JP4083454B2 - Loading device control method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method for controlling a loading device that scrapes dust put into a dust box of a dust collecting vehicle with a rotating plate and pushes it with a pushing plate.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a rotary loading device is known as a device that loads dust that has been put into a dust box of a garbage truck into a dust container.
The rotary loading device includes a rotating plate that is driven to rotate inside the dust box and a pushing plate that reciprocally swings back and forth. Then, the control device recognizes the position of the rotary plate and the push plate, and transmits a control signal to the electromagnetic hydraulic valve and the rotary plate drive motor that supplies hydraulic pressure to the push plate drive hydraulic cylinder at a predetermined timing. The pushing plate pushes the dust scraped up by the rotating plate into the dust box.
[0003]
As position detecting means for detecting the position of the pushing plate and transmitting it to the control device, for example, one disclosed in Japanese Patent Application Laid-Open No. 2001-97504 is known. As shown in FIG. 6, the position detecting means 100 is configured so that the pushing plate detecting member 102 that is fixed to the swing shaft 101 a of the pushing plate 101 and rotates integrally with the pushing plate 101 and the pushing plate detecting member 102 are contacted with each other. And a pressing plate sensor 103 for detection. When the push plate 101 reaches the push completion position where the push plate 101 is fully swung toward the front dust storage box (not shown), the front end 102a of the push plate detecting member 102 is in front of the push plate sensor 103 ( The rear end 102 b is adjusted so as to be separated from the front of the pushing plate sensor 103 when the pushing plate 101 reaches the return completion position fully separated from the dust container box. In FIG. 6, reference numeral 104 indicates a rotating plate, reference numeral 105 indicates a hydraulic cylinder for driving the pushing plate 101, and reference numeral 106 indicates a dust box.
[0004]
The push plate sensor 103 detects an ON signal when the push plate detection member 102 is positioned in front of the push plate sensor 103, that is, when the push plate 101 is located at a position other than the push completion position and the return completion position. When the front end 102a and the rear end 102b of the member 102 are separated from the front of the pushing plate sensor 103, that is, when the pushing plate 101 is in the pushing completion position or the return completion position, an OFF signal is transmitted to the control device. .
When the control device receives a position signal (ON signal or OFF signal) from the push plate sensor 103, the control device transmits a push signal for moving the push plate 101 forward to an electromagnetic hydraulic valve (not shown). Whether the push-in plate 101 is in the return completion position or the push-in completion position is determined.
[0005]
For example, when the push signal is transmitted to the electromagnetic hydraulic valve when the position signal from the push plate sensor 103 changes from the ON signal to the OFF signal, the push plate 101 has moved to the push completion position. Is recognized and memorized.
When the operator operates the loading button, the control device transmits a return signal at a predetermined timing, for example, when the pushing plate 101 is in the pushing completion position based on the stored position of the pushing plate 101. Thus, the control such as moving the pushing plate 101 to the return completion position is performed.
[0006]
[Problems to be solved by the invention]
By the way, for example, an operator operates the electromagnetic hydraulic valve mechanically to clean or repair the loading device, or the pushing plate 101 in the pushing completion position is compressed and accommodated in the dust container box. Moved from the original position (for example, push-in completion position) to the other position (for example, return completion position) due to causes such as receiving pressure from the dust that has been applied, or after that, the original position (eg, push-in completion position) again May come back up.
[0007]
Normally, the control device receives the ON signal from the push plate sensor 102 that detects that the push plate 101 has started to move from the return completion position or the push completion position. Since the position is set to be erased, as described above, for example, when the operator moves the pushing plate 101 from the return completion position or the pushing completion position by mechanically operating the electromagnetic hydraulic valve, etc. There is a problem that the control device cannot recognize the exact position of the pushing plate 101.
Further, the push plate sensor 102 that detects that the moved push plate 101 has returned to the return completion position or the push completion position again transmits an OFF signal to the control device, but the control device transmits a push signal or a return signal. Since the OFF signal from the pushing plate sensor 102 is received in the absence of the pushing plate, the position of the pushing plate 101 cannot be recognized.
