JPH0420452B2 - - Google Patents

Description

Detailed Description of the Invention [Industrial Application Field] The present invention reduces the amount of operation of the swing operation lever of a swing base in order to reduce the swing speed for safety when working in a narrow space. A detector for detecting the rotation is provided, and a control device is provided for rotating the swivel base so as to increase the speed in accordance with an increase in the amount of operation of the swivel operation lever based on information from the detector. A proportional control valve controller is provided that adjusts an electromagnetic proportional control valve that controls the rotation speed of the proportional control valve based on a command signal from the control device,
The present invention relates to a swing-type working vehicle that is provided with a command signal adjustment device that adjusts a command signal from the control device and applies the command signal to the proportional control valve controller so as to attenuate the maximum swing speed.

[Conventional technology]

Conventionally, in the above-mentioned swing-type work vehicle, the command signal adjustment device has been comprised of a variable electrical resistance type regulator that attenuates the command signal from the control device by volume adjustment and transmits it to the proportional control valve controller. For example, Japanese Patent Application Laid-Open No. 60-62343).

[Problem that the invention seeks to solve]

However, when the volume of the command signal is adjusted by the regulator, the relationship between the command signal a and the turning speed θ changes sequentially as shown in A, B, and C shown in Fig. 4, and not only the maximum turning speed but also the Since the speed is decelerated over the entire speed range, the command signal is decelerated even in the low-speed turning range where it is not dangerous even if the speed is not decelerated, resulting in delayed startup timing and poor work efficiency, and control that automatically stops turning. When doing so, there was a risk that the vehicle would stop early in the low-speed turning region near the stopping point, resulting in a lack of precision or jerky movement.

An object of the present invention is to enable a command signal adjustment device to reduce only the maximum turning speed.

[Means for solving problems]

The characteristic configuration of the swing-type work vehicle of the present invention is that the command signal adjustment device includes a setting means for setting a maximum swing speed;
and a comparison means for comparing a setting signal from the setting means and a command signal from the control device, and a proportional control valve when the command signal is smaller than the setting signal based on information from the comparison means. Output means for providing a command output signal to the controller as an increasing function of the command signal, and for providing a set output signal to the proportional control valve controller so that the swing speed is set when the command signal is greater than the set signal. Its functions and effects are as follows.

[Effect]

In other words, when the setting means is set to lower the maximum turning speed when turning in a narrow space due to the action of the command signal adjustment device, the command signal a and the turning speed θ change as shown in FIG. The relationship changes from A to B, and in the command range where the command signal a from the control device issued based on the operation of the swing control lever is smaller than the setting signal amax, the command signal is changed by the command output signal given from the output means. The relationship between a and the turning speed θ remains the same, and when the command signal a becomes larger than the setting signal a max, the maximum turning speed θ max set by the setting output signal b max given from the output means is maintained and the maximum turning speed θ max is maintained. It doesn't get faster than that.

Therefore, the activation timing in the low-speed turning range remains unchanged, and only the maximum turning speed can be reduced.

〔Effect of the invention〕

As a result, it is possible to perform swing work safely in narrow spaces while maintaining good work efficiency, and even when automatically controlling the swing stop operation, it can be stopped smoothly at an accurate target point, improving control performance. We were able to maintain it well.

〔Example〕

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

FIG. 2 shows a swing-type excavation work vehicle as an example of a swing-type work vehicle, in which a swing base 2 is attached to a machine base equipped with a pair of left and right crawler traveling devices 1 so as to be freely swingable and driveable by a hydraulic motor 3. , its swivel base 2
An excavation work device 8 is provided with a boarding operation section 4 and a driving section 5, and is constructed by connecting an excavation bucket 7 to the tip of a working arm 6 which can be vertically swung and can be freely bent and extended. is equipped.

