JP2907684B2 - Backhoe - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure for preventing a backhoe from coming into contact with an external frame covering a driving unit and a bucket.

[0002]

2. Description of the Related Art Japanese Patent Application Laid-Open No. 4-333730 discloses an example of a structure of a backhoe that avoids contact between a bucket and an external frame covering an operation unit. In this structure, a traction surface (A1 in FIGS. 1 and 2 of the above publication) is separated from the external frame (29 in FIGS. 1 and 2 of the above publication) by a predetermined distance in front of the driving unit. A boom angle sensor (36 in FIG. 5 of the above publication) that is set above and detects the vertical angle of the boom with respect to the swivel, and an arm angle sensor (36 in FIG. 5 of the above publication) that detects the front-rear angle of the arm with respect to the boom 38). Then, when the bucket attempts to enter the driving section side beyond the tread surface based on the detection values of the boom and arm angle sensors, the control valve of the hydraulic cylinder for driving the backhoe device is forcibly returned to the neutral position, and the backhoe device is operated. Checking means for stopping the vehicle is provided.

[0003] With the above configuration, even when the operator of the driving unit operates the backhoe device, the bucket may be erroneously brought close to the driving unit side to collide with the external frame. When the bucket reaches the restraining surface outside the outer frame, the backhoe device stops automatically and contact is avoided.

[0004]

In the above-described backhoe, the actual position of the bucket and the actual position of the bucket are detected in the restraint means due to slight errors in each part at the time of assembly or the like, and individual differences of the boom and the arm angle sensor itself. The position of the bucket may deviate. As a result, it is determined that the bucket has reached the correct check surface in the check means, even though the bucket has not yet actually reached the correct check surface set at the beginning, and the correct check has been performed by the bucket. In some cases, the vehicle may stop just before the surface. Therefore, the work range of the bucket is narrowed accordingly, and there is room for improvement in workability.

The present invention relates to a backhoe for setting a restraint surface in a space as described above, wherein a bucket is operated by a driving unit irrespective of a slight error of each part at the time of assembling, an individual difference of a boom and an arm angle sensor itself, and the like. An object of the present invention is to provide a structure in which the vehicle can be accurately stopped on a correct restraint surface separated from the external frame by a predetermined distance.

[0006]

The feature of the present invention resides in the following configuration of the above-mentioned backhoe. In other words, setting means for setting a predetermined shape at a position away from the external frame covering the driving unit provided on the swivel, at a position separated by a predetermined distance and setting the tether surface in space, and a vertical angle of the boom with respect to the swivel A boom angle sensor that detects the boom, an arm angle sensor that detects the front and rear angle of the arm with respect to the boom, and based on the detection values of the boom and the arm angle sensor, when the bucket attempts to enter the driving unit side beyond the check surface, A stopping means for stopping the hydraulic cylinder for driving the backhoe device and stopping the hydraulic cylinder, and preventing the setting of the shape of the braking surface by the setting means so that the longitudinal angle of the braking surface with respect to the external frame is set to a desired longitudinal angle. Boom correction means for adding a correction value to the detected value of the boom angle sensor so that the setting can be changed; The longitudinal distance between the restraining surface to the external frame to allow configuration changes to a desired longitudinal spacing without erasing Jo settings are an arm correcting means for adding the correction value to the detected value of the arm angle sensor.

[0007]

[I] The actual position of the bucket and the position of the bucket detected in the restraint means are deviated due to slight errors in each part at the time of assembling and individual differences of the boom and the arm angle sensor itself. I do. In this case, for example, as shown in FIG. 2, the boom 4 of the backhoe apparatus is operated to swing up and down around the support point 40 of the swivel base 2, and therefore, due to the displacement of the boom angle sensor 36, the correct check surface on the check means side. The detection value of the boom angle sensor 36 stored as corresponding to A1 may actually correspond to the inclined first braking surface A3.