[0008]
Then, due to the loss of the position of the pushing plate 101 of such a control device, for example, the pushing plate 101 at the return completion position does not operate. In this case, the operator temporarily stops the loading operation and pushes the pushing plate. It is necessary to reset the position of the pushing plate 101 that the control means has lost by moving the 101 to a position other than the pushing completion position and the return completion position and causing the control device to receive an ON signal from the pushing plate sensor 102. There was a problem that the workability of the garbage loading work was deteriorated.
[0009]
An object of the present invention is to control the loading device that can continue the loading operation by accurately recognizing the position of the pushing plate again when the control device cannot recognize the position of the pushing plate in consideration of the above-mentioned problems. Is to provide a method.
[0010]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the invention described in claim 1 includes a rotating plate that rotates in a dust container box mounted on a dust collecting vehicle and scrapes the dust material that is thrown into the dust container box, and the dust container Swing between the return completion position in the rear of the box and the push-in completion position in the front of the dust throwing box to push the dust picked up by the rotating plate into the dust storage box, and swing the push plate Driving means for controlling the driving means by transmitting a control signal to the driving means, and when the pushing plate is in the return completion position and the pushing completion position, and the return completion position and the pushing completion position. In controlling the loading device provided with a position detecting means for changing the position signal output to the control means, the control means transmits the control signal transmitted to the driving means and the Position detection hand A loader control method for recognizing the position of the push plate based on the position signal from the position and controlling the drive of the drive means, wherein the control means sets the push plate to the return completion position. When it is not possible to recognize whether it is in the push-in completion position When the push plate is moved in one direction in the front-rear direction for a predetermined time and the position signal from the position detection means has not changed, the push plate is moved in the other direction, The pushing plate is swung until the position signal from the position detecting means changes.
[0011]
According to the first aspect of the present invention, for example, in order to clean and repair the loading device, the driving means for swinging the pushing plate is mechanically operated by an operator without outputting a control signal from the control means. Operate and move the pushing plate from the original position, or the pushing plate in the pushing completion position is moved backward by receiving pressure from the dust stored in the dust containing box, The control means cannot recognize the position of the pushing plate.
[0012]
In this case, the pushing plate is swung back and forth until the position signal transmitted from the position detecting means changes. For example, a control signal is output to the drive means so as to move the push plate forward, and when the position signal from the position detection means that detects the push plate moved forward changes, the control means returns to the return completion position. It can be recognized that the existing pushing plate has started moving forward. If the position signal from the position detecting means has not changed, a control signal is output to the driving means so as to move the pushing plate backward. Then, when the position signal from the position detection means changes, the control means can recognize that the pushing plate that was initially in the pushing completion position has started moving backward.
Therefore, even if the control device loses sight of the position of the pushing plate and a malfunction occurs in the loading device, by performing the above-described operation, the position of the pushing plate can be accurately recognized. Since loading operation is completely stopped and the pushing plate is moved to a position other than the pushing completion position and return completion position so that the control means does not need to recognize the position of the pushing plate, the workability of loading work is improved. Can be made.
[0013]
Invention of Claim 2 is the control method of the loading apparatus of Claim 1, Comprising: The said position detection means is the pushing plate detection member rock | fluctuated integrally with the said pushing plate, This pushing plate detection member is used. A push plate sensor that detects and outputs the position signal to the control means, and the push plate detection member is configured such that when the push plate is at the return completion position and the push completion position, the push plate sensor It is arranged to change the position signal to be output.
[0014]
According to the second aspect of the invention, the same effect as in the first aspect can be obtained, and the case where the pushing plate is at the return completion position and the pushing completion position and the case where the pushing plate is located at a position other than the return completion position and the pushing completion position. A position detecting means for detecting and changing a position signal output to the control means; a push plate detecting member that swings integrally with the push plate; and a push plate sensor that detects the push plate detecting member and outputs a position signal; It is roughly composed of
Then, when the push plate is in the return completion position and the push completion position, the shape and the attachment position of the push plate detection member are adjusted so that the position signal output by the push plate sensor is changed.
