JPH0723621B2 - Swivel work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention provides a swivel equipped with a working device on a traveling vehicle body such that the swivel can be rotated left and right, and the swivel is stopped at a position where it should be automatically stopped. Based on the operation of the setting switch in the state,
A right turning stop setting means for storing the stop position and a left turning stop setting means are provided, and a control device for automatically stopping the turning base at the stop position set by one of the setting means after starting the turning base is provided. Revolving work vehicle.

[Conventional technology]

Conventionally, in the turning work vehicle, only the set stop position storage means for storing only one stop position information is provided for each of the setting means.

[Problems to be Solved by the Invention]

However, for example, when the working device is an excavating device for excavating a groove, in order to excavate a groove having a width larger than the bucket width, a setting stop position instructing the control device from the setting means on either the left or right excavation side. Must be changed frequently, and every time the set stop position is changed, it is necessary to stop the swivel at the changed target stop position and operate the setting switch. There was a drawback that significantly reduced

An object of the present invention is to make it possible to easily change the set stop position.

[Means for Solving the Problems]

In order to achieve the above-mentioned object, a swivel work vehicle according to the present invention is provided with a swivel base equipped with a working device on a traveling vehicle body such that the swivel can be driven to rotate left and right, and the swivel base is stopped at a position where it should be automatically stopped. A right turning stop setting means and a left turning stop setting means for storing the stop position are provided based on the operation of the setting switch in the state, and the stop set by one of the setting means after the turning base is started. A turning work vehicle provided with a control device for automatically stopping at a position, wherein each of the both setting means is provided with a set stop position storing means for setting and storing a plurality of stop positions, and the both setting means. Of the set stop position instructing the control device from each of the two sets of storage information selected from the plurality of storage information set in the set stop position storage means provided in each of the setting means. Wherein configuration that that is provided with a stop position location device.

The operation and effect of this characteristic configuration are as follows.

[Action]

That is, for example, when excavating a groove having a width larger than the bucket width by the excavation work device, in the setting means on the excavation side of both setting means, at least the setting stop position instructing the control device from the setting means is set in the groove. If the two positions at both ends in the width direction are stored in the set stop position storage means, the set stop position instructed to the control device by the stop position selector is set during the excavation work. You can change it with a simple operation that you can selectively retrieve from.

〔The invention's effect〕

Therefore, while easily changing the position where the swivel base is swung in either the left or right swivel direction and automatically stopped, for example, in excavation work, a groove wider than the excavator is accurately and shorter than the conventional one. Can be formed in time,
In addition, in the work of discharging excavated earth and sand etc. to the setting place or installing the lifted load at the setting place, simply change the setting place and discharge it evenly without concentrating in one place. It can be installed, and the turning work efficiency of the turning work vehicle and the working efficiency of the working device can be further improved.

〔Example〕

 Next, an embodiment of the present invention will be described with reference to the drawings.

As shown in FIG. 4, an excavation work device (1) including a boom (1A), an arm (1B), and a bucket (1C) that can be vertically swung and bent and stretched, and a boarding operation unit (2) are mounted on a swivel base. (3), the swivel base (3) is attached to the traveling vehicle body (4) by a hydraulic motor (5) so that the swivel operation can be freely performed.
A turning excavation work vehicle is configured.

To configure the turning operation structure, as shown in FIGS. 1 and 2, a potentiometer type detection device (7) for detecting the operation state of the turning operation lever (6) is attached, and the turning base (3) is rotated. A rotary encoder type detector (8) for detecting the rotation angle (θ) of the swivel base (3) with respect to the longitudinal reference line (l) of the traveling vehicle body (4) is attached to the dynamic drive unit.

Then, when the artificial switching device (9) for selectively switching between the artificial turning operation state and the automatic turning operation state is in the artificial turning operation state, the lever is detected based on the information from the operation state detection device (7). In the direction corresponding to the operation direction of (6),
At the same time, it gives a command to the valve controller (11) of the electromagnetic proportional control valve for swing operation (10) to swing the swivel base (3) at a speed commensurate with the operation amount of the lever (6). When the artificial switching device (9) is in the automatic turning operation state, the lever is operated in a state where the lever operation is a start command based on the information from the operation state detecting device (7) and the vehicle body angle detector (8). (6) The swivel base (3) is swung in a direction commensurate with the operation direction and in a preset speed change state, and further two right turn stop setting means (12A) and left turn stop setting means ( 12B) to the valve controller (11) in order to automatically stop the swivel base (3) at the set stop position (θa) for left turn or the set stop position (θb) for right turn, which are manually set by each. Microcomputer that gives commands automatically A control device (13) composed of a computer is provided.

