JPH0441221B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a sensor for detecting the turning position of a turning base, and based on information from the sensor,
A right setting device is provided to set the turning position at the time when the setting operation is performed as the right stop position, and a left setting device is provided to set the turning position at the time when the setting operation is performed as the left stop position. , when a right turning operation is performed, the swivel base is automatically stopped at a right stop position set by the right setting device, and when a left turning operation is performed, the swivel base is automatically stopped at a left stop position set by the left setting device. This invention relates to a turning work vehicle equipped with a control device that automatically stops.

[Conventional technology]

Conventionally, in the above-mentioned turning work vehicle, the right stop position and left stop position can be set at any time, and regardless of the relative positional relationship between the set right stop position and left stop position, , the structure was such that only the right turn was automatically stopped at the right stop position, and only the left turn was automatically stopped at the left stop position (I cannot provide any literature).

[Problem that the invention seeks to solve]

However, if, for example, the operator accidentally touches the left setting device when setting the right stop position and both the right and left stop positions are set, the operator cannot set the right stop position. Therefore, even though it is recognized that turning to the right is not possible from the position where the setting operation was performed, turning to the right may be unexpectedly permitted, which is still a safety issue. There was room for improvement.

In other words, the left and right setting devices each set the turning position at the time the setting operation was executed as the stop position based on the information from the turning position detection sensor, but as described above, the setting of the right stop position is If the left stop position is accidentally set at the same time, even if the setting is performed while the aircraft is stopped, there may be slight fluctuations in the sensor detection value due to vibrations of the aircraft, and the setting timing of the right stop position may be affected. Due to a slight difference between the setting timing of the left stop position and the left stop position, a positional deviation Δθ may occur between the right stop position θ _R and the left stop position θ _L as shown in Figure 2 A or B. be.

However, even if such a positional deviation Δθ occurs, as shown in Figure 2A, the left-right positional relationship between the set right stop position θ _R and left stop position θ _L is not correct when viewed from the position where the setting operation was performed. If it is appropriate, there will be no particular safety problem as the range in which the turn can be made will simply be restricted within the width of the positional deviation Δθ, but as shown in Figure 2 (b), the set right stop position θ _R The left-right positional relationship between and the left stop position θ _L is reversed from the position where the setting operation was performed, and the incorrectly set left stop position θ _L is later than the right stop position θ _R in terms of timing. If it is set, the possible turning range will be the entire turning range excluding the width of the positional deviation Δθ, and the setting operation will be completed at the left stop position _θL , which is later in timing. Therefore, contrary to the operator's recognition that the right stop position θ _R has been set, a right turn from the set operation position is allowed.

The above example shows a case where the left stop position is mistakenly set at the same time when the right stop position is set, but it is also possible to mistakenly set the right stop position at the same time when setting the left stop position. If this happens, a situation may occur in which a left turn from the set operation position is unexpectedly allowed contrary to the operator's knowledge, as described above.

The object of the present invention is to prevent the operator from turning in a direction unintended by the operator accidentally setting the other stop position at the same time when setting one of the left and right stop positions. The point is to prevent this.

[Means for solving problems]

The characteristic structure of the turning work vehicle according to the present invention is based on information from a sensor that detects the turning position of the turning base, and sets the turning position at the time of setting operation to the right stop position for right turning automatic stop and the left turning position. In a swing automatic stop configuration that is provided with a right setting device and a left setting device that are individually set as the left stop position for automatic rotation stopping,
A safety control means for disabling the turning operation of the turning base when the turning angle difference between the right stop position and the left stop position set by the right setting device and the left setting device becomes smaller than a set minimum angle difference. The functions and effects are as follows.

[Effect]

In other words, when setting the left and right stop positions, you accidentally set the other stop position at the same time, and there is a small difference in the setting timing between the right and left stop positions. When a slight angular difference occurs in the turning angle due to misalignment or small fluctuations in the detection value of the turning position detection sensor, turning in a direction contrary to the operator's recognition is allowed. Therefore, whether or not the turning angle difference between the set right and left stop positions is a minute angle difference caused by incorrectly setting the right and left stop positions at the same time. An appropriate minimum angle difference is set in advance as a standard for determining The simultaneous setting makes it impossible to swivel the swivel base as if the right stop position and left stop position had been set.