Therefore, the position detecting means has a relatively simple configuration, and the manufacturing cost of the loading device can be suppressed. In addition, the position detection accuracy of the push plate by the position detection means can be easily finely adjusted simply by changing the shape and attachment position of the push plate detection member.
[0015]
Invention of Claim 3 is the control method of the loading apparatus of Claim 1 or 2, Comprising: The said control means recognizes whether the said pushing board exists in the said return completion position or the said pushing completion position If it is not possible, the push plate is moved in either one of the front and rear directions for a predetermined time, and if the position signal from the position detection means does not change, the push-in is continued until the position signal from the position detection means changes. The board is moved in the other direction.
[0016]
According to the invention of claim 3, when the same effect as that of claim 1 or 2 can be obtained and the control means cannot recognize the position of the pushing plate and the loading device is not activated, The pushing plate is moved in the direction of for a predetermined time.
When setting this predetermined time, move the push plate forward from the position where it was moved farthest back at the return completion position, and the time until the push plate sensor position signal changes, and push plate complete Compared with the time until the position signal of the push-in plate sensor is changed by moving backward from the position moved most forward in the position, it is preferable that the time is equal to or longer than the longer time. .
[0017]
If the position signal of the position detecting means changes while the pushing plate moves for a predetermined time, the control means can recognize the position of the pushing plate at that time. If the position signal from the position detection means does not change while moving for a predetermined time, the pushing plate is moved in the other direction until the position signal from the position detection means changes after the lapse of the predetermined time. The control means can recognize the position of the pushing plate when the position signal of the position detection means changes.
[0018]
Invention of Claim 4 is the control method of the loading apparatus of Claim 1 or 2, Comprising: The said control means recognizes whether the said pushing board exists in the said return completion position or the said pushing completion position If it is not possible, the push plate is moved in either one of the front and rear directions for a predetermined time, and if the position signal from the position detecting means does not change, the push plate is moved in the other direction to a time approximately double the predetermined time. It is made to move.
[0019]
According to the fourth aspect of the invention, the same effect as in the first or second aspect can be obtained, and when the control means loses sight of the position of the pushing plate and the loading device malfunctions, The pushing plate is moved in that direction for a predetermined time.
Regarding the setting of this predetermined time, as in the case described above, the time until the position signal of the push plate sensor is changed by moving the push plate forward from the position where the push plate is moved to the rearmost position at the return completion position, and the push Compare the time until the position signal of the push-in plate sensor changes by moving the plate backward from the position where the plate is moved to the foremost position at the push-in completion position. It is preferable to do.
[0020]
If the position signal from the position detecting means changes while the pushing plate moves for a predetermined time, the control means can recognize the position of the pushing plate at that time. If the position signal from the position detecting means does not change while moving for a predetermined time, after the predetermined time has elapsed, the pushing plate is moved in the other direction for a time approximately double the predetermined time.
Here, when the position signal from the position detecting means does not change, the reason why the pushing plate is moved in the opposite direction for about twice the predetermined time is to move the pushing plate in the opposite direction for a predetermined time. Then, for example, the pushing plate that was originally in the return completion position is moved backward for a predetermined time, and the pushing plate is moved in the opposite direction (forward) for a predetermined time from the state that is located farthest behind the return completion position. In this case, the pushing plate only returns to the point before the start of movement, and the position signal of the position detecting means may not change.
[0021]
In other words, if the position signal from the position detection means does not change while moving the push plate in any one direction, the push plate is moved by moving the push plate in the opposite direction for approximately a predetermined time. Since it passes through the movement start point and moves to a point other than the return completion position or the push-in completion position, the position signal from the position detection means always changes, and the control means can recognize the position of the push-in plate.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a loading apparatus control method according to the present invention will be described below with reference to the drawings.
