JPS62196203A - Garbage wagon - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION This invention relates to a garbage collection vehicle whose garbage loading and discharging operations are controlled by a microcomputer.

Figure 7 shows an example of a general garbage collection vehicle, and as shown in the figure, there is a garbage storage box (hereinafter simply referred to as storage box) that stores garbage.
(1) and a garbage input box (hereinafter simply referred to as the input box) (3) for temporarily storing the garbage deposited through the input port (2) provided at the rear. The storage box (1) above is the vehicle body (
4) The lower rear end is pivoted to the rear end, and the lower rear end is used as a fulcrum to dump the vehicle up to a certain angle with respect to the vehicle body (4) using the ejection cylinder (5) provided at a predetermined part of the vehicle body (4). be done. Further, the input box (3) has its upper end pivoted to the 1&end opening of the storage box (1), and the opening/closing lid pushing cylinder (6) provided at a predetermined portion of the storage box (1) opens the opening. It is lifted to a position Il angle with respect to the storage box (1) using the upper end as a fulcrum. Inside this input box (3), a pushing plate (7) and a scraping plate (8) for pushing thrown garbage into the storage box (1) are arranged at predetermined positions, and the pushing plate (7) is The opening/closing/pushing cylinder (G) is used to move the garbage collection truck in the front and rear directions 7, and the raw material handler (8) is rotated in forward and reverse directions by a hydraulic motor (not shown).

Furthermore, when loading garbage, in order to prevent the input box (3) from separating from the storage box (1) due to the reaction force of the garbage stored in the two storage boxes (1), the loading box (3) is Tightening device (9)
is provided. This tightening device (9) includes a hook-shaped hook (10) pivotally attached to the rear end of the vehicle body (4), and
), and the hook (10) is provided in the hook (10) by telescopic operation.
a locking cylinder (11) for rotating the input box, and a receiving fitting (12) such as a U-bolt that is fixed at the lower end of the input box (3) and at a position opposite to the hook (10) and engages with the hook (10). It consists of

The garbage loading and discharging operations in the garbage collection vehicle are performed in the following manner. First, when soaking garbage, the discharge and opening/closing/pushing cylinders (5) and (6) are contracted by a manual switch installed in the operator's cab, etc., and the storage box (1) is held in a horizontal state, and the input box is Keep (3) closed. At this time, the locking cylinder (11) of the tightening device (9) is in a contracted state, and the hook (10) is locked with the receiving metal fitting (12). Then, when garbage is thrown into the dumping box (3), the scraping plate (8) rotates in the normal direction (clockwise as shown).
The garbage was lifted up and the push plate (7) stopped at the front position.
) returns (swings backward) slightly later than the normal rotation of the scraping plate (8). After that, the scraping plate (8) that has scraped up the garbage stops at the initial position as shown in the figure, and the pushing plate (7) performs a pushing operation [swings forward] and is placed on the scraping plate (8). Push the placed garbage into the storage box (1).
By repeating the operations of 7) and the scraping plate (8) in sequence, garbage is gradually stored in the storage box (1).

When the above-mentioned garbage is discharged after loading, the tightening device (9) is held while the pushing plate (7) is in the forward position and the scraping plate (8) is stopped and held in the initial position as shown in the figure. Extend the locking cylinder (11) and attach the hook (10) to the receiving bracket (
12), the release is performed, and then the opening/closing/pushing cylinder (6) is extended to lift the input box (3) to a predetermined angle to open it, and then the ejection cylinder (5)
is extended to dump the storage box (1) to a certain angle, and the garbage stored in the storage box (1) is discharged by its own weight.

Incidentally, after the above-mentioned garbage is discharged, the operation is performed in the reverse order to bring about the state at the time of the above-mentioned garbage loading.

By the way, in order to prevent malfunctions due to operator's erroneous operation, the applicant of the present invention proposed a push plate (7) and a scraping plate (8) for loading garbage in Japanese Patent Application No. 17946/1983.
) and a garbage collection vehicle in which the sequential operation of the storage box (1) and input box (3) at the time of discharge are controlled by a microcomputer has already been proposed. The garbage collection vehicle will be explained below with reference to FIGS. 8 to 15.