Accordingly, as shown in FIG. 2, the detection value of the boom angle sensor 36 stored as the one corresponding to the inclined first restraint surface A3 and the correct value corresponding to the correct restraint surface A1, as shown in FIG. The difference between the detected value of the boom angle sensor 36 and the detected value of the boom angle sensor 36 may be set as the correction value D, and the correction value D may be added to the detected value of the boom angle sensor 36 for correction. If the detection value of the boom angle sensor 36 is corrected in this manner, the bucket 6 is attached to the initially set check surface A1.
Is reached, the restraint means correctly determines that the bucket 6 has reached the restraint surface A1, and the backhoe device is correctly stopped.

[II] In addition, for example, as shown in FIG.
Is operated to swing back and forth with respect to the boom 4,
Due to the displacement with respect to the arm angle sensor 38, the detection value of the arm angle sensor 38 stored as the one corresponding to the correct restraint surfaces A1 and A2 on the restraint means side is:
Actually, the check surface A that is far from the correct check surface A1, A2
3 and A4 in some cases.

Therefore, as shown in FIG. 3, the detection value of the arm angle sensor 38 stored as one corresponding to the separated traction surfaces A3 and A4 and the correct traction surfaces A1 and A2, as shown in FIG. Arm angle sensor 3 corresponding to
8 may be set as a correction value E, and the correction value E may be added to the detection value of the arm angle sensor 38 for correction. By correcting the detection value of the arm angle sensor 38 in this manner, the initially set braking surfaces A1, A2
The bucket 6 reaches
Is correctly determined to have reached the check surfaces A1 and A2,
The backhoe device is correctly stopped.

[0011] The traction surface set by the setting means is deleted, and a new traction surface having a predetermined shape is set while correcting the detection value by the boom angle sensor and correcting the detection value by the arm angle sensor. Correction can also provide a correct check surface on which the backhoe device can be stopped properly as desired.In this case, in addition to the correction operation for correcting the detection values obtained by the boom angle sensor and the arm angle sensor, a predetermined shape is required. An operation of setting the shape to be provided is required. On the other hand, according to the present invention, since the setting of the shape of the tether surface by the setting means is not changed, the front-rear angle and the front-rear distance of the tether surface are changed and set to desired ones. If only a correction operation for adding a correction value to the detection value is performed, a correct check surface can be obtained without performing a shape setting operation for providing a desired shape.

[0012]

As described above, even if there is a slight error in each part at the time of assembling or the individual difference of the boom and the arm angle sensor itself, the detected values of the boom and the arm angle sensor are corrected. , The bucket can be stopped at the correct tread surface at a predetermined distance from the external frame of the driving unit, and the work range of the bucket when the tread surface is set can be set without waste to improve backhoe workability. You can now let. Moreover, compared to erasing the check surface set by the setting means and then resetting it, the operation can be simplified simply by adding a correction value to the detection value of the boom angle sensor or arm angle sensor. It became advantageous in terms of operation.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. (1) FIG. 8 shows the entire side surface of the backhoe. A traveling device 1 of rubber crawler type supports a dozer 20 and a swivel 2 above the dozer 20. A backhoe 3 is provided at the front of the swivel 2. I have. The backhoe device 3 includes a boom 4 that is driven to swing up and down by a hydraulic cylinder 11, an arm 5 that is driven to swing back and forth by a hydraulic cylinder 12, and a bucket 6 that is driven to swing by a hydraulic cylinder 13.
It is provided with. A hydraulic motor 14 is provided for driving the swivel 2 to turn.

The boom 4 in the backhoe 3 is shown in FIG.
As shown in the figure, the first boom part 4 is driven to swing up and down.
a, the second boom portion 4b and the second boom portion 4 that are swingably connected around the axis P1 at the front end of the first boom portion 4a.
and a support bracket 4c pivotally connected around the axis P2 at the front end of the support bracket 4b.
The arm 5 is connected to c. The link 4 is erected between the first boom portion 4a and the support bracket 4c to form a parallel quadruple link. The hydraulic cylinder 7 swings the second boom portion 4b, so that the arms 5 and The bucket 6 can be moved left and right in parallel.

