JPH0441220B2 - - Google Patents

Description

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

[Conventional technology]

Conventionally, in the above-mentioned safety device, the discriminating means was connected to the auxiliary sensor so that all the signals output from the auxiliary sensor were used as discrimination information.

[Problem that the invention seeks to solve]

However, the signal emitted from the auxiliary sensor is
Regardless of the passage of the rotating member, a noise signal may enter momentarily as shown in FIG.

An object of the present invention is to prevent misidentification of noise signals output from auxiliary sensors.

[Means for solving problems]

The characteristic configuration of the safety device for a swing-type work vehicle of the present invention is that a signal is provided between an auxiliary sensor and a determining means to determine whether a signal output from the auxiliary sensor based on the passage of a rotating member has been continuously output for a set time. The present invention is provided with a discrimination command means that judges the signal to be correct only when it is continuously issued for a set period of time, and issues an operation command to the discrimination means.The operation and effect are as follows. be.

[Effect]

In other words, since the correct signal issued by the passage of the rotating member is continuously issued within the set time, even if a noise signal is momentarily issued from the auxiliary sensor, it may be incorrectly output by the discrimination command means. It is determined that the signal has been sent out, and the discriminating means is not operated.

〔Effect of the invention〕

Therefore, it is possible to correctly distinguish between the information value from the main sensor and the information value from the auxiliary sensor, and it is possible to reliably avoid accidents caused by problems with the main sensor. However, it is possible to prevent the situation where the swivel table is unexpectedly stopped due to the operation of the stop device due to the noise signal from the auxiliary sensor, and it is possible to further improve work efficiency and safety. It became.

〔Example〕

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

In the swing-type excavation work vehicle shown in FIG. 4, the swing operation structure for the traveling device 4 of the swing platform 3 provided with the excavation work device 1 and the boarding operation section 2 is configured as shown in FIG. A potentiometer 6 is attached to the operating lever 5 to detect its operating state,
Based on the information from potentiometer 6,
A first controller 9 is provided to automatically operate an electromagnetic comparison control valve 8 for the swing motor 7 so as to rotate the swing base 3 in a direction commensurate with the operating direction of the lever 5 and at a speed commensurate with the operating amount. In addition, rotation angle information θ from the main sensor 16 for detecting the rotation angle of the anti-travel device attached to the rotation drive part of the swivel base 3, and
Based on the information from the potentiometer 6, the swivel base 3 is rotated in a direction commensurate with the operating direction of the lever 5 and in a preset speed change state, with the lever operation as a start command, and A second controller automatically operates the proportional control valve 8 so as to stop the proportional control valve 8 at the rotation angle θf artificially set by the setting device 11.
A controller 12 is installed in the microcomputer M, and a circuit switch 13 is further provided for selectively connecting the first and second controllers 9 and 12 to the proportional control valve 8. Thus, the first controller 9 can selectively perform an artificial turning operation and the second controller 12 can perform an automatic turning operation.

To configure the rotation angle detection sensor unit including the main sensor 16, as shown in FIGS. , a main sensor 16 composed of a rotary encoder is interlocked and connected via a universal joint 17 for protection, and the detected information value from the main sensor 16 is used as the rotation angle information θ for the automatic turning operation. 2 controller 12, and the rotating shaft 15
Two photo-interrupter type auxiliary sensors 19A and 19B detect the rotation angle of the rotating member 18 by detecting that one detected rotating member 18 attached to the rotating shaft 15 passes as the rotating shaft 15 rotates.
is provided on the rotation locus of the rotating member 18.

And those two auxiliary sensors 19A, 1
The rotation angle information value from 9B and the rotation information value from the main sensor 16 are compared to determine whether the difference between them exceeds the setting, and when the difference exceeds the setting, the buzzer type notification device 20 and the micro A trouble determination circuit 22 that automatically activates the swivel table emergency stop device 21 connected to the second controller 12 in the computer M is built into the microcomputer M, and the trouble detection circuit 22 automatically activates the swivel table emergency stop device 21 connected to the second controller 12 in the microcomputer M.
7, electrical and mechanical troubles such as damage to the swivel base 3 can be reliably detected, and the swivel base 3 can be prevented from running out of control due to the input of erroneous detection information caused by these troubles. It is structured in such a way that it can be recognized. The auxiliary sensors 19A, 19B and the trouble determination circuit 22
The signals output from the auxiliary sensors 19A and 19B based on the passage of the rotating member 18 are
As shown in FIG.
Discrimination command means 23 is provided for giving an operation command to 2.

In other words, the auxiliary sensor 19 to the discrimination circuit 22
The information is read from the interrupt terminals A and 19B, and when the signals output from the auxiliary sensors 19A and 19B are continuously output for a period of Δt, it is assumed that the photo interrupter is turned ON and a regular signal is output. , the determination circuit 22 performs the determination, and the rotation angle information of the main sensor 16 and the auxiliary sensors 19A, 19B are compared, and if the determination result is abnormal, it is determined that there is an error and the notification device 20 and the swivel table emergency are activated. Activate the stop device 21.

The auxiliary sensors 19A and 19B output pulse signals when the rotating member 18 passes, and the determination command means 23 determines whether the signals from the auxiliary sensors 19A and 19B have been output continuously for a set time Δt. In order to judge whether or not a pulse signal is continuously output multiple times within a set time Δt, if a noise signal is output, it is determined momentarily as shown in Figure 3 B. Since it is only issued once, it is considered a correct signal if it is issued multiple times.

[Another example]

The swivel table stopping device 21 is referred to as a swivel table stopping device, and the trouble determining circuit 22 is referred to as a determining means.

[Brief explanation of drawings]

The drawings show an embodiment of the safety device for a swivel type work vehicle according to the present invention, and FIG. 1 is a swivel table control circuit diagram, and FIG.
The figures are a cross-sectional view taken along the line -- in FIG. 1, FIG. 3A is a correct signal, B is a waveform diagram showing a noise signal, and FIG. 4 is an overall side view of the revolving excavation vehicle. 3...Swivel base, 12...Second controller, 15...
Rotating shaft, 16... Main sensor, 18... Rotating member, 19A, 19B... Auxiliary sensor, 20...
Notification device, 21...Swivel stop device, 2, 22...
...Discrimination means, 23...Discrimination command means.

Claims (1)

[Claims] 1 The rotation angle detection main sensor 16 linked to the controller 12 that automatically adjusts the speed of the swivel base 3 is linked to the swivel base driving rotating shaft 15 to detect the rotation angle of the rotating member 18 attached to the rotating shaft 15. optical or magnetic auxiliary sensors 19A, 19B are provided, and determining means 22 is provided for determining whether the difference between the information values from the main sensor 16 and the auxiliary sensors 19A, 19B is greater than or equal to a set value; This is a safety device for a swivel type work vehicle, which is equipped with a notification device 20 and a swivel table stop device 21 that automatically operate when the value exceeds a set value based on the information of the auxiliary sensors 19A, 19B and the discrimination means 22. During this period, it is determined whether or not the signals outputted from the auxiliary sensors 19A and 19B based on the passage of the rotating member 18 are continuously output for a set time, and the signals are correct only when they are output continuously for a set time. Discrimination command means 2 which determines that the signal is a signal and gives an operation command to the discrimination means 22.
Safety device for rotating work vehicles equipped with 3.