JP2688131B2 - Backhoe - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating structure of a backhoe device in a backhoe.

[0002]

2. Description of the Related Art An example of the operating structure of a backhoe device in a backhoe is disclosed in Japanese Patent Application Laid-Open No. 2-256722. In this backhoe, a check surface is set apart from the outermost part of the driving section outward by a predetermined distance, and a position sensor for detecting the position of the bucket of the backhoe device is provided, and the bucket is detected based on the detection of the position sensor. When an attempt is made to enter the operation unit side beyond the restraint surface, the restraint means is provided for stopping the hydraulic cylinder for driving the backhoe device to restrain the restraint.

[0003]

With the above-mentioned configuration, when the operator of the driving section is operating the backhoe device, the operator may mistakenly perform the operation of bringing the bucket closer to the driving section. However, when the bucket reaches the restraining surface, the backhoe device automatically stops, and contact between the operating unit and the bucket is avoided.

However, in practice, the bucket can be operated to a position beyond the above-mentioned check surface. Therefore, if the check means as described above is provided, the bucket can be brought close to the operating section. Becomes impossible,
The operating range of the bucket is narrowed accordingly. As a result, it becomes impossible to perform a work in which the bucket is brought close to the driving unit to a very close distance, which causes a disadvantage in terms of workability. It is an object of the present invention to configure a backhoe so that it is possible to perform work such that the bucket is brought close to the driving unit while avoiding contact between the driving unit and the bucket.

[0005]

[1]

A position sensor that detects the position of the bucket of the backhoe, a storage unit that stores the position of the bucket when there is an artificial command, and each position of the stored bucket are connected by a surface, and It is equipped with a check surface setting means that sets the check surface apart from the outermost part to the outside in space, and when the bucket tries to enter the operation part side beyond the check surface based on the detection of the position sensor, it drives the backhoe device. Is equipped with a restraint means for stopping the hydraulic cylinder and restraining it.

[2] In the configuration of [1] above, a setting mode for operating the storage means and the restraint surface setting means and a work mode for operating the restraint means based on the restraint surface set by the restraint surface setting means are provided. In addition, a switching means is provided which is capable of artificially performing setting switching operation between the setting mode and the working mode.

[0007]

[I] According to the feature of claim 1, when setting the check surface, in the work to be performed from now on, it is possible to say that "a bucket may be approached to this part of the operating section". The bucket is actually approached to each important point of the driving unit, and the position of the bucket at that time (the position where the desired work can be performed and the bucket does not contact the driving unit) is stored in the storage means. As a result, each of the stored positions of the buckets is connected by the surface, and the check surface is set. As described above, since the check surface can be set by actually approaching the bucket to the operation unit before the work, the position and shape of the check surface can be freely set according to the work.

[II] According to the characteristics of claim 2, as in the case of claim 1, the "action" described in the above [I] is provided, and in addition to this, the following "action" is provided. ing. According to the feature of claim 2, the operator manually operates while setting the setting mode while being aware of the switching means, thereby storing the position of the bucket and setting the check surface as described in [I]. Is done. By thus configuring the check surface by the setting mode by the manual operation of the switching means, the worker does not recognize that the check surface is set, The state in which the bucket position is stored and the check surface is set is avoided, and the state in which the check surface different from the check surface recognized by the operator is set is avoided.

[0009]

According to the features of claim 1, when the backhoe is provided with the restraint means based on the restraint surface, the position of the restraint surface is brought closer to or farther from the operating part, and the shape of the restraint surface is freely set. As a result, it is possible to move the bucket closer to the driving section depending on the work, and the workability of the backhoe can be improved. In this case, the restraint means operates normally to prevent the bucket from entering the operating part side beyond the restraining surface, and the contact between the operating part and the bucket is the same as the configuration described in [Prior Art]. Has been avoided.

