JPH0681373A - Work vehicle controller - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a controller for a work vehicle capable of simplifying the structures of a slip ring and a center joint and suppressing noise. [Configuration] The lower moving body 1 and the upper revolving structure 2 are respectively provided with a front mechanism 7 and active suspension hydraulic units 12a and 12b which are controlled by a controller. The control target on the upper swing body 2 is controlled by the controller 211, and the control target provided on the lower moving body 1 is controlled by the controller 212. Controller 21
1, the power is supplied to the controller 1 directly from the battery 18, and the controller 212 is supplied from the battery 18 via the center joint 30. Since the line passing through the center joint 30 is only the power supply line, the structure of the center joint 30 and the slip ring inside thereof is simple.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work vehicle controller installed on a work vehicle for performing work using electric control means.

[0002]

2. Description of the Related Art Work vehicles are widely used in various fields such as civil engineering, construction and the like. Many of the work mechanisms provided in such work vehicles are driven by an electric control means. This will be described by taking a hydraulic excavator as an example.

FIG. 2 is a side view of the hydraulic excavator. In the figure, reference numeral 1 denotes a lower moving body, which includes a chassis 11, active suspension hydraulic units 12a and 12b, and wheels 13.
It is composed of a and 13b. Reference numeral 2 is an upper swing body which is supported by the lower moving body 1 by a swing joint portion 3 so as to be swingable. Four
Is a boom rotatably connected to the upper swing body 2, 5 is an arm rotatably connected to the boom 4, 6 is a bucket rotatably connected to the arm 5, 4S is a boom cylinder, 5S
Is an arm cylinder, 6S is a bucket cylinder, and these constitute a front mechanism 7 which is a working unit.
Reference numeral 8 denotes a cabin installed on the upper swing body 2.

FIG. 3 is a circuit diagram of a hydraulic circuit for driving the boom cylinder 4S, the arm cylinder 5S, and the bucket cylinder 6S. 15 is a variable volume mechanism 15 such as a swash plate
Reference numeral 15b denotes a hydraulic pump provided with a, 15b a regulator for controlling tilting of the variable spring volume mechanism 15a, and 16 a prime mover such as an engine for driving the hydraulic pump 15. 17 is a power generator operated by the prime mover 16, 18 is a power generator 17
It is a vehicle-mounted power supply (battery) that is charged by. 1
A flow control valve group 9 includes a flow control valve 194 that controls the drive speed and drive direction of the boom cylinder 4S, and a flow control valve 1 that controls the drive speed and drive direction of the arm cylinder 5S.
95, and a flow rate control valve 196 for controlling the drive speed and drive direction of the bucket cylinder 6S. 20
Is a tank for accumulating hydraulic oil. These are all installed in the upper swing body 2.

Reference numeral 21 is each flow control valve 194, 195, 19
6, a controller for controlling the regulator 15b, the prime mover 16, etc., and is installed in the cabin 8. Controller 21
When an operation lever (not shown) for operating the boom 4, the arm 5 and the bucket 6 is operated, an electric signal corresponding to the operation amount is input, and corresponding one of the flow rate control valves 194 to 196 is responded based on the electric signal. Control what you do. In addition, the regulator 15 is adjusted according to the load pressure when the boom cylinder 4S, the arm cylinder 5S, and the bucket cylinder 6S are driven.
b and the prime mover 16 are controlled to adjust the discharge flow rate and the rotation speed of the hydraulic pump 15. Reference numeral 30 denotes a center joint, and even if the upper swing body 2 is swinging, the center joint 3
A swivel joint and a slip ring (not shown) provided inside 0 of the lower moving body 1 allow the pressure oil of the hydraulic pump 15 and the electric signal from the controller 21 to be not hindered.
It has the function of sending to. In the figure, the line indicated by the broken line indicates an electric signal line.

FIG. 4 is an explanatory view showing the construction of the active suspension hydraulic units 12a and 12b shown in FIG. In the figure, the same parts as those shown in FIGS. 1 and 2 are designated by the same reference numerals. Reference numerals 12c and 12d are active suspension hydraulic units for the other two wheels not shown in FIG. Since the active suspension hydraulic units 12a to 12d have the same configuration, the active suspension hydraulic unit 12 will be described below.
The configuration of a will be described.

