JPH0517336B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] This invention relates to earthmoving vehicles, such as loaders, which can be remotely controlled.

[Prior art]

Conventionally, earthmoving vehicles such as loaders have not only been able to be operated directly by an operator riding on the earthmoving vehicle;
Some earthmoving vehicles can be remotely controlled from a distance. (For example, JP-A-55-94844, JP-A-55-
(See Publication No. 94859).

Generally, an earthmoving vehicle that can be remotely controlled is operated by an operator by operating a control lever of a transmission control device based on signals from the control lever.

The control lever is often of the so-called omnidirectional rotation type (joystick type), which has a button on the top and can be tilted and rotated in any direction from an upright position. And this control lever is
When you release your hand, the centering spring allows it to return to the neutral position. When the control lever is tilted left and right, the earthmoving vehicle is controlled to steer left and right.
Also, when tilted forward or backward, forward and backward movement is controlled. When the operating lever is in a position other than forward or backward, the transmission is in a neutral state. When the button on the top of the operating lever is pressed, the service brake device installed on the earthmoving vehicle is activated, preventing the vehicle from moving.

[Problem to be solved by the invention]

In the conventional transmission control device described above, in order to operate the service brake device, it was necessary to press the button at the top of the operating lever one by one. Therefore, there are the following issues to be solved.

(1) Operations are cumbersome for vehicles that require frequent forward and reverse operations. There is also a high possibility of erroneous operation.

(2) In a bad atmosphere filled with dust, sulfur dioxide gas, etc., there is a risk that the operator may suddenly faint or become weak while operating the control lever. In such a case, the button at the top of the operating lever cannot be pressed or kept pressed, making it impossible to ensure that the vehicle is stopped, which is dangerous.

On the other hand, Japanese Patent Publication No. 52-15881 discloses a remote control system for a vehicle that includes a device that "automatically applies the loader brake when the transmission device is in neutral."

Although this device solves the above-mentioned problems, it does not disclose considerations for when an emergency situation occurs with earthmoving vehicles, and it is even safer.
In addition, there was a strong desire to realize a remote-controlled earthmoving vehicle that would enable quick recovery to normal conditions.

In view of the above-mentioned circumstances, it is an object of the present invention to be easy to operate, extremely safe to use even in an atmosphere filled with dust, etc., and to be quick and effective in the event of an emergency. It is an object of the present invention to provide an earthmoving vehicle that can be easily handled, has high safety, and can be remotely controlled.

[Means to solve the problem]

In order to achieve the above object, according to the present invention,
An earth-moving vehicle body equipped with a traveling/steering device for changing the traveling direction and a transmission for transmitting driving force from the engine to the traveling device, and a service brake provided on the earth-moving vehicle body to operate the earth-moving vehicle body. a parking brake device provided on the earth-moving vehicle body to actuate the parking brake of the earth-moving vehicle body; and a parking brake device provided at a location remote from the earth-moving vehicle body to control the running and steering of the earth-moving vehicle body. a transmission control device including a steering control means for controlling the operation, the steering control means including an operating lever configured to rotate in all directions and return to a neutral position when the hand is released; By operating the lever, the transmission:
When the operation lever is in the neutral position and the transmission is in the neutral state, the service brake device is operated to apply the service brake of the earthmoving vehicle body. In the remotely controllable earthmoving vehicle configured as such, the transmission control device further includes emergency stop activation means, and when an emergency stop signal is generated by the emergency stop activation means, the parking brake device is activated. The parking brake is activated by the emergency stop activation means, and the transmission is controlled to be in the neutral state and the service brake device is in the inactive state, and the parking brake is activated by the emergency stop activation means. Provided is a remotely controllable earthmoving vehicle characterized in that the transmission is controlled to be in the neutral state and the service brake device is in the inoperative state when the operating state of the vehicle is released.

〔Example〕

Hereinafter, embodiments of a remotely controllable earthmoving vehicle according to the present invention will be described in detail with reference to the drawings.

