JPS62258024A - Slewing type working vehicle - Google Patents

Abstract

PURPOSE:To exactly, quickly, and automatically stop a slewing base of working vehicle even on any of left and right-handed stop positions by a method in which a converter is provided for each of left and righthanded electromagnetic proportional control valves and a device to freely regulate the correlation between output voltage and indicating current is provided for the converter. CONSTITUTION:A controller 20 by which automatically stop a slewing base 2 on a set position by detecting the turning direction and the angle of the base 2 with a working device 4 is provided. Electromagnetic proportional control valves 10A and 10B by which regultate the speed of the base 2 by any of left and right-handed turning directions are attached to left and right sides. Converters 11a and 11b by which convert output voltage V from the controller 20 into indicating current (i) for controlling the valves 10A and 10B are separately provided. A device 30 to freely regulate the correlation between output voltage V and indicating current (i) is also provided for each of the converters 11a and 11b. Since the left and right slewing speed characteristics can be matched with each other by differentiating the indicating current (i), the operability and the operation accuracy can be enhanced.

Description

Detailed Description of the Invention [Industrial Application Field] The present invention provides a control device that detects the rotation direction and rotation angle of a swivel base equipped with a working device and automatically stops the swivel base at a set position, A pair of left and right electromagnetic proportional control valves are provided to control the speed of the swivel base in either the left or right direction of rotation, and
The present invention relates to a swing-type working vehicle that is provided with a conversion means for converting an output voltage from the control device into a control instruction current for the electromagnetic proportional control valve.

(Prior Art) Conventionally, the above-mentioned swing-type work vehicle has only one stage of converting means so as to apply the same control instruction current to the left and right electromagnetic proportional control valves, respectively.

[Problem that the invention seeks to solve]

However, the quality of the left and right electromagnetic proportional control valves varies, and the operating characteristics shown by the relationship between the indicated current (i) and the swing speed (θ) in Fig. 4 (2)) differ in each swing direction ( ^), (
In this case, one conversion means outputs the output voltage (v) and indicated current (i) of Fig. 4(a) to the left and right electromagnetic proportional i11 control valves. As shown in the relationship, since only the same instruction current (i) is output, the right turning speed characteristic and left turning speed characteristic with respect to the output voltage (v) are as shown in (A) and (B) in Fig. 4 (c). ), there were different cases.

An object of the present invention is to enable different instruction currents to be applied to the left and right electromagnetic proportional control valves.

[Means for solving problems]

A characteristic configuration of the swing-type work vehicle of the present invention is that the converting means is provided separately for the left and right electromagnetic proportional control valves, and the correlation between the output voltage and the indicated current can be adjusted separately for each of the converting means. The reason for this is that there is a means to do this, and its effects are as follows.

[For production]

In other words, the operating characteristics of the left and right electromagnetic proportional control valves are
The correlation between the output voltage (V) and the instruction current (i) of the conversion means for converting the output voltage (V) provided for each left and right into the instruction current (i), even if they are different as shown in Figure co+. is adjusted as shown in (A) and (B) in Figure 3 B), and the turning speed characteristics are adjusted by applying different command currents to the left and right electromagnetic proportional control valves according to their operating characteristics. can be made to match left and right as shown in FIG. 3(c).

〔Effect of the invention〕

Therefore, it is possible to accurately stop at a predetermined set position in both the left and right turning directions.Furthermore, in general, when turning the swivel table left and right on a slope, since the inertia differs depending on the left and right turning direction, Even if there is little variation in the quality of the left and right electromagnetic proportional control valves, it may be difficult for the left and right swing speeds to match. It was possible to adjust the turning speed to be the same on the left and right sides, and it was possible to automatically stop both the left and right stops accurately and quickly, improving work efficiency and work accuracy.

〔Example〕

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

As shown in FIG.
) is provided with a boarding and driving section (3), and a backhoe device (4) is attached thereto to constitute a revolving excavation work vehicle.

As illustrated in FIG.
The oil passage is connected through an operating valve (7) that switches to left turn and stop, and the operating valve (7) is a proportional control valve that continuously adjusts the amount of oil supplied to the motor (5) in the drive operating position. It is configured to be used as both the type flow rate control valves (A) and (10B).

The pilot pressure oil supplied from the control hydraulic pump (9) operates the operation valves (7) (flow control valves (A), (1)
0B)), cut tA, and perform proportional adjustment.
A pair of left and right electromagnetic proportional control valves (1
0A) and (10B) are provided.

(12) in the figure shows the swivel base (2) during the swivel stop operation.
It is a valve mechanism that prevents inertial idle rotation of (1).
3) is a safety valve mechanism that avoids unreasonable motor drive when the swing load is overloaded by short-circuiting the circulating oil path.

The turning operation lever (14) provided in the operating part (3) is connected to the frozen state Li (that is, the operation valves (7), (A)
, (operation state for (10B))
5) is composed of a potentiometer, and a detector (17) is attached to detect the angle (θ) of the swivel base (2) relative to the vehicle body.
) consists of a row encoder and is attached to the swing drive unit.