Fig. 8 is a configuration diagram of the garbage collection vehicle, Fig. 9 is a schematic wiring diagram of the control device, Fig. 10 is a schematic bq side view of the pushing plate and scraping plate G, and Fig. 11 is a flow diagram when loading garbage. Figures 12 to 15 show the furnace during garbage discharge. Note that in FIGS. 8 to 10, the same reference numerals as in FIG. 7 indicate the same members.

In Figures 7 and 8, 'ζ, (13) is the storage box (1)
and input box (3, as well as pushing board (7) and scraping board (8)
This detector (13) is located near the detector (13).
The positions of the storage box (1), input box (3), pushing plate (7), and scraping plate (8) are detected endlessly, and when electrified, the positions are converted and sent out. (14) is a changeover switch installed in the driver's cab, etc. By switching this changeover switch (14), the power for loading/unloading can be changed, and the storage box (1) and loading box (
3) The elevating/lowering gJ command etc. is performed and the desired operation is selected. (
15) is installed at the rear of the garbage collection vehicle, etc.), and one ring of these 4iT1 (15) is used to push the push plate (7
), the desired operation is selected so that the forward/reverse rotation operation of the plate (8), and the automatic dipping operation by the pushing plate (7) and the scraping plate (8) are performed. In addition, the above push button (
15) is also equipped with a device for emergency stopping and contacting the driver in the event of trouble. (16) is a detector installed at a predetermined part of the garbage collection vehicle, and this detector (16) detects the loading amount of garbage and hydraulic pressure, converts it into an electric signal, and sends it out. (17) is a micro combinator that controls the sequential operation of the pushing plate (7) and scraping plate (8) when loading garbage, and the storage box (1) and input box (3) when discharging garbage; This microcomputer (17
) mainly includes a central processing circuit (1B), a RAM and ROM in which a series of loading/unloading operations and a brochure ram for preventing malfunctions are stored in advance, and a circuit (19) for human/output signals. Processing circuit (20) (21) and a.
Isolation<22) (23) (24) is a switching circuit, (25) is a solenoid for loading and unloading J, each solenoid (25)
Depending on the conduction state of
) are performed. (26)
(27) is a buzzer and a pilot lamp for issuing an alarm in the event of malfunction or other malfunction.

When loading garbage, the positions of the pushing plate (7) and scraping plate (8) in the input box (3) are detected by the detector (13), and the electrical signals are sent through the isolation run (22). and is input to the input signal processing circuit (20). This detector (13)
Input signals and changeover switches (14) and push buttons (15)
) and the ROM-R in the storage circuit (19).
The program stored in the AM is calculated and controlled by the central processing circuit (1B), and the output signal processing circuit (21)
An output signal is sent out via isolation (23). This output signal is sent to the desired solenoid (25), and the pushing plate (
7) and the rake plate (8) perform the loading operation. In addition, if a problem occurs due to dirt being caught between the pushing plate (7) and the scraping plate (8) during the loading operation, iii
Since a program for solving the problem is stored in advance in the memory circuit (19), the buzzer (2) is activated by the program.
6) Alternatively, an output signal is sent to the biloft lamp (27) to display the π information, and at the same time, a normal operation is automatically performed to solve the problem, and the normal loading operation is continued thereafter.

A flowchart for executing the control during loading of the garbage will be explained with reference to FIGS. 10 and 11. Here the first
Figure 0 shows the pushing board (7) and scraping board (8) inside the input box (3).
This explains the series of operating conditions of the push plate (7).
It has an operating range of dosions (a) to (h), and has a scraping plate (
8) has an operating range of positions (i) to (p). Therefore, position (a) of the push plate (7) indicates the push end stop position, and position (h) indicates the return end stop position. Further, position (i) of the scraping plate (8) is the stop position, and position (k) is the return start position of the pushing plate (7).

Further, the position (m>) is a position where the scraping plate (8) does not come into contact with the pushing plate (7) at the return end stop position.

In Figure 11, first, the push plate (7) and the raking plate 4
) is in position (a)(i).

The pushing plate (7) and the scraping plate (8) are in position (a)
(i), the scraping plate (8) rotates forward, and when the scraping plate (8) reaches position (k), the pushing plate (7)
returns and starts operating.