In FIG. 1, an earthmoving vehicle such as a loader, generally designated by the number 2, includes an earthmoving vehicle body 4. The earthmoving vehicle body 4 consists of a front part 6 and a rear part 8,
The front portion 6 and the rear portion 8 are rotatably connected via a connecting pin 10. The earthmoving vehicle body 4 is
Traveling/steering device 12 for changing the direction of travel
(Fig. 3), the front part 6 of this earthmoving vehicle main body 4
A pair of steering fluid pressure cylinder mechanisms 14a and 14b of the travel/steering device 12 are provided between the rear portion 8 and the rear portion 8. Therefore, when the hydraulic cylinder mechanism 14a (or 14b) is extended and the hydraulic cylinder mechanism 14b (or 14a) is retracted, the front portion 6 moves along the arrow 16 about the pin 10.
(or 18). As a result, the earthmoving vehicle main body 4 is steered to the left (or right).

Although not clearly shown, the earthmoving vehicle main body 4 further includes a transmission 36 (Fig. 3) that transmits the driving force of the engine to the traveling device, and a service for preventing movement of the earthmoving vehicle main body 4. Brake device 20 (Figure 3) and parking brake device 22
(Fig. 3) is installed.

The transmission 36 is in either a forward state in which the earthmoving vehicle main body 4 is moved forward by transmitting the driving force of the engine to the traveling device, a backward state in which it is driven backward, or a neutral state in which the driving force of the engine is not transmitted to the traveling device. is activated.

The service brake device 20 operates the service brake of the earth-moving vehicle main body 4 when it is in the operating state, and the parking brake device 22 operates the parking brake of the earth-moving vehicle main body 4 when it is in the operating state.

The earthmoving vehicle 2 further includes a transmission control device 24 (second-A
Figure 2-B).

The earthmoving vehicle main body 4 equipped with the traveling/steering device 12, the transmission 36, the service brake device 20, and the parking brake device 22 has a second
It is controlled by signals from the transmission control device 24 shown in Figures -A and 2-B. Transmission control device 24
is a steering control means, a service brake actuation means,
It includes a parking brake actuation means and an emergency stop actuation means.

The steering control means includes an operating lever 28. The operating lever 28 is provided on the upper surface of the control device main body 26, and is of a so-called omnidirectional rotating type that can be tilted and rotated in any direction from an upright position. When the operating lever 28 is released from the folded state, it automatically returns to the upright position (the position shown in FIGS. 2-A and 2-B).

By operating the operating lever 28, the earthmoving vehicle body 4
is controlled as follows.

(1) Left/right steering control Move the operating lever 28 from the upright position to the left (second
- Left side of diagram B), the left steering signal becomes “L”.
to "H", the traveling/steering device 12 is activated, and the earthmoving vehicle main body 4 is steered to the left. Further, when the steering wheel is tilted to the right (right side in Fig. 2-B), the right steering signal changes from "L" to "H", and the steering wheel is turned to the right.

(2) Forward/forward control Move the operating lever 28 from the upright position to the front (second
-B), the forward movement signal changes from "L" to "H", a traveling device (not shown) is activated, and the earthmoving vehicle main body 4 is moved forward. When tilted backwards (lower part in Fig. 2-B), the reverse signal changes from "L" to "H" and the vehicle is driven backward.

(3) Forward/Left/Right Steering Control When the operating lever 28 is pushed forward (or left or right) and further left or right (or forward), a forward signal and a left or right steering signal are activated. Each changes from "L" to "H", and the civil engineering vehicle main body 4 is controlled to move forward and steer left and right.

(4) Reverse/left/right steering control When the operating lever 28 is tilted backward (or left or right) and then further left or right (or rearward), the reverse signal and left/right steering signal are activated, respectively. The state changes from "L" to "H", and the earthmoving vehicle main body 4 is controlled to move backward and steer left and right.

Note that when the operating lever 28 is in a position other than forward or backward, a signal "H" for setting the transmission 36 in a neutral state is sent to the transmission 36. At this time, the signal to the service brake device 20 is "H"
Therefore, the service brake of the earthmoving vehicle body 4 is activated. Further, the signal to the steering device 20 becomes "L", and the steering position of the earthmoving vehicle main body 4 is maintained.

The service brake operating means includes an automatic return type push switch (button) 34 provided at the top of the operating lever 28. Operation lever 2
Regardless of the position of 8, when the press switch 34 is pressed, the service brake signal changes from "L" to "H" and the service brake device 20 is activated.