That is, by using the automatic turning operation state, as shown in FIG. 2, the repetitive turning position between the constant excavation position (A) and the constant earth and sand discharge position (B) is set by both setting means (12).
It can be easily done by just setting the operation at the beginning of work on A) and (12B) and operating the start command on the lever (6).

Further, (15) in FIG. 1 is a traveling vehicle body (4) due to a turning reaction force or a turning stop reaction force in the automatic turning drive state.
It is a deviation correcting means for instructing a correction value in order to correct the both set stop positions (θa) and (θb) when the rotational displacement is made with respect to the ground.

When setting the target stop position, both of the setting means (12A) and (12B) operate the setting switch (16) in a state where the swivel base (3) is stopped at the position where it should be automatically stopped. Based on this, the stop position is configured to be stored,
Each of the setting means (12A) and (12B) is provided with a set stop position storage means (17) for setting and storing a plurality of stop positions, and both of the setting means (12A) and (12B) are provided. Which of the plurality of pieces of stored information the set stop position instructing the control device (13) is set in the set stop position storage means (17) provided in each of the setting means (12A) and (12B). There is provided a select switch (18) as a stop position selector for selecting whether to take out the stored information of.

That is, as shown in FIG. 3, when excavating a groove larger than the width of the bucket (1C), at least one side end position (R1) of the groove to be excavated in one setting means (12A or 12B), (R2) to two setting stop position storage means (1
It is stored in 7) and is constructed so that a groove with an accurate width can be efficiently excavated by switching the select switch (18) during excavation work.

Furthermore, when releasing the excavator, the other setting means (12A
Or in 12B), there are multiple planned release positions (L1), (L
2) By storing, and changing the automatic stop position by switching the select switch (18) from a plurality of set stop position storage means (17), the excavator can be uniformly discharged without being intensively discharged to one place. Therefore, the boom (1A) can be discharged without increasing the rising angle of the boom (1A).

In the figure, (19) is a shift correction switch.

Next, flowcharts are shown in FIGS. That is, FIG. 5 shows the entire flow of automatic turning stop, in which the sensing routine is shown in FIG. 6 and the control routine is shown in FIG.

The software for setting the stop position by the counterclockwise turning stop setting means (12B) is as shown in FIG. 8, and the same applies to the clockwise turning stop setting means (12A).

The left turn automatic stop control to the set stop position is as shown in FIG. 9, and the same is true for the right turn automatic stop control.

[Another embodiment]

The set stop position storage means (17) may be one that can store at least two stop positions.

INDUSTRIAL APPLICABILITY The present invention can be applied to a crane or the like as well as a turning excavation work vehicle such as a backhoe, and they are collectively referred to as a turning work vehicle.

Reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a turning type work vehicle according to the present invention. FIG. 1 is a schematic view showing a turning operation structure, FIG. 2 is an operation explanatory view showing a turning operation, and FIG. 3 is an excavation position and a discharge position. FIG. 4 is an operation explanatory view showing a change, FIG. 4 is an overall side view of the swing type work vehicle,
5 to 9 are flowcharts. (1) …… Working device, (3) …… Swivel base, (4) …… Traveling vehicle, (12A), (12B) …… Setting means, (13) …… Control device, (16) …… Setting Switch, (17) …… Set stop position storage means, (18) …… Stop position selector.

Claims (1)

[Claims] 1. A swivel base (3) equipped with a working device (1),
Right-handed rotation is provided on the traveling vehicle body (4) so that it can rotate right and left, and the stop position is stored based on the operation of the setting switch (16) in a state where the swivel base (3) is stopped at the position where it should be automatically stopped. A turning stop setting means (12A) and a left turning stop setting means (12B) are provided, and the starting position is set to one of the setting means (12A) and (12B) after starting the turning base (3). A turning type working vehicle provided with a control device (13) for automatically stopping, wherein both setting means (12A), (12B) are provided.
A setting stop position storage means (17) for setting and storing a plurality of stop positions is provided for each of the above, and a setting for instructing the control device (13) from each of the both setting means (12A), (12B) Set the stop position to both the setting means (12A), (12B)
Revolving type work provided with a stop position setting device (18) for selecting which stored information from a plurality of stored information set in the set stop position storing means (17) provided in each of car.