According to the feature of claim 2, as in the case of claim 1, the "effect of the invention" of the above-mentioned claim 1 is provided. In addition to the "effect of the invention", the following "invention" is provided. It has the effect of. According to the feature of claim 2, although the worker does not recognize that the check surface is set, the bucket position is stored and the check surface is set, and the worker recognizes it. Since a situation in which a check surface different from the existing check surface is set is avoided, it is possible to prevent an operator's erroneous operation based on a misunderstanding of the check surface.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 5 shows the entire side surface of the backhoe, in which the dozer 20 and the swivel base 2 are supported on the traveling device 1 of the rubber crawler type, and the backhoe device 3 is provided in the front part of the swivel base 2. The backhoe device 3 is a hydraulic cylinder 1.
1 includes a boom 4 that is vertically swung by a hydraulic cylinder 12, an arm 5 that is swung back and forth by a hydraulic cylinder 12, and a bucket 6 that is swept and swung by a hydraulic cylinder 13. A hydraulic motor 14 is provided for driving the turning of the two.

As shown in FIGS. 5 and 2, the boom 4 of the backhoe device 3 is a first boom 4a which is driven to swing up and down.
The second boom 4b is swingably connected around a front end axis P1 of the second boom 4b, and the support bracket 4c is swingably connected around a front end axis P2 of the second boom 4b. The arm 5 is connected to the bracket 4c.
The linkage links 8 are laid across the first boom 4a and the support bracket 4c to form a parallel four-link structure. By swinging the second boom 4b by the hydraulic cylinder 7, the arms 5 and the bucket 6 are moved. Move left and right in parallel.

As shown in FIG. 3, a control valve 21 for the hydraulic cylinder 11 of the boom 4, a control valve 25 for the hydraulic cylinder 7 of the second boom 4b of the boom 4, a control valve 22 for the hydraulic cylinder 12 of the arm 5, and a bucket 6 are provided. A control valve 23 for the hydraulic cylinder 13 and a control valve 24 for the hydraulic motor 14 of the swivel base 2 are provided. The control valves 21 to 25 are of three-position switching type and pilot operated type, and the flow rate can be controlled by adjusting the opening degree based on the pilot pressure. For the control valves 21 to 25, pilot valves 31a, 31b, 32a, 32b, 33a, 33 of the electromagnetic proportional pressure reducing valve type that generate pilot pressure for operating the opening degree
b, 34a, 34b, 35a, 35b are provided.

As shown in FIGS. 5 and 3, the swivel base 2 is provided with a right operation lever 9 and a left operation lever 10.
The right and left operation levers 9 and 10 are configured to be operable in the front-rear direction and the left-right direction, and a potentiometer 15 that detects the operation position of the right operation lever 9 in the front-rear direction and a potentiometer that detects the operation position of the right operation lever 9 in the left-right direction. 16 are provided, and a potentiometer 17 for detecting the operation position of the left operation lever 10 in the front-rear direction and a potentiometer 18 for detecting the operation position of the left operation lever 10 in the left-right direction are provided, and operation signals of the potentiometers 15 to 18 are provided. Is input to the control device 19. An operation pedal 26 is provided on the lower front side of the swivel base 2, and an operation signal of the operation pedal 26 is input to the control device 19.

With the above construction, when the right operating lever 9 is operated forward or backward, the pilot valves 31a,
31b generates pilot pressure, the control valve 21 of the boom 4 (first boom 4a) is operated to the descending side or the ascending side,
When the right operation lever 9 is operated to the right or left, the pilot valves 33a and 33b generate pilot pressure based on this, and the control valve 23 of the bucket 6 is operated to the soil discharge side or the scraping side. When the left operating lever 10 is operated forward or backward, the pilot valves 32a and 32b generate pilot pressure based on this, and the control valve 22 of the arm 5 is operated to the raising side or the scraping side, and the left operating lever 10 is moved to the right. Or, if operated to the left, pilot valves 34a, 34b are
Generates pilot pressure, and the control valve 24 of the swivel base 2 is operated to the right or left of the swing. When the operation pedal 26 is stepped right or left, the pilot valve 3
5a and 35b generate pilot pressure, and the second boom 4
The control valve 25 of c is operated to the right or left moving side.