The parking brake actuation means includes a toggle switch 30 disposed on the upper surface of the control device main body 26. Set the toggle switch 30 to “parking brake release”
When the parking brake signal changes from "L" to "H" and the parking brake device 22 is turned from the front position (lower part of Figure 2-B) to the front position (upper part of Figure 2-B), the parking brake signal changes from "L" to "H". activated.

The emergency stop actuation means includes an active return type push switch 32 disposed on the upper surface of the control device main body 26. When the push switch 32 is pressed, the emergency stop signal changes from "L" to "H", the parking brake device 22 is activated, and the earthmoving vehicle is brought to an emergency stop.
The emergency stop signal also automatically changes from "L" to "H" when some abnormality occurs in the remote control system including the transmission control device 24.

The earthmoving vehicle main body 4, which is controlled by the transmission control device 24 described above, is controlled by a control system shown in FIG. 3 in this embodiment.

Tilt the operating lever 28 to the left (or right),
When the steering control means (and thus the transmission control device 24) is in the "left steering" (or "right steering") state, the left steering signal (or right steering signal 9
becomes “H” and is sent from the transmission control device 24 to the AND gate AND1 (or AND2).

At this time, since the manual return push switch 32 of the emergency stop device is generally not pressed, an emergency stop signal of the output signal "L" is sent from the transmission control device 24 to the not gate NOT1 and the OR gate OR1, and the not gate NOT1 The output signal “H” from the AND gate AND1 (or AND
2).

As a result of the above, the AND gate AND1 (or AND
2) output signal becomes “H”, and the traveling/steering device 1
2 is steered left (or right).

That is, the AND gate AND1 (or AND
2), a switching valve (not shown) in the fluid pressure control circuit is switched, and the fluid pressure cylinder mechanism 14a (or 14b) is extended, and the fluid pressure cylinder mechanism 14b (or 14a) is extended.
This is because it is reduced.

In this case, since the operating lever 28 is not tilted to either the forward or reverse position, the forward signal and reverse signal "L" from the transmission control device 24 are sent to the Noah gate NOR1. This noah gate
The output signal “H” from NOR1 is an OR gate.
It is sent to OR1 and OR gate OR2. The output signal "H" from the OR gate OR2 is further sent to the AND gate AND3 to which the "H" signal is sent from the NOT gate NOT1.

As a result of the above, the output signal of the OR gate OR1 becomes "H", the transmission 36 becomes neutral, and the driving force from the engine is not transmitted to the traveling device of the earthmoving vehicle main body 4.

Also, the output signal of the AND gate AND3 is also “H”.
Then, the service brake device 20 is activated.

Also, by tilting the operating lever 28 upwards (or downwards), the operation control means (therefore, the transmission control device 24)
When the vehicle is in the "forward" (or "reverse") state, the forward signal (or reverse signal) becomes "H".
This output signal "H" is sent from the transmission control device 24 to the AND gate AND4 (or AND5) and the NOR gate NOR1.

At this time, the push switch 32 of the emergency stop device is generally not pressed, so the transmission control device 2
The emergency stop output signal "L" from 4 is the not gate.
It is sent to NOT1 and OR gate OR1.
An output signal "H" is further sent from the NOT gate NOT1 to an AND gate AND4 (or AND5).

As a result of the above, the AND gate AND4 (or AND
The output signal of step 5) becomes "H", and the transmission 36 is operated in the forward (or reverse) state.

On the other hand, the output signal of the NOR gate NOR1 becomes "L" and is sent to the OR gates OR1 and OR2. The output signal of the OR gate OR1 becomes "L", and the transmission 36 does not become neutral. Since the service brake signal of the output signal "L" is sent to the OR gate OR2, the OR gate OR
The output signal of 2 becomes “L”, and the AND gate
Sent to AND3. As a result, the output signal of the AND gate AND3 becomes "L", and the service brake device 20 does not operate.

In this way, the earthmoving vehicle main body 4 is moved forward (or backward).

In addition, by tilting and rotating the operating lever 28, the steering control means (and thus the transmission control device 24) is set to "forward right steering" or "forward left steering" (or "reverse right steering" or "reverse left steering"). ”),
As explained earlier, the forward signal (or reverse signal)
and the right steering signal (or left steering signal) become "H". In this case, as can be easily understood from the above description, the earthmoving vehicle main body 4 is steered forward to the right or forward to the left (or backward to the right or to the left). In this case, the service brake device 20 becomes inactive due to the "H" forward signal (or reverse signal).