As shown in FIG. 7, the control valve 21 for the hydraulic cylinder 11 of the first boom portion 4a of the boom 4,
Hydraulic cylinder 7 of second boom portion 4b of boom 4
, A control valve 22 for the hydraulic cylinder 12 of the arm 5, a control valve 23 for the hydraulic cylinder 13 of the bucket 6, and a control valve 24 for the hydraulic motor 14 of the swivel 2. The control valves 21 to 25 are of a three-position switching type and of a pilot operation type, and the flow rate can be controlled by adjusting the opening based on the pilot pressure. An electromagnetic proportional pressure-reducing valve type pilot valve 3 for generating a pilot pressure for opening degree operation is provided to each of the control valves 21 to 25.
1a, 31b, 32a, 32b, 33a, 33b, 34
a, 34b, 35a, and 35b are provided.

As shown in FIGS. 6, 7, and 8, the turntable 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 freely operable back and forth and left and right, and are provided with a potentiometer 15 for detecting a front and rear operation position of the right operation lever 9 and a potentiometer 16 for detecting a left and right operation position. Lever 10
Potentiometer 1 that detects the operation position in the front-rear direction
7. Potentiometer 1 for detecting left and right operation position
8 are provided. And each potentiometer 15
18 are input to the control device 19. Further, an operation pedal 26 is provided at a lower portion on the front side of the swivel base 2, and an operation signal from the operation pedal 26 is transmitted to the control device 19.
Has been entered.

With the above configuration, when the right operating lever 9 is operated forward or backward, the pilot valves 31a, 3
1b generates a pilot pressure, the control valve 21 is operated to the lower side or the upper side of the first boom portion 4a, and when the control valve 21 is operated to the right or left, the pilot valves 33a and 33b generate the pilot pressure based on the operation, and the control valve 23 is operated on the earth discharging side or the scraping side of the bucket 6. When the left operating lever 10 is operated forward or backward, the pilot valve 32
a, 32b generate pilot pressure, and the control valve 22 is operated to the front side or the scraping side of the arm 5, and when the control valve 22 is operated to the right or left, the pilot valves 34a, 34b generate pilot pressure based on this, and the control valve 24 is operated to the right turning side or the left turning side. When the operation pedal 26 is depressed to the right or left, the pilot valves 35a and 35b generate pilot pressure based on this, and the control valve 25 is operated to the right or left swing side of the second boom portion 4b.

In the above operation, each of the potentiometers 15 to 18 for the right and left operation levers 9 and 10 detects not only the operation direction of the right and left operation levers 9 and 10 but also the operation amount from the neutral position. I have. As a result, as the operation amounts of the right and left operation levers 9 and 10 increase, the pilot pressures of the pilot valves 31a to 34b increase and the control valve 21
-24 are operated to the large flow rate side. In other words, the larger the right and left operation levers 9 and 10 are operated, the more the hydraulic cylinder 11
13 and the hydraulic motor 14 are configured to operate at high speed.

(2) As shown in FIGS. 6 and 8, in the swivel 2, a backhoe device 3 is disposed on the right side, and an operating section comprising a driver's seat 28 and right and left operation levers 9 and 10 on the left side. 27 are arranged. Further, a vertical partition plate 29 with a window (corresponding to an external frame that covers the operation unit 27) is provided at the left and right center of the swivel 2 to partition the backhoe device 3 and the operation unit 27. A semicircular upper partition plate 30 along the outside of the swivel 2 is fixed to the upper end.

As shown in FIGS. 1 and 6, in a range above a predetermined position D1 at a predetermined height from the ground G, a predetermined distance above the upper partition plate 30 and a predetermined distance ahead of the vertical partition plate 29. Front first check surface A1 separated by distance
Are set in the control device 19 (corresponding to setting means). The front first restraining surface A1 is composed of a lower half plane and an upper half arc surface, and the upper half arc surface is the vertical partition plate 2.
9 near the upper end of the front.

In a range below the predetermined position D1, the front second restraining surface A2 swelled slightly forward from the first front restraining surface A1.
Are set in the control device 19 (corresponding to setting means). In this case, when the bucket 6 is positioned at the position shown by the solid line in FIG. 1 and the first boom portion 4 a (boom 4) is swung up and down around the support point 40 of the swivel 2, The locus of the circular arc in a side view drawn by the tip of No. 6 is defined as the front second restraining surface A2. As shown in FIG. 6, a lateral restraint surface C that is separated from the side surface of the vertical partition plate 29 on the backhoe device 3 side by a predetermined distance to the right is set in the control device 19.