And automatic manual changeover switch (1A), (10B)
is in the manual state, based on the information from the operating state detection device (15), in a direction commensurate with the operating direction of the operating lever (14) and in accordance with the amount of swing operation of the operating lever (14). In order to drive the swivel base (2) to rotate at the speed,
Voltage (V) (No. 8 gives a command to the proportional valve controller (11) to control the operating valves (7), (A), (10).
B), and on the other hand, the changeover switch (1A),
(10B) is in the automatic state, the operation state detection device (
15) and the vehicle body angle detector (17), the lever is activated when the lever operation is the activation command.
A setting device (19A) that automatically drives the swivel base (2) to rotate in a direction commensurate with the operating direction of (14) and at a preset rotation speed pattern.

In order to automatically stop the swivel base (2) at the manually set stop position (or) by (19B), the output voltage (V) for the governor command including stop is sent to the proportional valve controller (11). Give and operate valves (7), (A), (10
A control device (20) for automatically operating B) is provided using a microcomputer, so that manual turning control and automatic turning control can be performed alternatively.

The proportional valve controller (11) is provided separately for the left and right electromagnetic proportional control valves (10A) and (10B),
and a pair of left and right conversion means (lla) and (llb) for converting the output voltage (v) from the control device (20) into control instruction current (+) for the electromagnetic proportional control valves (10A) and (10B). ), and the conversion means (
lla).

(llb) A volume switch that allows the correlation between the output voltage (V) and the indicated current (i) to be adjusted individually (
30) is provided.

A button switch (21) protruding toward the OFF side is attached to the grip of the operating lever (14), and the switch (21) is connected to an automatic manual switching circuit in the control device (20). , the button switch (21) is connected so that the swing control state becomes the manual control state when the button switch (21) is in the ON state, so that the changeover switch (1A), (
10B) to the automatic side and performing automatic turning control, the automatic turning control state can be canceled and manual turning control can be performed only while pressing the button switch (21). It is composed.

The setting devices (19A) and (19B) are used to separately set the stop position when turning to the right and the stop position when turning to the left.

Other additional devices shown in FIG. 1 will be explained.

(22) In the automatic turning control state, each setting device (1
The automatic turning range set by 9A) and (19B) is displayed by selective lighting of multiple lamps (22A) arranged circumferentially as angle display scales, and reference markers (22B) for these scales. and the lamp that is lit (
22A) is a display device that displays the rotation phase with respect to the set stop position (or) in a correlated positional relationship.

(23) is an auxiliary vehicle body angle detector configured with a photointerrupter, which controls the vehicle body angle information given from this and the vehicle body angle information given from the vehicle body angle detector (17) mentioned above. The device (20) is configured to perform a comparison to check whether or not the original vehicle body angle detector (17) is operating normally.

(25) means that when the set stop position (θf) shifts relative to the ground due to reactionary movement of the vehicle body (1), the swivel base (2) is manually rotated to the position above the ground where it should originally have been stopped. Both setting devices (19
^)+ This is a deviation correction switch for automatically correcting the two stop positions (θf) set by (19B) by the amount of deviation movement of the vehicle body (1) within the control device (20).

(26) is a manual operation of the engine stop pedal (26A) provided in the driving section (3) or a control device!
This is a device that emergencyly stops the engine (E) in response to a command from the trouble detection circuit in (20).

(27) is connected to the valve controller (1) from the control device (20).
1) This is a speed regulator that changes the swing speed level during automatic swing control and during manual swing control by changing the voltage level of the voltage signal applied to.

(2A), (10B) are each switch (1B), (
25), setting device (19A).

(19B) This is a lamp that displays the operating status.

[Another example]

In place of the backhoe device (4), other devices may be provided, and these devices are collectively referred to as working devices.

An operation valve (7) that switches the swivel base (2) to right, left, and stop, and a control valve (A) that changes the rotation speed by changing the amount of oil supplied to the motor (5). 10B) may be configured separately, and these valves (7).

The specific operating configuration of the control device (20) for (A) and (10B) can also be changed in various ways.

The present invention is directed to various types of swing-type work vehicles for various uses such as agricultural use and construction use.

Instead of the volume switch (30), other adjusting devices may be used, and these are collectively referred to as adjustable means.

[Brief explanation of drawings]

The drawings show an embodiment of the swing-type work vehicle according to the present invention, and the first embodiment
The figure is a circuit diagram showing the operation system of the swivel table, Figure 2 is an overall side view of the work vehicle, Figures 3 (a), (b), and (c) are graphs showing each characteristic, and Figure 4 (A), (B), and (C) are graphs showing each conventional characteristic. (2)... Swivel base, (4)... Working device, (10^). (10B)...Solenoid proportional control valve, (20).
...control device, (30) ...means for freely adjusting, (V) ...output voltage, (i) ...
... Indication current, (θf) ... Setting position.

Claims (1)

[Claims] A control device (20) is provided that detects the rotation direction and rotation angle of a swivel base (2) equipped with a working device (4) and automatically stops the swivel base (2) at a set position (θf). A pair of left and right electromagnetic proportional control valves (10A) and (10B) are provided to regulate the speed of the swivel table (2) in the rotational direction of the rotary table (2). A swing-type working vehicle is provided with a conversion means for converting into an instruction current (i) for controlling the proportional control valves (10A) and (10B), the left and right electromagnetic proportional control valves (
10A) and (10B), the converting means is provided separately, and means (30
) is a swivel type work vehicle.