〔Effect of the invention〕

As a result, when setting one of the left and right sides, you may accidentally set the other side at the same time.
It is possible to reliably prevent the operator from unexpectedly being allowed to turn in a direction that the operator knows cannot be turned, and to avoid unforeseen situations such as accidents caused by turning in a direction that is contrary to the operator's awareness. As a result, we have been able to ensure a high level of safety.

〔Example〕

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

As shown in FIG. 4, a swivel base 2 is attached to a crawler-type traveling vehicle body 1 so as to be freely driven and swiveling around a vertical axis P by a drive device 3 such as a hydraulic motor, and a boarding operation section 4 is mounted on the swivel base 2. It is also equipped with a backhoe device 5, thereby forming a revolving excavation vehicle.

As shown in FIG. 1, an operation state detection sensor 7 for detecting the operation state (horizontal swing operation direction and swing operation amount) of the swing operation lever 6 provided in the driving section 4 is connected to a potentiometer. On the other hand, the turning base 2 is provided with a turning position detection sensor 8 for detecting the turning position, that is, the turning angle θ with respect to the traveling vehicle body 1.

When the automatic/manual changeover switch 9 is in the manual state, based on the information from the operation state detection sensor 7, the swing operation of the swing operation lever 6 is performed in a direction commensurate with the operating direction of the swing operation lever 6. The driving device 3 is operated so as to rotate the swivel base 2 at a speed corresponding to the amount of the amount, and the changeover switch 9
is in the automatic state, based on the information from the operation state detection sensor 7 and the rotation position detection sensor 8, the rotation operation is performed in the operating direction of the rotation operation lever 6 and in a preset rotation direction with lever operation as the activation command. The swivel base 2 is automatically driven to rotate at a rotation speed that follows the speed change pattern, and the stop positions θ _R and θ _L are set by the setting devices 10R and 10L.
A control device 11 is provided to operate the drive device 3 so as to automatically stop the swivel table 2 at a time, so that manual turning and automatic turning can be performed selectively.

The setting device for setting the stop position includes a right setting device 10R for setting the automatic stop position for right automatic turning (hereinafter referred to as right stopping position θ _R ), and a right setting device 10R for setting the automatic stopping position for left automatic turning (hereinafter referred to as right stopping position θ R). , a left setting device 10L for setting the left stop position θ _L ),
These left and right setting devices 10R and 10L are configured to individually set the turning position θ at the time of setting operation as the right stop position θ _R or the left stop position θ _L based on information from the turning position detection sensor 8. It's summery.

Also, when setting the left and right stop positions, the operator may accidentally touch the setting device on the other side, causing the right and left stop positions θ _R and θ _L to be set at the same time without the operator noticing. As a safety measure against the setting, when the turning angle difference Δθ between the set right stop position θ _R and the left stop position θ _L becomes smaller than the set minimum angle difference Δθmin, the swivel base 2 automatically rotates. Safety controller 12 that disables
As a result, automatic turning in a direction in which the operator recognizes that automatic turning from the position set by the operator is no longer possible due to the stop position setting performed by the operator is performed as described above. This is designed to prevent accidental permissions due to incorrect simultaneous settings.

In other words, the left and right setting devices 10R and 10L are
Based on the information from the turning position detection sensor 8,
The turning position θ at the time the setting operation is executed is set as the stop position. For example, if the left stop position θ _L is set by mistake when setting the right stop position θ _R , Even if the setting is performed while the aircraft is stopped, there may be slight fluctuations in the sensor detection value θ due to aircraft vibration, etc., and the right stop position θ _R
Due to a slight difference between the setting timing of the left stop position and the left stop position, there is a positional deviation Δθ between the right stop position θ _R and the left stop position θ _L as shown in Figure 2 A or B. This may occur.