In a range above a predetermined position D2 at a predetermined height from the ground G shown in FIG. 1, the front first and second front restraint surfaces A1, A2 and the lateral restraint surface C are respectively shown in FIGS.
As shown in the figure, a plane separated from them by a predetermined distance forward or to the right is set, and the space between this space and the front first and second front restraint surfaces A1, A2 and the lateral restraint surface C are The front restraint area B1 and the lateral restraint area B2 are set in the control device 19. The first and second front check surfaces A1, as described above.
A2, the lateral restraint surface C, the front and lateral restraint areas B1 and B2 are set with respect to the swivel base 2, and move with the swivel base 2 as the swivel base 2 turns. It is.

(3) Next, control of the backhoe device 3 on the front first and second front restraint surfaces A1, A2 and the front restraint area B1 will be described. As shown in FIG. 7 and FIG.
A potentiometer 36 (corresponding to a boom angle sensor) for detecting the vertical angle of the boom portion 4a (boom 4);
A potentiometer 37 for detecting the left-right angle of the second boom part 4b with respect to the boom part 4a, the second boom part 4b
A potentiometer 38 (corresponding to an arm angle sensor) for detecting the front-rear angle of the arm 5 with respect to the (boom 4) and a potentiometer 39 for detecting the front-rear angle of the bucket 6 with respect to the arm 5 are provided, and the detection values of the respective potentiometers 36 to 39 are provided. Is input to the control device 19.

As shown in FIG. 5, the control device 19 controls the vertical angle of the first boom portion 4a, the horizontal angle of the second boom portion 4b, the front-rear angle of the arm 5 and the bucket 6 based on the detection values of the potentiometers 36 to 39, and First boom part 4
a, the position of the tip of the bucket 6 and the position of the bottom of the bucket 6 are constantly detected based on the lengths of the second boom portion 4b, the arm 5, and the bucket 6 (Steps S1 and S1).
2). The moving direction and moving speed of the tip and bottom of the bucket 6 are detected by differentiating the detection values of the potentiometers 36 to 39.

As a result, as shown in FIG.
When the tip of the bucket 6 is closer to the swivel base 2 than the bottom in a state where is located in front of the swivel base 2 (step S3), when the tip of the bucket 6 enters the front restraint area B1 (step S4), Pilot valves 31a to 32b, 3
5a, 35b are operated to operate the right and left operation levers 9, 1
0, regardless of the operation of the operation pedal 26, the hydraulic cylinders 11, 7 and the arm 5 of the first and second boom portions 4a, 4b.
The operation speed of the hydraulic cylinder 12 is decelerated (step S5). In this case, as the leading end of the bucket 6 enters the operating section 27 side in the front restraint region B1, the hydraulic cylinder 1
1, 7, and 12 are greatly decelerated. Conversely, when the first and second boom portions 4a and 4b and the arm 5 are operated in a direction in which the tip of the bucket 6 moves away from the driving unit 27 in the front restraint region B1, the front is reversed in contrast to the aforementioned deceleration. The operating speed of the hydraulic cylinders 11, 7, 12 is increased in the restraint area B1, and is returned to the original speed when the vehicle leaves the front restraint area B1.

It is assumed that the tip of the bucket 6 has reached the front first braking surface A1 (step S6). In this case, regardless of whether the arm 5 is operated to the scraping side or the first boom section 4a is raised, the second boom section 4b is moved to the left swing side (the driving section 2).
7), the tip end of the bucket 6 enters the driving unit 27 side beyond the front first restraint surface A1. Therefore, in the above state, the left operating lever 10 is used to move the arm 5 to the side where the arm is scraped, the right operating lever 9 is used to move the first boom portion 4a upward, and the operating pedal 26 is used to move the second boom portion 4b to the left swing side. The pilot valves 31a-32
b, 35a and 35b disappear, and the control valve 2
The hydraulic cylinders 11, 12, and 7 are stopped by 1, 2, and 25 (steps S7, S8, and S9) (corresponding to a check means). Conversely, the tip of the bucket 6 is the front first restraint surface A
1, the forward operation of the arm 5, the lowering operation of the first boom portion 4a, and the right swing operation of the second boom portion 4b are performed in such a direction that the tip of the bucket 6 moves away from the front first restraint surface A1. These operations can be performed without any trouble.