Reference numeral 130a indicates an axle of the wheel 13a. 12
Reference numeral 0a denotes a spring mounted between the chassis 11 and the axle 130a, 121a denotes a vibration suppressing hydraulic cylinder, and 122a.
Is an electromagnetic proportional pressure control valve that controls the hydraulic cylinder 121a, 123a is an acceleration sensor that detects vibration of the chassis 11, and 124a is a pressure sensor that detects the pressure of the hydraulic cylinder 121a. In the figure, the line indicated by the broken line indicates an electric signal line as in the case shown in FIG.
Further, the center joint 30 and the electromagnetic proportional pressure control valve 122
A solid line between a to 122d indicates a hydraulic line connecting the two.

The detection signals of the acceleration sensors 123a to 123d of the active suspension hydraulic units 12a to 12d and the detection signals of the pressure sensors 124a to 124d are introduced into the controller 21 via the center joint 30, and the controller 21 detects them. A predetermined calculation is performed based on the value, and the result of this calculation is output as an electric signal to the electromagnetic proportional pressure control valves 122a to 122d to output the hydraulic cylinder 121a.
The pressure of ~ 121d is controlled, and thereby the vibration suppression operation of the vehicle is actively performed, the ride comfort of the operator is improved, and the failure of the mechanism due to the vibration is prevented.

[0009]

In the above structure, since the controller 30 is provided in the revolving upper revolving superstructure 2, the signals received from the acceleration sensors 123a to 123d and the pressure sensors 124a to 124d and the electromagnetic proportional pressure are used. The control signals to the control valves 122a to 122d are transmitted and received via the slip ring of the center joint 30. In this case, if each signal requires a signal line and a ground line, there are a total of 24 signal lines, and the slip ring requires 24 channels. Moreover, since not only the control of the active suspension hydraulic unit but also the four-wheel steering control and the antilock brake control are performed on the lower moving body 1, the number of channels required for the slip ring is increased accordingly.

By the way, when the number of channels of the slip ring becomes large, not only the structure of the slip ring itself becomes complicated, but also the structure of the center joint becomes complicated because the slip ring is constructed in combination with the center joint. was there. Further, since the signal is transmitted to the lower moving body through the slip ring and the signal line is lengthened, the signal may be easily affected by noise and the desired control may not be possible.

An object of the present invention is to solve the above problems in the prior art and provide a controller for a work vehicle capable of simplifying the structures of the slip ring and the center joint and reducing noise. Especially.

[0012]

In the work vehicle, most of the mechanisms to be controlled by the controller are conventionally concentrated on the upper swing body, and also for monitoring the controller including the power source. It was taken for granted that the controller be installed on the upper swing body. However, in recent years, riding comfort, steerability, safety, etc. have been taken into consideration for work vehicles as well as general vehicles, and various mechanisms to be controlled by the controller are also provided in the lower moving body. It became so. However, it was still taken for granted that the controller was installed in the upper swing body, and no consideration was given to the above-mentioned problems. The present inventors achieved the above-mentioned object by separately installing the controller in the upper swing body and the lower moving body.

That is, according to the present invention, a lower moving body, a first control mechanism group provided on the lower moving body for controlling the traveling of the lower moving body, and a rotatably supported on the lower moving body. In a work vehicle including an upper revolving superstructure, a working mechanism supported by the upper revolving superstructure for performing various operations, and a second control mechanism group for controlling the operation of the working mechanism. Is provided with a first controller for electrically controlling the operation of the first control mechanism group, and a second controller for electrically controlling the operation of the second control mechanism group is provided on the upper swing body. A controller and a driving power source for the first controller and the second controller are provided.

[0014]

Since the first controller is provided in the lower moving body, the exchange of signals between the first control mechanism group and the first controller is performed without passing through the slip ring or the center joint. . Similarly, since the second controller is provided in the upper swing body, the exchange of signals between the second control mechanism group and the second controller is also performed without passing through the slip ring or the center joint. . Only the power supply from the drive power supply to the first controller is transmitted via the slip ring and the center joint.