In addition, when the press switch 34 provided at the top of the operating lever 28 is pressed to put the service brake operating means (and therefore the transmission control device 24) into the "service brake" state, as explained above, , the service brake signal becomes "H". This output signal "H" is sent from the transmission control device 24 to the OR gate OR2, and this OR gate
The "H" output signal from OR2 is further sent to AND gate AND3. At this time, since the push switch 32 of the emergency stop device is generally not pressed, an emergency stop signal of the output signal "L" is sent from the transmission control device 24 to the not gate NOT1. An output signal "H" is further sent from this node gate NOT1 to an AND gate AND3. By this, and gate AND3
The output signal of becomes "H".

As a result of the above, the service brake device 20 is activated, and the earthmoving vehicle main body 4 is activated with its service brake. Note that, from the above explanation and FIG. 3, this service brake device 20 can press the push button 34 to activate the "service brake" even when the transmission control device 24 is in the "forward" state or the "reverse" state. It will be readily understood that the actuated state is achieved by bringing the device into the state.

Furthermore, when the toggle switch 30 is positioned in the upper position and the parking brake operating means (and therefore the transmission control device 24) is set to the "parking brake" state, the parking brake signal becomes "H" as explained above. becomes. This output signal "H" is sent from the transmission control device 24 to the OR gate OR3. As a result, the output signal of the OR gate OR3 becomes "H", the parking brake device 22 is activated, and the parking brake of the earthwork vehicle body 4 is activated.

Furthermore, if the push switch 32 is pressed and the emergency stop actuating means (therefore, the transmission control device 24) is placed in the "emergency stop" state (or if some abnormality occurs in the remote control system including the transmission control device 24) ), the emergency stop signal becomes "H".
This output signal "H" is transmitted from the transmission control signal 24 to OR gates OR1 and OR3 and NOT gate NOT.
1. This allows the not gate
The output signal of NOT1 becomes "L", and this output signal "L" becomes AND gate AND1 or AND5.
AND gate AND1 or AND5
The output signal of becomes "L".

As a result of the above, the output signals of OR gates OR1 and OR3 both become "H". The transmission 36 is then placed in a neutral state, and the parking brake device 22 is activated.

In this way, the earthmoving vehicle main body 4 is brought to an emergency stop.

In this case, the earthmoving vehicle body 4 is on the left side (or right side)
AND gate AND when steered to
1 (or AND2) output signal "L",
The expansion and contraction of the hydraulic cylinder mechanisms 14a and 14b is stopped, and the earthmoving vehicle main body 4 is held at its steering angle position. Further, even if the service brake device 20 is in the operating state, the output signal “L” of the AND gate AND3 causes the service brake device 20 to
is deactivated and service brake operation is released.

On the other hand, by pressing and releasing the pressure switch 32, the above-mentioned emergency stop activation means is activated to "release the emergency stop activation".
In this case, the emergency stop signal becomes "L". This output signal "L" is transmitted to the transmission control device 24
The signal is sent to OR gates OR1 and OR3 and NOT gate NOT1. As a result, the output signal of the OR gate OR3 becomes "L", and the parking brake device 22 is brought into a non-operating state. In addition, the output signal of the NOT gate NOT1 becomes "H", and this output signal "H" is applied to the AND gate AND1 or
Sent to AND5. For this and gate
All the output signals of AND1 to AND5 are maintained in the "L" state. Therefore, the service brake device 20 is also maintained in a non-operating state.

On the other hand, since the output signal of the OR gate OR1 is "H", the transmission 36 is maintained in a neutral state.

As is clear from the above explanation, when the parking brake device 22 is released from the operating state by the emergency stop actuating means, the transmission 36 is controlled to be in the neutral state and the service brake device 20 is in the inactive state. Ru.

Note that the operating lever 28 is
In the case of the "neutral" state, including the upright state shown in FIG. -B, the forward and reverse signals of the output signal "L" are sent to the NOR gate NOR1. The output signal from this NOR gate NOR1 becomes "H" and is sent to the OR gates OR1 and OR2. The output signal "H" from this OR gate OR2 is sent to an AND gate AND3. Furthermore, an emergency stop signal of output signal "L" is sent to the NOT gate NOT1 and the OR gate OR1. The output signal "H" from this NOT gate NOT1 is sent to an AND gate AND3.