In the following description, as shown in FIG. 1, the forward / backward direction of the garbage truck 1 is referred to as the front / rear direction.
The loading device 10 is a device that is provided in the dust throwing box 2 and loads the dust thrown into the dust throwing box 2 into the dust storage box 3. The dust bin 2 is pivotally supported on the upper rear portion of the dust storage box 3 and tilted by the expansion and contraction of the lifting hydraulic cylinder 20 to open and close the rear opening of the dust storage box 3. Yes.
[0023]
As the loading device 10, a so-called rotary loading device 10 including a rotating plate 11 and a pushing plate 12 is used. Since the structure of the rotary loading device 10 is well known, detailed description thereof is omitted. As shown in FIG. 2, the rotating plate 11 is pivotally supported on the left and right side surfaces of the dust bin 2 so as to be rotatable in the clockwise direction. It is rotationally driven by a hydraulic motor (not shown). The pushing plate 12 is pivotally supported on both left and right side surfaces of the dust throwing box 2, and reciprocally swings between a return completion position in the rear of the dust throwing box 2 and a pushing completion position in the front in the dust throwing box 2 by expansion and contraction of the hydraulic cylinder 21. Move. Then, the dust scraped up by the rotary plate 11 is moved into the push-in completion position and pushed into the dust container 3.
The lifting hydraulic cylinder 20, hydraulic motor, hydraulic cylinder 21, and electromagnetic hydraulic control valve (not shown) for supplying hydraulic pressure to the lifting hydraulic cylinder 20, hydraulic motor, and hydraulic cylinder 21 are collectively driven. It is called means.
[0024]
For example, when the operator operates the loading button on the operation panel, a control means (not shown) for controlling the driving of the driving means recognizes the positions of the dust box 2, the rotating plate 11, and the pushing plate 12. However, a control signal is transmitted to the electrohydraulic control valve at a predetermined timing to control the driving of the dust bin 2 and the loading device 10.
Note that the positions of the dust box 2, the rotary plate 11, and the pushing plate 12 are detected by the position detecting means 30, 40, 50 shown in FIG. 2, respectively, but the present invention relates to the detection of the position of the pushing plate 12. Therefore, description of the method of detecting the positions of the dust bin 2 and the rotating plate 11 by the position detection means 30 and 40 is omitted.
[0025]
As shown in FIG. 3, the position detecting means 50 for detecting the position of the pressing plate 12 includes a pressing plate detecting member 51 that is fixed to the swing shaft 12a of the pressing plate 12 and rotates integrally with the pressing plate 12, and this pressing. A pressing plate sensor 52 that detects the plate detection member 51 in a non-contact manner is provided. The pushing plate detecting member 51 is composed of a base 52 fixed to the swing shaft 12 a of the pushing plate 12 and a curved plate 53 provided at the tip of the base 52.
The curved plate 53 is formed in a cylindrical wall shape so that a predetermined gap is opened between the surface of the curved plate 53 and the push plate sensor 52, and when the push plate 12 swinging back and forth is in the push completion position and the push plate. When 12 is in the return completion position, the signal (position signal) output from the push-in plate sensor 52 is changed.
[0026]
Specifically, as indicated by a solid line in FIG. 3, at the same time that the pushing plate 12 reaches the pushing completion position, the front end 53a of the curved plate 53 starts to be separated from the front (front) of the pushing plate sensor 52, and As shown by the dotted line in FIG. 3, the shape and the mounting position of the curved plate 53 are set in advance so that the rear end 53 b of the curved plate 53 starts to separate from the front of the pushed plate sensor 52 at the same time when the pushed plate 12 reaches the return completion position. It has been adjusted.
The push-in plate sensor 52 outputs an ON signal to the control means when the curved plate 53 is positioned forward, and outputs an OFF signal to the control means when the curved plate 53 does not exist.