[0015]

The present invention will be described below with reference to the illustrated embodiments. FIG. 1 is a side view of a work vehicle according to an embodiment of the present invention. In the figure, the same parts as those shown in FIG. 2, FIG. 3 and FIG. The illustration of each cylinder is omitted. In this embodiment, the conventional controller 21 shown in FIG. 3 and FIG.
A portion having a function of controlling the operation of each control mechanism installed in the upper swing body 2, such as the regulator 15b and the prime mover 16, and the active suspension hydraulic unit 12a.
.About.12d, etc., are divided into a part having a function of controlling the operation of each control mechanism installed in the lower moving body 1, each of these parts is configured as an independent controller, and the former controller is used as the upper swing body 2 And the latter controller is installed at a proper position on the chassis 11 of the lower moving body 1. Figure 1
Further, the former controller is indicated by reference numeral 211, and the latter controller is indicated by reference numeral 212. The drive power of each controller 211, 212 is supplied by the battery 18, and is supplied to the controller 212 via a slip ring provided in the center joint 30. Reference numeral 22 is a protective box that houses the controller 212.

As described above, in this embodiment, the controller 211 provided in the cabin 8 only controls the mechanism installed in the upper revolving structure 2, and the controller 212 provided in the chassis 11 moves it downward. Since only the mechanism installed in the body 1 is controlled, the electrical line via the slip ring is only the power supply line from the battery 18 to the controller 212, and the structure of the slip ring, and by extension, the center joint is adopted. It can be dramatically simplified. Further, since the slip ring does not intervene in the signal line between the controller 212 and each part and the signal line becomes short, noise can be reduced. Further, since the controller 212 is housed in the protective box 22, the controller 212 is protected from vibration during movement of the hydraulic excavator, and control is performed by collision of earth and sand scattered during work and road projections during traveling. You can avoid damage to the vessel.

Although the hydraulic excavator has been described as an example in the above description of the embodiment, it is naturally applicable to other work vehicles having an upper swing body. In addition, the installation location of each controller can be appropriately selected.

[0018]

As described above, according to the present invention, the first control for electrically controlling the operation of the first control mechanism group which controls the lower moving body to control the traveling of the lower moving body. And a second controller for electrically controlling the operation of the second control mechanism group for controlling the working mechanism on the upper revolving structure, and driving of the first controller and the second controller. Since the power supply is provided, the electrical line via the slip ring is only the power supply line from the power supply to the first controller, and the structure of the slip ring and thus the center joint can be dramatically simplified. Further, since the slip ring does not intervene in the signal line between the first controller and each part and the signal line becomes short, noise can be reduced.

[Brief description of drawings]

FIG. 1 is a side view of a work vehicle equipped with a controller according to an embodiment of the present invention.

FIG. 2 is a side view of a conventional work vehicle.

FIG. 3 is a circuit diagram of a hydraulic circuit of the front mechanism shown in FIG.

FIG. 4 is an explanatory diagram of an active suspension hydraulic unit shown in FIG.

[Explanation of symbols]

1 Lower Moving Body 2 Upper Revolving Body 7 Front Mechanism 11 Chassis 12a, 12b Active Suspension Hydraulic Unit 13a, 13b Wheels 18 Battery 30 Center Joint 22 Protective Box 211, 212 Controller

Claims (2)

[Claims] 1. A lower moving body, a first control mechanism group which is provided on the lower moving body and controls the traveling of the lower moving body, and an upper turning which is turnably supported by the lower moving body. In a work vehicle including a body, a work mechanism supported by the upper swing body to perform various works, and a second control mechanism group for controlling the operation of the work mechanism, the lower moving body is provided with the first control mechanism. A first controller for electrically controlling the operation of the first control mechanism group is provided, and a second controller for electrically controlling the operation of the second control mechanism group is provided on the upper revolving structure. A controller for a work vehicle, wherein a drive power source for a first controller and a drive power source for the second controller is provided. 2. The controller for a work vehicle according to claim 1, wherein the first controller is housed in a protective box.