In the above operation, the potentiometers 15 to 18 of the right and left operation levers 9 and 10 detect not only the operation direction of the right and left operation levers 9 and 10 but also the operation amount from the neutral position. As a result, as the operation amount of the right and left operation levers 9 and 10 increases, the pilot valve 31
The pilot pressure of a-34b becomes large, and the control valves 21-2
4 is operated to the larger flow rate side, that is, the larger the right and left operation levers 9 and 10 are operated, the more hydraulic cylinder 11 is operated.
13 to 13 and the hydraulic motor 14 are configured to operate at high speed.

As shown in FIG. 5, a potentiometer 36 (corresponding to a position sensor) for detecting the vertical angle of the boom 4 (first boom 4a) and a potentiometer 37 (corresponding to a position sensor) for detecting the horizontal angle of the second boom 4b. ), And a potentiometer 38 for detecting the longitudinal angle of the arm 5.
(Corresponding to a position sensor) is provided, and the detection signals of the potentiometers 36, 37, 38 are input to the control device 19.

As shown in FIGS. 2 and 5, the backhoe device 3 is arranged on the right side of the swivel base 2, and the driver section 27 including the driver's seat 28 and the right and left operating levers 9 and 10 is arranged on the left side. Has been done. A vertical partition plate 29 (corresponding to the outermost part of the driving unit 27) with a window for partitioning the backhoe device 3 and the driving unit 27 is provided in the left and right center of the swivel base 2, and the swivel base is provided at the upper end of the vertical partition plate 29. A semicircular upper partition plate 30 (corresponding to the outermost portion of the operation unit 27) along the outer side of 2 is fixed.

Next, the driving section 2 at a predetermined height from the ground G
In the range above the predetermined position D near the bottom of 7,
The setting of the front check surface A1 (corresponding to the check surface) on the front side of the vertical partition plate 29 and the horizontal check surface A2 (corresponding to the check surface) on the right side of the vertical partition plate 29 will be described. As shown in FIG. 4 and FIG. 3, a changeover switch 39 (corresponding to a changeover means) and a memory button 40 are arranged in the operation unit 27, and first, the changeover switch 39 is changed over to a setting mode before starting the work ( Step S1). As a result, the front restraint surface A1 and the lateral restraint surface A2 that have been set so far are erased (step S2).

As shown in FIGS. 1 and 2, in the actual work to be performed from now on, "the bucket 6 (bucket pin 6a) may be brought close to this position with respect to this portion of the operating section 27". Find a plurality of positions F to say. Next, when the backhoe device 3 is operated to position the bucket pin 6a at one position F and the memory button 40 is pressed, the position F of the bucket pin 6a is controlled based on the detection signals of the potentiometers 36, 37 and 38. It is stored in 19 (steps S3 and S4). The above operation is repeated for the position F shown in FIGS. 1 and 2, and the position F is stored in the control device 19 (corresponding to a storage unit).

When the storage of all the positions F is completed, the changeover switch 39 is changed over to the working mode. This allows
As shown by the solid lines, each of the stored positions F is connected by a plane (or an arc surface that is convex outward with respect to the operating unit 27), and the front check surface A1 and the lateral check surface A2 are controlled. It is set in the device 19 (corresponding to a restraint surface setting means) (steps S5 and S6). In this case, even if the bucket pin 6a is positioned on the front restraining surface A1 as shown in FIG. 1, even if the bucket 6 is operated so as to come closest to the operating unit 27, the bucket C is moved to the trajectory C1 away from the operating unit 27. The tip of 6 is located. As shown in FIG. 2, the bucket pin 6a has a horizontal check surface A.
In the state of being located at position 2, the lateral side surface of the bucket 6 is located at the locus C2 separated from the vertical partition plate 29.