[0027]
Therefore, the control means can recognize that the pushing plate 12 is in a position other than the pushing completion position and the returning completion position while the pushing plate sensor 52 outputs the ON signal, and the pushing plate sensor 52 outputs the OFF signal. It can be recognized that the push-in plate 12 is in the push-in completion position or the return completion position.
Further, when the position signal output from the push plate sensor 52 changes from the ON signal to the OFF signal, the control means can recognize that the rocking push plate 12 has reached the push completion position or the return completion position. Further, when the position signal changes from the OFF signal to the ON signal, it can be recognized that the pushing plate 12 starts swinging and is not in the pushing completion position or the return completion position.
[0028]
Then, the control means, based on the control signal transmitted to the drive means and the position signal transmitted from the position detection means 50 as described above, that is, the position of the push plate 12, that is, the push plate 12 is the push completion position, It is recognized whether the position is at the return completion position, the push-in completion position, or a position other than the return completion position.
The method for recognizing the position of the pushing plate 12 by the control means will be described with reference to the time chart of FIG. 4. For example, when the pushing plate 12 is in the pushing completion position, the curved plate is placed in front of the pushing plate sensor 52 in the state before time T1. Since 53 does not exist, the pushing plate sensor 52 outputs an OFF signal to the control means.
At time T1, the control means transmits (ON) a return signal to the electromagnetic hydraulic control valve. The time T1 corresponds to a point in time when the rotating plate 11 that rotates clockwise passes behind the pushing plate 12 at the pushing completion position and does not prevent the pushing plate 12 from swinging backward.
[0029]
The electromagnetic hydraulic control valve that has received the return signal gradually shortens the hydraulic cylinder 21, so that the pushing plate 12 starts moving backward, and at the time T2 when a minute time has elapsed from the time T1, the front end of the curved plate 53 is reached. 53a is located in front of the pushing plate sensor 52.
At this time, the pushing plate sensor 52 detects the curved plate 53 and outputs an ON signal to the control means. The control means that has received the ON signal from the pressing plate sensor 52 receives the ON signal from the pressing plate sensor 52 while transmitting the return signal, so that the pressing plate 12 moves backward from the pressing completion position. Recognize that it has started.
[0030]
Even after time T2, the control means continues to transmit a return signal to the electrohydraulic control valve, and the pushing plate 12 moves backward.
At time T3, the pushing plate sensor 52 detects that the rear end 53b of the curved plate 53 starts to be separated from the front of the pushing plate sensor 52, and outputs an OFF signal to the control means.
The control means that has received the OFF signal from the pressing plate sensor 52 recognizes that the pressing plate 12 has reached the return completion position by receiving the OFF signal from the pressing plate sensor 52 while transmitting the return signal. Then, the transmission of the return signal to the electromagnetic hydraulic control valve is stopped, and the pushing plate 12 is stopped at the return completion position.
[0031]
Between time T1 and time T4, the rotating plate 11 scoops up the dust thrown into the dust throwing box 2 and stops at the forward rotation completion position (see FIG. 2) near the rear opening of the dust throwing box 2.
At time T4, the control means receives a signal from the position detection means 40 of the rotary plate 11, thereby recognizing that the rotary plate 11 has stopped at the normal rotation completion position, and transmits a push signal to the electromagnetic hydraulic control valve. .
The electromagnetic hydraulic control valve that has received the push signal extends the hydraulic cylinder 21, so that the push plate 12 starts moving forward, and at the time T5 when a minute time has elapsed from the time T4, the rear end 53b of the curved plate 53 is It is located in front of the push plate sensor 52.
At this time, the pushing plate sensor 52 detects the curved plate 53 and outputs an ON signal to the control means.
[0032]
The control means that has received the ON signal from the pressing plate sensor 52 receives the ON signal from the pressing plate sensor 52 while transmitting the pressing signal, so that the pressing plate 12 moves forward from the return completion position. Recognize that it has started.
After time T5, the control means continues to send a push signal to the electrohydraulic control valve, and the push plate 12 pushes the dust collected by the rotary plate 11 stopped at the normal rotation completion position into the dust container 3. Move forward while pushing.