To configure the swing operation structure, as shown in FIG. 2, a potentiometer 10 is attached to the swing operation lever 9 so as to be rotated in conjunction with the swing operation lever 9, and voltage information from the potentiometer 10 is provided. The operating direction and operating amount of the operating lever 9 are detected based on the operating state of the operating lever 9, and the electromagnetic proportional control valve 11 that performs reverse drive operation and speed regulating operation of the swing motor 3 is adjusted to match the operating state of the operating lever 9. In other words, in a direction corresponding to the operating direction of the lever 9, and
A control device 13 is provided which applies a voltage signal to a proportional control controller 12 of a control valve 11 to automatically operate it in order to operate the lever 9 by an amount corresponding to the amount of operation of the lever 9.

Then, a command signal adjustment device adjusts the command signal a from the control device 13 and sends it to the proportional control valve controller 12 to an electric circuit 14 connecting the control device 13 and the proportional control controller 12 so as to attenuate the maximum swing speed. 15 are provided.

The command signal adjusting device 15 includes a setting means 16 for setting the maximum turning speed, a comparing means 17 for comparing a setting signal a max from the setting means 16 and a command signal a from the control device 13, and a comparing means. Based on the information from 17, when the command signal a is smaller than the setting signal a max, the command output signal b is given to the proportional control valve controller 12 as an increasing function of the command signal a, and the command signal a is equal to the setting signal a. It is composed of an output means 18 that gives a set output signal b max to the proportional control valve controller 12 so that the set swing speed θ = max is reached when the swing speed is larger than max, and the swing operation is performed at a speed corresponding to the work space. In order to be able to easily operate the lever 9 while always maintaining a large swing operation range,
Furthermore, the structure is designed to reliably prevent unexpected speed increase due to erroneous lever operation, thereby improving safety.

[Another example]

Devices other than the potentiometer 10 can be used to detect the direction and amount of operation of the operating lever 9, and these devices are collectively referred to as a detector.

Note that the specific circuit configuration of the controller 13 can be improved in various ways.

The present invention is directed to swing-type work vehicles for various uses, such as excavation work vehicles and crane work vehicles.

[Brief explanation of drawings]

The drawings show an embodiment of the swing-type excavation vehicle according to the present invention, in which FIG. 1 is a schematic swing operation circuit diagram, FIG. 2 is an overall side view of the swing-type excavation vehicle, and FIG. 3 is a graph of changes in swing speed. FIG. 4 is a graph of changes in turning speed in the conventional example. 2...Swivel base, 9...Swivel operation lever, 10...
...Detector, 11...Solenoid proportional control valve, 12...
Proportional control valve controller, 13...control device, 1
5... Command signal adjustment device, 16... Setting means, 1
7... Comparison means, 18... Output means, a... Command signal, a max... Setting signal, b... Command output signal, b max... Setting output signal.

Claims (1)

[Claims] 1. A detector 10 is provided to detect the operation amount of the swing operation lever 9 of the swing base 2, and the detector 10
A control device 13 is provided to rotate the swivel base 2 so as to increase the speed in accordance with an increase in the amount of operation of the swivel operation lever 9 based on information from the swivel operation lever 9, and controls the speed of the rotation of the swivel base 2. Solenoid proportional control valve 11
A proportional control valve controller 12 is provided, which adjusts the proportional control valve controller 12 based on a command signal a from the control device 13,
The control device 1 is configured to attenuate the maximum turning speed.
The swing-type work vehicle is equipped with a command signal adjustment device 15 that adjusts the command signal a from 3 and provides it to the proportional control valve controller 12, and the command signal adjustment device 15 has a setting for setting a maximum swing speed. means 16, and a setting signal a max from the setting means 16 and a command signal a from the control device 13;
and, based on the information from the comparing means 17, when the command signal a is smaller than the setting signal amax, the proportional control valve controller 12 is given A set output signal b max is given to the proportional control valve controller 12 so that the set swing speed is achieved when the command output signal b is given and the command signal a is larger than the set signal a max.
A revolving work vehicle comprising output means 18 for giving.