With respect to the front and side restraint surfaces A1 and A2 set as described above, planes which are separated from the front and side restraint surfaces A1 and A2 by a predetermined distance to the front and right are set. As shown in Fig. 2, this surface and the front and side restraint surfaces A1, A
The front deceleration region B1 and the lateral deceleration region B2 are set in the control device 19 between the first and second positions (step S7).

When excavating the ground G by the backhoe device 3, the mechanical operating limit of the backhoe device 3 itself, which is the extent to which the backhoe device 3 can excavate the traveling device 1, is required in advance. As a result, it is calculated which trajectory the bucket pin 6a passes through when the operation is carried out to the operating limit, and a trajectory slightly more (outer) than the trajectory of the bucket pin 6a corresponding to the operating limit is set on the boundary surface E.
As shown in FIG. 1, the control device 19 is set in a range below the predetermined position D.

The position of the boundary surface E is moved so that the boundary surface E is smoothly connected to the front and side restraint surfaces A1 and A2 set as described above.
Is set as (step S8). Bucket pin 6a
When the bucket 6 is operated so that the bucket 6 is closest to the traveling device 1 in the state where the bucket 6 is located on the boundary surface E, the tip of the bucket 6 passes along the locus C3 as shown in FIG. The normal work of the backhoe device 3 can be started after the setting of the front and side restraint surfaces A1 and A2, the front and side deceleration areas B1 and B2, and the boundary surface E is completed. These are set for the swivel base 2 and move together with the swivel base 2 as the swivel base 2 turns.

In the control device 19, during normal work,
Vertical angle of boom 4 (first boom 4a) detected by potentiometers 36, 37, 38, second boom 4b
Left and right angle of the arm 5, front and rear angle of the arm 5, and the first boom 4
The position of the bucket pin 6a is constantly calculated from a, the length of the second boom 4b, and the length of the arm 5.

When the bucket pin 6a enters the front and lateral deceleration regions B1 and B2 shown in FIGS. 1 and 2, the pilot valves 31a to 32b, 35a and 35b are operated to operate the right and left operating levers 9 and 10. Regardless of the operation of the pedal 26, the speed of the hydraulic cylinders 11, 12, 7 of the backhoe device 3 is decelerated. In this case, as the bucket pin 6a enters the front and lateral deceleration regions B1 and B2, that is, as the bucket pin 6a approaches the front and lateral restraining surfaces A1 and A2, the deceleration operation is greatly performed (step S9).

The bucket pin 6a is attached to the front and side restraining surfaces A1,
When the backhoe device 3 is operated in the direction in which the bucket pin 6a moves away from the front and side restraint surfaces A1 and A2 when located at A2, the front and side deceleration regions B1 and B2 are opposite to the deceleration operation described above. , Hydraulic cylinder 1 of backhoe device 3
The speeds of 1, 12, and 7 are increased, and are returned to the original speed when the vehicle exits the front and lateral deceleration areas B1 and B2.

On the contrary, the bucket pin 6a has the front and side restraining surfaces A.
1, A2 is operated so as to enter the operation unit 27 side beyond the front and side restraint surfaces A1 and A2 even slightly, the pilot pressures of the pilot valves 31a to 32b, 35a and 35b disappear, and control is performed. By valves 21, 22, 25,
The hydraulic cylinders 11, 12, 7 of the backhoe device 3 are stopped (corresponding to a restraint means) (step S10). When the bucket pin 6a is located on the front and side restraining surfaces A1 and A2, the operation of the hydraulic cylinder 13 of the bucket 6 can be performed as usual. Bucket pin 6a has front and side restraining surfaces A1,
The operation of moving A2 up, down, left and right can be performed at an extremely low speed.