When the pushing plate (7) reaches position (h), the scraping plate (8) continues to rotate forward, but the pushing plate (7) stops. If this rake plate (8), which continues to rotate in the forward direction, stops midway for some reason, it rotates in the reverse direction for several seconds, then shifts to forward rotation, and reaches position (1). When the scraping plate (8) reaches position N), the scraping plate (8) stops and the pushing plate (
7) starts to operate. If the pushing plate (7) stops midway due to some reason (e.g. dust getting caught), the scraping plate (8) will rotate in the opposite direction for a few seconds, and the pushing plate (7) will return to its original position. When the raking plate (8) starts to rotate forward, the pushing plate (7) stops, and the M raking plate (8) reaches position (i), the raking plate (8) stops and pushes as described above. The plate (7) is pushed into operation. Then, the above push plate (7
) stops the loading operation when it reaches position (a), and then confirms whether it is a continuous operation or an independent operation.

At the start of the above-mentioned loading operation, the pushing plate (7) and the shovel Fj, (
8) is not in position (a) (+), the scraping plate (8) rotates forward and the pushing plate (7) returns. When the scraping plate (8) reaches position (i), the pushing plate (7) stops, and then the scraping plate (8)
) stops and the pushing plate (8) starts pushing operation. In addition, if the scraping plate (8) has not reached position (1),
If the pushing plate (7) is in position (h), the pushing plate (
7) stops, the scraping plate (8) rotates forward, and the position (
After reaching i), the scraping plate (8) stops and the pushing plate (7)
is pushed into operation.

At the start of the above loading operation, the pushing plate (7) is in position (h
), 1! When the upper plate (8) is at position (m) or later, the scraping plate (8) rotates forward, the pushing plate (7) remains stopped, and the scraping plate (8) moves to position (i). ) ν, the pushing plate (7) operates to push. For example, if the scraping plate (8) is in position (i) and the pushing plate (7) is between positions (a) and (h), the scraping plate (8) remains stopped and the pushing plate (7) is Pushing works. The garbage loading operation is controlled in the manner described above.

Next, when discharging garbage, as shown in Figure 8,
(1) and the position of the input box (3) are detected by the detection W (13), and the electrical signal thereof is input to the input signal processing circuit (20) via the isolation (22). Manual signal and changeover switch (14) by this detector (13)
The central processing circuit (18) calculates and processes the input signals from the buttons (15) and the program in the memory circuit (19).
An output signal is sent from the output signal processing circuit (21) via the isolation (23).

This output signal is sent to a desired solenoid (25), and when the solenoid (25) is turned on, the storage box (1) and the input box (3) perform a discharge operation.

A flowchart for executing the control during garbage discharge will be described with reference to FIGS. 12 to 15. Figure 12 shows a 5-yard flow for dumping the input box (3), when the pushing plate (7) is in front of position (d) [see Figure 10], and the scraping plate (8) is In position (i), the storage box (1) is held in a lowered or horizontal position;
The tightening device (9) is unlocked. When the tightening device (9) is unlocked, the input box (3) is lifted and stopped at a predetermined angle. After that, as shown in Figure 13, after confirming that the loading box (3) has been lifted at a certain angle or more, the storage box (1)
is dumped and the garbage is discharged by its own weight.

After the garbage has been discharged, as shown in Fig. 14, the storage box (1) first descends, and then, as shown in Fig. 15,
After confirming that the storage box (1) has descended to the predetermined position, that is, the horizontal position, the input box (3) is lowered and the input box (3) is lowered.
3) has descended to the specified position, lock the tightening device (9) and lock it. After confirming a, the discharge operation ends.

By the way, the pushing plate (7
) and the scraping plate (8), as well as the storage box (1) and input box (3) during discharge, whose positions are detected by a detector (14) and controlled by a microcomputer (17). was carried out accurately and smoothly.

However, in the past, a microsinch was used for the detector (13), so the reliability of the entire device was low.

In other words, the microsinch is a contact point, but since it has a large number of component parts and is complex, there are problems with durability and resistance to environments such as dirt, vibration, and temperature changes, which can cause failures. However, since it is necessary to provide one or more microswitches at each position where detection is required, and the entire device is provided with a large number of microswitches, the reliability of the entire device is reduced. Furthermore, since it is necessary to provide a large number of 7-micro switches, this system has always been disadvantageous in terms of AM maintenance.