At time T6, the push plate sensor 52 detects that the front end 53a of the curved plate 53 has started to be separated from the front of the push plate sensor 52, and outputs an OFF signal to the control means.
[0033]
The control means that has received the OFF signal from the pressing plate sensor 52 recognizes that the pressing plate 12 has reached the pressing completion position by receiving the OFF signal from the pressing plate sensor 52 while transmitting the pressing signal. Then, transmission of the push signal to the electromagnetic hydraulic control valve is stopped, and the push plate 12 is stopped at the push completion position.
[0034]
As described above, the control unit controls the driving of the loading device 10 while recognizing the position of the pushing plate 12 based on the control signal transmitted to the driving unit and the position signal transmitted from the position detecting unit 50. ing. Further, the control means stores the recognized position of the pressing plate 12 until an ON signal is transmitted from the pressing plate sensor 52, that is, until the pressing plate 12 starts moving.
For example, when the operator operates the loading button to resume the temporarily stopped loading operation, for example, when the pressing plate 12 is at the pressing completion position based on the stored position of the pressing plate 12. Then, control such as moving to a return completion position by transmitting a return signal at a predetermined timing is performed.
[0035]
Next, the present invention relates to the present invention in the case where the loading device 10 becomes inoperable as a result of the control means not being able to recognize the position of the pushing plate 12, for example, when the operator mechanically operates the electromagnetic hydraulic valve. A control method of the loading device 10 (position recognition operation of the pushing plate 12) will be described with reference to the time chart of FIG.
[0036]
For example, when the operator mechanically operates the electromagnetic hydraulic valve at time T10 and moves the pushing plate 12 that has been in the pushing completion position to the return completion position, the control means moves the electromagnetic hydraulic valve in this movement. Without receiving the return signal, the ON signal is received after receiving the OFF signal from the push plate sensor 52, and then the OFF signal is received again. Therefore, the position of the OFF signal is the push completion position or the return completion position. Cannot recognize if there is.
[0037]
In this state, when the worker presses the loading button at time T11 in order to start the loading operation, the control means transmits, for example, a return signal. Since the pushing plate 12 is in the return completion position, the pushing plate sensor 52 continues to transmit the OFF signal. The pushing plate 12 remains stopped.
[0038]
The control means transmits a push signal longer than T seconds (for example, 2 T seconds) to the electromagnetic hydraulic control valve at time T12 after T seconds have elapsed from time T11.
The electromagnetic hydraulic control valve that has received the push signal extends the hydraulic cylinder 21, so that the push plate 12 starts moving forward, and at the time T13, the rear end 53b of the curved plate 53 moves forward of the push plate sensor 52. Located in.
At this time, the pushing plate sensor 52 detects the curved plate 53 and outputs an ON signal to the control means.
The control means recognizes that the pressing plate 12 has started moving forward from the return completion position by receiving the ON signal from the pressing plate sensor 52 while transmitting the pressing signal. At this time, the loss of the position of the pushing plate 12 of the control means is eliminated, and thereafter a normal loading operation can be performed.
[0039]
Next, for example, a case where the control unit cannot recognize the position of the pushing plate 12 as a result of the operator mechanically operating the electromagnetic hydraulic valve and the pushing plate 12 moving to the pushing completion position will be described.
In this case as well, the operator performs a predetermined operation (for example, the loading button on the operation panel is turned ON again) in the same manner as the operation at the time T11 described above.
The control means that receives the command from the operation panel first stops transmission of the push signal, and then transmits a return signal to the electromagnetic hydraulic control valve for T seconds.
[0040]
As described above, since the pushing plate 12 is in the pushing completion position, the pushing plate 12 starts moving backward when a return signal is transmitted to the electromagnetic hydraulic control valve for T seconds.
As the pushing plate 12 moves rearward, the front end 53a of the bending plate 53 is positioned in front of the pushing plate sensor 52, and the pushing plate sensor 52 that detects the bending plate 53 outputs an ON signal to the control means.