As described above, the front and lateral deceleration regions B1 and B2 are set in the range above the predetermined position D shown in FIG. 1, but the front and lateral deceleration are set in the range below the predetermined position D. Areas B1 and B2 are not set. Therefore, until the bucket pin 6a reaches the boundary surface E, the hydraulic cylinders 11, 12, 7 of the backhoe device 3 are controlled by the speed based on the operation of the right and left operation levers 9, 10, and the operation pedal 26.
Works. When the bucket pin 6a is operated so as to enter the traveling device 1 side beyond the boundary surface E even a little, the pilot pressure of the pilot valves 31a to 32b, 35a, 35b disappears, and the control valves 21, 22, 25. Due to
The hydraulic cylinders 11, 12, 7 of the backhoe device 3 are stopped (step S10).

When the bucket pin 6a is located on the boundary surface E, the operation of the hydraulic cylinder 13 of the bucket 6 can be performed as usual, and the operation of moving the bucket pin 6a on the boundary surface E can also be performed as usual. . Therefore, when the soil on the ground G near the traveling apparatus 1 is scraped off by the bucket 6, the bucket 6 may be lifted so that the bucket pin 6a moves upward on the boundary surface E. If such an operation is performed, the bucket pin 6a smoothly moves from the boundary surface E to the front check surface A1 and enters the front deceleration area B1,
The speeds of the hydraulic cylinders 11, 12, 7 of the backhoe device 3 are decelerated as described above.

The front and side restraining surfaces A1, A2,
When performing work in another work mode after performing work on the boundary surface E, the front and side restraint surfaces A1 and A2 and the boundary surface E may not be adapted to this another work mode. In such a case, as shown in FIG. 4, the changeover switch 39 is switched to the setting mode to set new front and side restraint surfaces A1 and A2 and boundary surface E adapted to another work mode. Good.

[Other Embodiment] In the above-mentioned embodiment, as shown in FIG.
Although the position of the bucket 6 is used as a reference, a bucket potentiometer (not shown) is installed at the position of the bucket pin 6a.
The control device 19 may always calculate the position of the tip of the. In this case, the locus C shown in FIG. 1 and FIG.
1, C2 are the front and side restraint surfaces of the present invention.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of the drawings]

FIG. 1 is a schematic side view of a backhoe showing a front restraint surface, a front deceleration area, and a boundary surface.

FIG. 2 is a schematic plan view of a backhoe showing front and lateral restraint surfaces and front and lateral deceleration regions.

FIG. 3 is a schematic circuit diagram of a hydraulic cylinder, a control valve, a pilot valve, right and left operating levers, a changeover switch, a memory button, etc. in the backhoe device.

FIG. 4 is a diagram showing a flow of setting front and side restraint surfaces.

[FIG. 5] Overall side view of the backhoe

[Explanation of symbols]

 3 Backhoe device 6 Bucket of backhoe device 7, 11, 12 Hydraulic cylinder of backhoe device 27 Operating part 29, 30 Outermost part of operating part 36, 37, 38 Position sensor 39 Switching means A1, A2 Checking surface

Claims (2)

(57) [Claims] 1. A bucket (6) of a backhoe device (3).
Position sensors (36), (37) for detecting the position of
(38) and the bucket when there is an artificial command
Storage means for storing the position of (6);
Connect each position of the ket (6) with a plane, and
The outermost part (29) and (30) of 7)
Control surface setting hand that sets control surfaces (A1) and (A2) in space
And the position sensors (36), (3
7) and (38) are detected, the bucket (6) is moved forward.
Beyond the check surfaces (A1) and (A2), the driving section (27) side
When trying to get in, drive the backhoe device (3)
Stop the hydraulic cylinders (7), (11), (12) for
The backhoe is equipped with a restraining means for restraining the restraint . 2. The storage means and the restraint surface setting means are operated.
Setting mode to be set and set by the restraint surface setting means
Based on the checked restraint surfaces (A1) and (A2),
And a work mode for operating the control means.
Mode and work mode can be set manually
A backhoe according to claim 1, comprising means (39) .