PRに接続されている。そして、ステアリングホイール優先弁71は、左右のレバー用パイロット油路PLl、PRlの途中に設けられている。
図3は、左旋回時のステアリング装置の動作について説明する図である。
図3(B)には、左旋回のために走行操作レバー22による傾動操作を行なった場合のステアリング用作動油(実線)とパイロット用作動油(破線)との流れが示されている。
操作パネルの構成について説明する。
図4に示されるように、操作パネル100のディスプレイ115にエンジン状態に関する情報が表示された標準画面の一例が示されている。
図5は、実施形態に基づく運転室5の内部構成を示す斜視図である。
当該状態において、操作者は、着座しているオペレータシート19から外部に出ることが可能となる。また、逆に、当該状態からオペレータシート19に着座することが可能である。
図6(A)には、図5(A)の領域(点線領域)200を拡大した場合が示されている。
押下部204Bは、左側操作装置37の下部側に取り付けられる。左側操作装置37を所定位置に固定する際に押下部204Bは、スイッチ本体部204Aと接触して、スイッチ本体部204Aを押下げるように配置される。
コントローラ150は、出力端子O1と、入力端子I1~I4とを有する。コントローラ150は、走行操作レバー22のスイッチに基づき入力される信号に基づいて走行操作レバー22による操舵を有効/無効に設定する。
LEDLD1は、活性化部152を介して電気的に接続される電源電圧Vccと接地電圧GNDとの間に設けられる。
また、調整スイッチ203がスイッチ操作された場合にノードN1と接地電圧GNDとが電気的に結合される。
図9(B)、(C)を参照して、異常と判断する走行操作レバー22のスイッチが故障した場合を説明する図が示されている。
具体的には、レバー有効スイッチ202が導通(ON)の状態である場合に、跳上スイッチ204が故障により導通(ON)から非導通(OFF)となった場合には、上記で説明したようにコントローラ150は異常状態と判断することが可能である。
レバー有効スイッチ202が故障により導通(ON)から非導通(OFF)となった場合あるいは、レバー有効スイッチ202が故障により導通(OFF)から導通(ON)となった場合には、コントローラ150は、入力端子I2,I3に入力される信号によりレバー有効スイッチ202に故障等が生じたことを検知するため異常状態であると判断することが可能である。レバー有効スイッチ202の異常を検知して、誤操作を防止することが可能である。走行操作レバー22による操舵は無効に設定されておりステアリングホイールによる操舵が優先される。
なお、本例においては、作業車両の一例として、ホイールローダを例に挙げて説明したが、油圧ショベルやブルドーザ等の作業車両にも適用可能であり、走行操作レバーが設けられた作業用の機械であればどのようなものにも適用可能である。
Claims (9)
- 操舵のために傾動操作するレバーと、
前記レバーからの操舵信号を有効/無効状態に設定するための第1のスイッチと、
前記レバーによる傾動操作を行う所定位置から跳ね上げ可能に設けられ、前記レバーを支持するレバー支持部材と、
前記レバー支持部材が前記所定位置に位置する場合に導通し、前記所定位置から跳ね上げられた場合に連動して非導通となる第2のスイッチと、
前記レバーによる操舵を有効/無効に設定するための制御装置とを備え、
前記第1のスイッチは、前記レバーからの操舵信号を有効状態および無効状態の設定に従ってそれぞれ導通して、前記第2のスイッチと並列に前記制御装置と電気的に接続される複数の端子を有する、作業車両の操舵装置。 - 前記制御装置は、前記第1および第2のスイッチに基づき入力される信号に基づいて異常状態を判断する、請求項1記載の作業車両の操舵装置。
- 前記制御装置は、前記第1のスイッチに基づき前記複数の端子から入力される信号が同じ電位の信号である場合に異常状態と判断する、請求項2記載の作業車両の操舵装置。
- 通過する電流に従って発光する第1の発光素子と、
前記第1の発光素子に電流を供給することが可能な電流供給回路とをさらに備え、
前記制御装置は、前記第1および第2のスイッチに基づき入力される信号の組み合わせに基づいて前記電流供給回路を活性化する、請求項1~3のいずれか一項に記載の作業車両の操舵装置。 - 前記第1の発光素子と並列に前記電流供給回路に接続され、前記レバーの操作量に応じた操舵角を調整するための第3のスイッチをさらに備える、請求項4記載の作業車両の操舵装置。
- 前記第1の発光素子と並列に前記電流供給回路に接続され、前記第3のスイッチと直列に接続されて通過する電流に従って発光する第2の発光素子をさらに備える、請求項5記載の作業車両の操舵装置。
- 前記制御装置は、前記第1および第2のスイッチに基づき入力される信号の入力順序に従って異常状態を判断する、請求項1~6のいずれか1項に記載の作業車両の操舵装置。
- 前記異常状態を報知する報知部をさらに備える、請求項2~7のいずれか1項に記載の作業車両の操舵装置。
- 操舵のために傾動操作するレバーからの操舵信号を有効/無効状態に設定するための第1のスイッチと、前記レバーによる傾動操作を行う所定位置から跳ね上げ可能に設けられ、前記レバーを支持するレバー支持部材と、前記レバー支持部材が前記所定位置に位置する場合に導通し、前記所定位置から跳ね上げられた場合に連動して非導通となる第2のスイッチとを備える、作業車両の操舵装置の制御方法であって、
前記第1および第2のスイッチを操作するステップと、
前記第1および第2のスイッチの操作に基づき入力される信号に基づいて異常状態を判断するステップとを備え、
前記異常状態を判断するステップは、前記第2のスイッチが導通から非導通に変化した場合に、前記第1のスイッチが前記レバーを有効状態に設定している場合には異常状態と判断する、作業車両の操舵装置の制御方法。
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