The operation of the bucket 6 by the hydraulic cylinder 13 in a state where the tip of the bucket 6 reaches the front first restraining surface A1 is configured to be possible under the following conditions. As shown in FIG. 4, in a state where the tip of the bucket 6 is located on the front first braking surface A1, the front first braking surface A
The bucket 6 is set within a set range F across a posture H orthogonal to 1.
Is located (step S12), the vertical swing operation of the bucket 6 by the hydraulic cylinder 13 is possible within the set range F (step S14).

In a state where the bucket 6 is in the upward posture beyond the set range F and its tip is located on the front first restraint surface A1, when the bucket 6 is swung downward, the tip of the bucket 6 is moved forward. In such a case, the bucket 6 may enter the driving unit 27 greatly beyond the first restraint surface A1.
Can only be rocked upward from the current state (step S13). Conversely, in a state where the bucket 6 is in a downward position beyond the set range F and the tip thereof is located on the front first restraint surface A1, when the bucket 6 is swung upward, the tip of the bucket 6 becomes the first first restraint. In such a case, the bucket 6 can only be operated to swing downward from the current state (step S).
15).

Next, the tip of the bucket 6 is moved to the front second braking surface A2.
Is reached (step S6). In this case, arm 5
, The tip of the bucket 6 moves beyond the front second restraint surface A2, and the second boom portion 4b is operated to the left swinging side (the driving unit 27 side). Come in. However, when the first boom portion 4a (boom 4) is swung up and down around the support point 40 of the swivel base 2 in a state where the bucket 6 is positioned at the position indicated by the solid line in FIG. Is defined as the front second restraint surface A2. Thereby, the bucket 6
Even if the first boom portion 4a is raised and lowered with the tip of the bucket 6 reaching the front second restraining surface A2, the tip of the bucket 6 only moves on the front second restraining surface A2, The front end does not enter the driving unit 27 side beyond the front second restraint surface A2.

Therefore, in the above-mentioned state, even if the left operating lever 10 is used to move the arm 5 to the scraping side and the operation pedal 26 is used to operate the second boom portion 4b to the left swing side, the pilot valves 32a, 32b, 35a , 35b disappear, and the hydraulic cylinders 12, 7 are stopped by the control valves 22, 25 (steps S10, S11).
(Equivalent to check means). However, the raising and lowering operations of the first boom portion 4a by the right operation lever 9 can be performed without any trouble. In the state where the tip of the bucket 6 reaches the front second restraining surface A2, the forward operation of the arm 5 and the operation of the second boom portion 4b to the right swing side require the tip of the bucket 6 to have the front second restraining surface. Since the operation is in the direction away from A2, these operations can be performed without any trouble. The tip of the bucket 6 is located at the front second check surface A2.
, The operation of the bucket 6 by the hydraulic cylinder 13 is possible under the conditions as described above (steps S12 to S15).

(4) Next, the control of the backhoe device 3 for the lateral restraint surface C and the lateral restraint area B2 will be described. In the control device 19, similarly to the above, the vertical angle of the first boom part 4a, the left and right angle of the second boom part 4b, the front-back angle of the arm 5 and the bucket 6 based on the detection values of the potentiometers 36 to 39, and the first boom part The position of the left lateral side surface of the bucket 6 is always detected by the length of the bucket 4 and the second boom portion 4b, the arm 5, and the bucket 6. The moving direction and the moving speed of the left lateral side of the bucket 6 are detected by differentiating the detection values of the potentiometers 36 to 39.

When the bucket 6 is located on the right side of the operating section 27 as shown by the solid line in FIG. 6, the second boom portion 4b is operated by the hydraulic cylinder 7 to the left swing side of the operating section 27. The left lateral side of the bucket 6 is the lateral restraint area B
2, the pilot valves 35a and 35b are operated, and the operation speed of the hydraulic cylinder 7 of the second boom portion 4b is reduced regardless of the operation of the operation pedal 26. In this case, the more the left lateral side of the bucket 6 enters the lateral restraint area B2 and approaches the lateral restraint surface C, the greater the deceleration operation is performed.