[0041]
The control means recognizes that the pushing plate 12 has started moving backward from the pushing completion position by receiving the ON signal from the pushing plate sensor 52 while transmitting the return signal. At this time, the loss of the position of the pushing plate 12 of the control means is eliminated, and thereafter a normal loading operation can be performed.
When the time T is set, the pushing plate 12 is moved forward from the position where the pushing plate 12 is moved to the most rearward position until the rear end 53b of the bending plate 53 reaches the front of the pushing plate sensor 52. And the time until the front end 53a of the curved plate 53 reaches the front of the push plate sensor 52 by moving the push plate 12 backward from the position where the push plate 12 is moved to the foremost position at the push completion position, It is preferable that the time is equal to or longer than the longer time.
[0042]
Further, the reason why the transmission time of the push signal is longer than T seconds is that if the transmission time of the push signal is T seconds, the push plate 12 at the return completion position corresponds to the return signal transmitted for T seconds. Then, from the state of moving to the rearmost position of the return completion position, when moving forward in response to the pressing signal transmitted for T seconds thereafter, it returns to the position of the pressing plate 12 before the return signal is transmitted after T seconds. This is because the transmission of the push signal may be stopped before the rear end 53b of the curved plate 53 reaches the front of the push plate sensor 52.
[0043]
As described above, according to the control method of the loading device 10 of the present embodiment, when the control means cannot recognize whether the pushing plate 12 is in the return completion position or the pushing completion position, the electromagnetic hydraulic control valve When a return signal is transmitted for T seconds and the position signal from the position detection means 50 does not change to an ON signal, a feed signal is then transmitted to the electromagnetic hydraulic control valve for T seconds or more to detect the position. The pushing plate 12 is moved until the position signal from the means 50 changes to an ON signal.
Therefore, even when the control device loses sight of the position of the pushing plate 12 and a malfunction occurs in the loading device 10, the operator completely stops the loading operation as in the prior art, and pushes the pushing plate 12 into the pushing completion position. In addition, it is not necessary to reset the position of the pushing plate 12 stored in the control means by moving to a position other than the return completion position, and the workability of the loading work can be improved.
[0044]
The present invention is not limited to those shown in the above-described embodiments, and can be changed as appropriate.
For example, the return signal is first transmitted to the electrohydraulic control valve. However, the present invention is not limited to this. When the feed signal is first transmitted and the position signal from the position detecting means 50 does not change to the ON signal. The return signal may be transmitted.
[0045]
In the present embodiment, the loading device is controlled based on the transmission time of the control signal when performing the position recognition operation of the pushing plate 12 whose position is unknown. If the position of the pushing plate 12 is lost, the position signal from the position detecting means 50 may be changed from an OFF signal to an ON signal. For example, when the moving distance of the pushing plate 12 is set in advance, the pushing plate 12 is moved in one of the front and rear directions by the set moving distance, and the position signal from the position detecting means 50 does not change to the ON signal. The pushing plate 12 may be moved in the other direction.
[0046]
Further, in the present embodiment, the position recognition operation of the pushing plate 12 when the position is unknown is performed by the control means based on the return signal and the pushing signal and the position signal from the position detecting means 50. Not limited to this, other signals used for driving control of the loading device 10 may be used in combination.
[0047]
For example, when the rotary plate 11 is in the forward rotation completion position, the push plate 12 is highly likely to be in the push completion position. Therefore, when the control means receives a signal notifying that the rotating plate 11 has reached the normal rotation completion position when performing the position recognition operation of the pushing plate 12 when the position is unknown, first, If a return signal is transmitted, there is a high possibility that a normal loading operation can be performed without transmitting a subsequent feed signal. On the other hand, when the rotary plate 11 is in a position other than the forward rotation completion position, the push plate 12 is likely to be in a position other than the return completion position. Therefore, when performing the position recognition work of the push plate 12 when the position is unknown If the push signal is transmitted first, there is a high possibility that a normal loading operation can be performed without transmitting a subsequent return signal.