4. In view of the above-mentioned problems, this invention provides a garbage storage box and a dumping box when discharging garbage, and a pushing plate and a scraping board disposed in the dumping box when loading garbage. The above-mentioned problem is solved by using a garbage Jv/, X:, vehicle structure that is equipped with a non-contact detector that detects the position absolutely using variable magnetic resistance.

■ Since the above-mentioned detector has excellent environmental resistance and durability, failures are unlikely to occur, thereby improving the reliability of the entire device.

Figure 1 is a configuration diagram of a garbage collection vehicle according to the present invention. In this figure, the same reference numerals as in FIG. 8 indicate the same members, and their explanation will be omitted.

The garbage collection vehicle according to the present invention is equipped with rotation angle detectors (two) that utilize variable magnetic resistance in a hydraulic motor that rotates the scraping plate (8) in forward and reverse directions, and also has two rotation angle detectors that utilize variable magnetic resistance. A linear detector (30) using variable magnetic resistance is installed on the opening/closing/pushing cylinder (6) that lifts the discharge cylinder (5) and the input box (3) and swings the push plate (7). The positions of the pushing board (7) and the scraping board (8) during loading, and the positions of the storage box (1) and input box (3) during unloading are detected by the detector (29) <30). This is how it was done.

The rotation angle detector (29) detects one rotation of rotation angle displacement using an absolute address system, and as shown in Figures 2 and 3, there are four poles (31 ) is a stator (32) made of laminated electromagnetic steel plates having
3), and each of its four poles has two coils (34) wound thereon, one for the primary and one for the secondary. The primary coils are connected in series so that the opposing poles (31) have opposite phases, are led to a cable (35), and are excited by inputting sinωjS cO3ω of the principle described later. The secondary coils are of opposite phase so that differential output can be obtained from opposing poles (31), and four coils are connected in series and guided to the case (33) to obtain an output signal. An eccentric rotor (36) whose shaft center is eccentric is provided at the center of the four poles (31) of the stator (32).
A magnetic path is formed between the opposing poles (31). The rotor (36) is rotatably supported by the case (33) via a bearing (37), and has one end connected to a hydraulic motor as an input shaft. In addition, (38) and ( in Fig. 2 and the third concave)
39) is an oil seal to maintain internal pressure and 0
It's a ring.

The rotation angle detector (29) uses an eccentric rotor (36) to detect changes in the rotation angle as changes in the gap between the rotor and the stator (32), and converts changes in the rotation angle corresponding to one rotation into continuous magnetic resistance changes. and convert it into an electrical output signal.

The detection principle of the rotation angle detector (29) will be explained with reference to FIGS. 4 and 5. In FIG. 4, when the primary winding is excited with alternating current l5inωL and Icosωt, a magnetic path (X-X, Y-Y) is formed between the stator and rotor. In such a situation, the state of the gap between each type of stake and the eccentric rotor is determined by the mechanical position of the rotor, and as the rotor rotates, the gap changes continuously. This change in air gap results in a change in magnetic resistance, which appears in the secondary winding as a change in induced voltage.

The state can be expressed as an approximate expression as follows.

E= (e!-e3) (92e4)=ωLo
(1+acos θ)Isin θωt−ωL, o
(1-cos θ) rsin ω-ω L
o (1-t asin +9) I
C0S ω t+ωLo (1-asin θ
) Icos ωt=2aωLo I (si
nωt °cosθ−cosωt°sinθ)=Ks
in (ωt - θ) E: Secondary winding induced voltage, that is, output voltage ei: Secondary winding induced voltage at i14 0: Inductance change coefficient for various standard inductance minis θ: Mechanical rotation angle Te of the rotor (1st order) Amplitude ω of winding excitation current: Electrical angular acceleration of primary excitation As shown, the phase is shifted by the mechanical rotation angle θ of the rotor. Therefore, by extracting the phase shift between the two using a converter using various methods, the mechanical rotation angle θ of the rotor can be detected as an absolute position.