Conversely, the left lateral side of the bucket 6 is the lateral restraint surface C
When the second boom portion 4b is operated on the right swing side away from the vehicle, the second boom portion 4b is moved in the lateral restraint area B2 in a manner opposite to the aforementioned deceleration.
The operation speed of the hydraulic cylinder 7 of the boom portion 4b is increased, and when the vehicle moves out of the lateral restraint region B2, the operation speed is restored to the original speed. When the left lateral side of the bucket 6 reaches the lateral restraint surface C and is about to be operated to the left swing side beyond the lateral restraint surface C, the pilot valve 3
The pilot pressure of 5a and 35b disappears, and the control valve 25 stops the hydraulic cylinder 7 of the second boom portion 4b.

(5) Next, control of the backhoe device 3 in a region below the predetermined position D2 will be described. As described above, in the region above the predetermined position D2 shown in FIG. 1, the front restraint region B1 and the lateral restraint region B2 are set with respect to the first and second front restraint surfaces A1, A2 and the horizontal restraint surface C. However, this is not set in the area below the predetermined position D2 (the process proceeds from step S4 to step S6 in FIG. 5).

Therefore, until the tip of the bucket 6 reaches the front second restraining surface A2, the backhoe device 3 is driven at a speed based on the operation of the right and left operation levers 9, 10 and the operation pedal 26.
Hydraulic cylinders 11, 12, and 7 are operated. And
When the tip of the bucket 6 has reached the front second restraining surface A2 (step S6), the operation of the arm 5 on the scraping side and the operation of the second boom portion 4b on the left swing side cannot be performed (steps S10 and S11). ), The raising and lowering operations of the first boom portion 4a can be performed (corresponding to a check means). The operation of the bucket 6 is also possible under the above conditions (steps S12 to S12).
15).

(6) The actual positions of the tip and the bottom of the bucket 6 and the bucket detected in the control device 19 are determined by slight errors in each part at the time of assembling and the like and individual differences of the potentiometer 36 itself in FIG. The position of the tip and the bottom of 6 may be shifted. Thus, even if the front first restraining surface A1 is initially set in the control device 19 so as to be parallel to the front surface of the vertical partition plate 29, as shown in FIG.
3 may be inclined back and forth with respect to the front surface of the vertical partition plate 29 (the front second restraining surface A2 is an arc surface centered on the support point 40 (potentiometer 36) of the boom 4; It does not seem to be affected by individual differences etc.).

Also, due to slight errors in each part at the time of assembling, etc., and individual differences of the potentiometer 38 in FIG.
The actual positions of the tip and bottom of the bucket 6 and the control device 1
In some cases, the positions of the tip and bottom of the bucket 6 detected in the position 9 may deviate. Thus, even if the front first and second front restraint surfaces A1 and A2 are initially set at a predetermined distance from the front surface of the vertical partition plate 29 in the control device 19, as shown in FIG. The first and second front restraint surfaces A3, A4 may be separated from the front surface of the vertical partition plate 29 by a predetermined distance or more.

Actually, the state shown in FIG. 2 and the state shown in FIG. 3 occur simultaneously, so that it is necessary to correct both the displacement of the potentiometer 36 of the boom 4 and the displacement of the potentiometer 38 of the arm 5. There is.
In this case, the displacement of the boom 4 with respect to the potentiometer 36 is corrected, and then the displacement of the arm 5 with respect to the potentiometer 38 is corrected.
The correction of the deviation related to the potentiometer 36 will be described.

As shown in FIG. 7, the operation unit 27 is provided with a changeover switch 41 and a storage button 42. First, the changeover switch 41 is switched to the boom correction mode. Thereby, the backhoe device 3 can be operated by the right and left operation levers 9 and 10 irrespective of the front first and second front restraint surfaces A1 and A2 set in the control device 19. Next, as shown in FIG. 2, the arm 5 is operated slightly forward, and then the boom 4 is raised in this state so that the tip of the bucket 6 reaches near the upper end of the front surface of the vertical partition plate 29. . Then, the boom 4 is stopped at a position where the tip of the bucket 6 has reached a predetermined distance from the front surface of the vertical partition plate 29 (the position of the correct front first restraint surface A1). Thereafter, the storage button 42 in FIG. 7 is pressed and operated.