[0048]
Further, the position detecting means 50 is not limited to the one constituted by the pushing plate detecting member 51 and the pushing plate sensor 52 shown in the present embodiment, and when the pushing plate 12 is at the return completion position and the pushing completion position. For example, a well-known position detection means 50 using optical or magnetic means may be used as long as it can detect the position other than the return completion position and the push-in completion position.
In addition, although it is assumed that the operator himself / herself determines that the position of the pushing plate 12 has been lost, the present invention is not limited to this. When the movement of the plate 12 cannot be confirmed, it may be determined that this is a malfunction, and the control means may automatically perform the position recognition operation of the pushing plate 12 when the above-mentioned position is unknown.
[0049]
【The invention's effect】
According to the loading apparatus control method of the present invention, when the control means cannot recognize whether the pushing plate is at the return completion position or the pushing completion position, the pushing-in is performed until the position signal from the position detecting means changes. Since the plate is swung, the control means can recognize the position of the pushing plate when the position signal from the position detection means changes.
[Brief description of the drawings]
FIG. 1 is a side view of an essential part showing the structure of a garbage truck shown in the present embodiment.
FIG. 2 is a side view of the main part showing the structure of the loading device.
FIG. 3 is a side view of the main part showing the structure of position detecting means.
FIG. 4 is a time chart showing a relationship between a pushing plate sensor output signal and a control signal.
FIG. 5 is a time chart showing a relationship among a pushing plate sensor output signal, a loading button operation signal, and a control signal.
FIG. 6 is a side view of an essential part showing the structure of a conventional loading device.
[Explanation of symbols]
1 Garbage truck
2 Dust input box
3 Garbage storage box
10 Loading device
11 Rotating plate
12 Pushing plate
50 Position detection means
51 Indentation plate detection member
52 Pushing plate sensor

Claims (4)

A rotating plate that rotates in the dust input box mounted on the dust collecting vehicle and scrapes the dust input in the dust input box, a return completion position in the rear of the dust input box, and a forward push in the dust input box Swing between completion positions and pushing the dust picked up by the rotating plate into the dust container box, driving means for swinging the pushing plate, and driving by sending a control signal to the driving means And a position signal to be output to the control means when the push plate is at the return completion position and the push completion position, and when the push plate is at a position other than the return completion position and the push completion position. In controlling a loading device including a position detecting means to be changed, the control means is configured to control the loading plate based on the control signal transmitted to the driving means and the position signal from the position detecting means. position Recognized, a control method of loading device for controlling driving of said driving means,
When the control means cannot recognize whether the push plate is in the return completion position or the push completion position, the control means moves the push plate in one of the front and rear directions for a predetermined time, and from the position detection means When the position signal does not change, the pushing plate is moved in the other direction, and the pushing plate is swung until the position signal from the position detecting means is changed. Method. A method for controlling a loading device according to claim 1,
The position detecting means includes a pressing plate detecting member that swings integrally with the pressing plate, and a pressing plate sensor that detects the pressing plate detecting member and outputs the position signal to the control means;
The pushing plate detecting member is arranged to change a position signal output by the pushing plate sensor when the pushing plate is in the return completion position and the pushing completion position. Control method of the device. A control method for a loading device according to claim 1 or 2,
When the control means cannot recognize whether the push plate is in the return completion position or the push completion position,
When the push plate is moved in one direction in the front-rear direction for a predetermined time and the position signal from the position detection means does not change, the push plate is moved in the other direction until the position signal from the position detection means changes. A method for controlling a loading device, wherein A control method for a loading device according to claim 1 or 2,
When the control means cannot recognize whether the push plate is in the return completion position or the push completion position,
When the pushing plate is moved in one of the front and rear directions for a predetermined time, and the position signal from the position detecting means does not change, the pushing plate is moved in the other direction for a time approximately double the predetermined time. A method for controlling a loading device.

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