Next, the linear detector (3o) directly detects the linear displacement of the machine using an absolute address method, and as shown in Figure 6, there is a concentric magnetic body ( 41) are installed alternately with non-magnetic parts (42) at equal pitches, and a primary excitation coil (44) and a secondary induction coil (45) are installed in a magnetic shield core (46) in the detection head part (43). ) is placed at a fixed position.

At this time, the primary coil (44) is I sinωL and I
When AC excitation is performed at cosωt, the rod (40
), the magnetic resistance repeats changes every pitch. This change in magnetic resistance results in a change in the induced voltage to the secondary coil, and the secondary coil induced voltage E=Ksin (ωt −2K−). Focusing on this phase, compared to the primary excitation 1sinωt, Rondo (
It can be seen that the phase is shifted by the amount of movement X of 40). Therefore, if the phase difference between the two is extracted digitally using a converter, the vertical position of the cylinder rod can be converted to 1 pitch (P).
Absolute 1- detects within the range. Furthermore, since the magnetic body parts (41) are continuously arranged even beyond one pitch, the position of the entire length is detected in a semi-absolute manner by repeating similar changes and counting the pitches.

The rotation angle detector (29) and the linear detector (30)
has a structure that combines a coil and a magnetic material, and does not contain any electric or electronic parts other than the coil, so it is resistant to dirt, oil, etc., and is also resistant to vibration and shock, and is also resistant to temperature. It is resistant to changes and has better environmental resistance than microswitches. Further, since the rotation angle detector (29) and the direct type detector (30) are non-contact type, their durability is much better than that of a microswitch. Furthermore, since the rotation angle detector (29) and the direct type detector (30) detect analog absolute addresses, even if the power is cut off, the current position can be accurately detected by turning the power back on.

The garbage collection vehicle of the present invention having the above configuration has a pushing plate (7) and a scraping plate (8) when loading garbage, and a storage box (
1) and the position of the input box (3) are detected in an absolute manner by a rotation angle detector (29) using variable magnetic resistance and a linear detector (30), and the electric signal is sent to the microcomputer (17). control.

According to this invention, a non-contact detector using variable magnetic resistance is used to detect the position of the pushing board and scraping board when loading garbage, as well as the storage box and input box when discharging. Therefore, the reliability of the entire device is improved, and failures can be prevented, making it possible to further improve safety. In addition, conventionally it was necessary to provide one or more detectors at each position where detection was required, but according to this invention, it is only necessary to provide one detector for each drive device, and a large number of microswitches etc. It is also very advantageous in terms of adjustment and maintenance. Furthermore, since the detector used in this invention converts analog quantities into digital, fine control, which was impossible or difficult with conventional microswitch systems, can be easily achieved by combining this detection method with a microcomputer. can.

[Brief explanation of drawings]

Fig. 1 is a configuration diagram of a garbage collection vehicle according to the present invention, Figs. 2 and 3 are structural diagrams of a rotation angle detector, Figs. 4 and 5 are illustrations of its detection principle, and Fig. 6 is a linear type. A diagram of the detection principle of the detector, Figure 7 is a general configuration diagram of a garbage collection vehicle, and Figure 8 is a configuration diagram of a conventional microcomputer-controlled garbage collection vehicle.
Figure 9 is a schematic wiring diagram of the control device, Figure 10 is a schematic side view of the pushing plate and scraping plate, Figure 11 is a flowchart when loading garbage, and Figures 12 to 15 are when discharging garbage. It is a flowchart. (1)-m-accommodation box, (3)-loading box, (7)-pushing plate, (8)--raking plate, (17)-microcombination unit, (29)-one rotation angle detection (30) - Linear detector. Patent applicant: Morita Tokushu Kiko Co., Ltd.
Physician Gangwon Province Go 1st
Fig. 7 Fig. 2 Fig. 3 Fig. 4 Fig. 5 Fig. 6 & Town <5ts (佽f-ゆχ21) Fig. 7 Fig. 8 Fig. 12 Fig. 13 Fig. 14. J 151m

Claims (1)

[Claims] (1) Absolutely detecting the positions of the garbage storage box and input box when discharging garbage, and the pushing plate and scraping plate installed in the input box when loading garbage, using variable magnetic resistance. A garbage collection vehicle characterized by being equipped with a non-contact detector.