Therefore, in this case, the output signal of OR gate OR1 becomes "H" and transmission 3
6 becomes neutral and AND gate AND3
The output signal becomes "H", and the service brake device 20 enters the operating state. In this way, the earthmoving vehicle main body 4 is operated with a service brake (in this case, since the left steering signal and the right steering signal are also "L", the steering fluid pressure cylinder mechanism 14a and 14b is stopped, and the earthmoving vehicle main body 4 is held at its steering angle position).

〔Effect of the invention〕

According to the remotely controllable earthmoving vehicle according to the present invention as described above, all of the following effects can be achieved.

(1) The steering control means includes a control lever that rotates in all directions and is configured to return to the neutral position when the hand is released, and the transmission can be moved forward, backward, and neutral by operating the control lever. When the control lever is in the neutral position and the transmission is in the neutral state, the service brake device is activated and the service brake is applied to the earthmoving vehicle body, so that forward and backward movement is required frequently. Even in a vehicle that is operated on a regular basis, it is not necessary to press the button at the top of the operating lever each time to operate the service brake, which simplifies the steering control operation and improves operability and safety. Therefore, the possibility of erroneous operation is also reduced.

In addition, even if the pilot faints while operating the vehicle,
When you release your hand from the operating lever, it automatically returns to the neutral position, and at the same time, the transmission becomes neutral and the service brake device is activated, so the earthmoving vehicle can be stopped reliably and safely.

(2) The transmission control device includes an emergency stop activation means, and when an emergency stop signal is generated by the emergency stop activation means, the parking brake device is activated and the parking brake is applied to the earthmoving vehicle body. At the same time, the transmission is controlled to be in the neutral state and the service brake device is in the inactive state, so that in the event of an emergency, the earthmoving vehicle is reliably stopped and its safety is ensured.

(3) When the parking brake device is released from the operating state by the emergency stop operating means, the transmission is in the neutral state and the service brake device is controlled to be in the inactive state, so the earthmoving vehicle is brought to the emergency stop position. can be moved immediately.

Therefore, the earthmoving vehicle can be immediately evacuated from a dangerous situation, resulting in extremely high safety, and repairs, etc. can be quickly and easily carried out.

[Brief explanation of drawings]

FIG. 1 is a simplified plan view showing the main body of a remotely controllable earthmoving vehicle constructed in accordance with the present invention. Figures 2-A and 2-B are, respectively,
FIG. 2 is a front view and a plan view showing a part of a transmission control device for controlling the earthmoving vehicle main body of FIG. 1; Figure 3 shows
FIG. 2 is a diagram showing a control system that controls the earthmoving vehicle body shown in FIG. 1; 2...Earthwork vehicle, 4...Earthwork vehicle body, 20...
...Service brake device, 22...Parking brake device, 24...Transmission control device.

Claims (1)

[Claims] 1. An earth-moving vehicle body equipped with a traveling/steering device for changing the direction of travel and a transmission for transmitting driving force from the engine to the traveling device, and a service brake provided on the earth-moving vehicle body to control the earth-moving vehicle body. A service brake device is provided on the earth-moving vehicle body to operate the parking brake of the earth-moving vehicle body, and a parking brake device is provided at a location apart from the earth-moving vehicle body to operate the parking brake of the earth-moving vehicle body. a transmission control device including a steering control means for controlling the steering control means, the steering control means including an operating lever that is rotatable in all directions and configured to return to a neutral position when the hand is released;
By operating the control lever, the transmission is controlled to move forward, backward, and into a neutral state, and when the control lever is in the neutral position and the transmission is in the neutral state, the service brake device is activated. In the remotely controllable earthmoving vehicle configured to actuate the service brake of the earthmoving vehicle body, the transmission control device further includes emergency stop actuation means, and the transmission control device further includes an emergency stop actuation means for causing the emergency stop actuation to occur. When the stop signal is generated, the parking brake device is activated to apply the parking brake on the earthmoving vehicle body, and the transmission is placed in the neutral condition and the service brake device is inactivated. and the transmission is in the neutral state and the service brake device is in the inoperative state when the parking brake device is released from the activated state by the emergency stop activation means. An earthmoving vehicle that can be remotely controlled.