However, even if such a positional deviation Δθ occurs, as shown in Figure 2A, the left-right positional relationship between the set right stop position θ _R and left stop position θ _L is not correct when viewed from the position where the setting operation was performed. If it is appropriate, the range in which automatic turning is possible will simply be limited to the width of the positional deviation △θ, and there will be no particular safety problem. The left-right positional relationship between θ _R and the left stop position θ _L is reversed from the position where the setting operation was performed, and the incorrectly set left stop position θ _L is more timing-wise than the right stop position θ _R
If it is set later than , the range in which automatic turning is possible will be the entire turning range excluding the width of the positional deviation Δθ, and the left stop position θ _L , which is later in timing, will be Since this is the completion position of the setting operation, automatic turning to the right from the set operation position is allowed, contrary to the operator's knowledge that the right stop position θ _R has been set. The above-mentioned safety controller 12 is designed to prevent unexpected situations that go against the driver's knowledge.

The specific control flow of the safety controller 12 is as shown in FIG. 3, and when the turning angle difference Δθ between the set right stop position θ _R and the left stop position θ _L is smaller than the set minimum angle difference Δθmin, Both the right stop position θ _R and the left stop position θ _L are automatically reset to the current position (in other words, the stop position that was set later in terms of timing in the mistaken simultaneous setting). By closing the vehicle, the range in which automatic turning is possible is substantially eliminated, making automatic turning impossible.

[Another example]

Next, another embodiment of the present invention will be described.

In order to disable the turning operation of the swivel base 2 when the turning angle difference Δθ between the set right stop position θ _R and the left stop position θ _L becomes smaller than the set minimum angle difference Δθmin, the turning operation of the swivel base 2 is disabled, as in the above embodiment. , instead of automatically resetting the right stop position θ _R and the left stop position θ _L to the same position and substantially eliminating the range in which the swing can be made, the drive of the swing drive device 3 is changed. The specific structure of the safety control means 12 can be varied in various ways, such as preventing the rotation operation lever 6 from being operated, or preventing the rotation operation of the swivel base 2 by a brake mechanism or the like. Configuration changes are possible.

In the above embodiment, the configuration was such that both turning to the stop positions θ _R and _{θ L} and stopping at the stop positions θ _R and θ _L were automatically performed _. The configuration may be such that only the stop is automatically performed.

The present invention can be applied to work vehicles for various purposes as long as the worker is equipped with a swivel base.

[Brief explanation of drawings]

The drawings show an embodiment of the swinging work vehicle according to the present invention, with FIG. 1 showing the control configuration, FIGS. 2A and 2B showing how to set the stop position, and FIG. FIG. 4 of the flow sheet is an overall side view. 2... Swivel base, 10R... Right setting device, 10L... Left setting device, 11... Control device, 12... Safety control means, θ _R
…Right stop position, _θL …Left stop position, Δθ…Turning angle difference, Δθmin…Minimum setting angle difference.

Claims (1)

[Claims] 1 Sensor 8 that detects the turning position θ of the turning base 2
Based on the information from the sensor 8,
A right setting device 10R for setting the turning position θ at the time of the setting operation as the right stop position θ _R , and a left setting device 10L for setting the turning position θ at the time for the setting operation as the left stop position θ _L , Based on the information from the sensor 8, the swivel base 2 is automatically stopped at the right stop position θ _R set by the right setting device 10R when turning to the right, and when turning to the left, the turning base 2 is automatically stopped at the right stop position θ R when turning to the right. A control device 1 that automatically stops the platform 2 at the left stop position θ _L set by the left setting device 10L.
1, the right setting device 1
When the turning angle difference Δθ between the right stop position θ _R and the left stop position θ _L set by the 0R and left setting device 10L becomes smaller than the set minimum angle difference Δθmin, the turning operation of the swivel base 2 is disabled. A swing work vehicle equipped with a safety control means 12 that