As described above, the value detected by the potentiometer 36 when the storage button 42 is pressed and operated is stored. In this case, if the detected value of the potentiometer 36 stored in the control device 19 as the one corresponding to the correct front first braking surface A1 actually corresponds to the inclined front first braking surface A3, The angle difference D between the detected value of the potentiometer 36 stored as corresponding to the inclined front first restraint surface A3 and the detected value of the potentiometer 36 when the storage button 42 is pressed.
(Corresponding to a correction value) is detected, and the angle difference D is stored. In this manner, when the boom 4 is raised, the tip of the bucket 6 reaches the vicinity of the upper end of the front surface of the vertical partition plate 29, and the angle difference D in FIG. By doing so, the angle difference D can be obtained with high accuracy.

(7) As described above, after correcting the potentiometer 36 of the boom 4, the potentiometer 38 of the arm 5 is used.
Is corrected, and this correction will be described below. First, the changeover switch 41 of the operation unit 27 shown in FIG. 7 is switched to the arm correction mode. Accordingly, the backhoe device 3 can be operated by the right and left operation levers 9 and 10 irrespective of the front first and second front restraint surfaces A1 and A2 set in the control device 19 as described above.

Next, as shown in FIG. 3, the boom 4 is operated to a position substantially upward, the bucket 6 is operated to a substantially horizontal position, and then, in this state, the arm 5 is positioned substantially directly below. Is operated to the operation unit 27 side. Then, the arm 5 is stopped at a position where the tip of the bucket 6 has reached a predetermined distance from the front surface of the vertical partition plate 29 (the correct position of the first or second front restraint surface A1, A2). Thereafter, the storage button 42 in FIG.
Press to operate.

As described above, the detection value of the potentiometer 38 when the storage button 42 is pressed is stored as the value detected by the potentiometers 36 and 39 at this time. In this case, the detected values of the potentiometer 38 stored in the control device 19 as those corresponding to the correct front first and second front restraint surfaces A1 and A2 actually change the front first and front second Checking surface A
3 and A4, the detected value of the potentiometer 38 stored as corresponding to the first and second front restraint surfaces A3 and A4, which are slightly apart from each other, and the storage button 42 described above are pressed. Potentiometer 38
Is detected and the angle difference E (corresponding to the correction value) is detected and stored. As described above, by swinging the arm 5 from the position facing substantially directly downward to the driving unit 27 side, the angle difference E in FIG. The angle difference E can be obtained with high accuracy.

(8) As shown in (6) and (7) in FIGS. 2 and 3, the angle difference D of the boom 4 with respect to the potentiometer 36 and the angle difference E of the arm 5 with respect to the potentiometer 38 (see FIG. (Corresponding to the detection values of the potentiometers 36 and 39 in the postures of the boom 4 and the bucket 6), the changeover switch 41 in FIG. 7 is switched to the work mode.

Accordingly, the potentiometer 36 of the boom 4 can be used without erasing the input of the shape of the front first and the second front restraint surfaces A1, A2 to be set in the control device 19. Is added to the detected value (corresponding to the boom correcting means), and the angle difference E is added to the detected value of the potentiometer 38 of the arm 5 (corresponding to the arm correcting means). Then, as shown in FIG. 2 and FIG. 3 in the control device 19, the front first and front second restraint surfaces A3 and A4 set at the inclined and distant positions are correct front first and front second This is corrected to the restraint surfaces A1 and A2, and the front restraint area B1 is set for the correct front first and second front restraint surfaces A1 and A2 as shown in FIG.

As described above, when the front first and second front restraint surfaces A1 and A2 are corrected in the control device 19, the front end and the bottom of the bucket 6 are set in the control device 19 so that the front and the front are set. The control device 1 determines that the front second check surfaces A1 and A2 have been reached.
When the backhoe device 3 is stopped by the judgment of 9, the tip and the bottom of the bucket 6 are stopped at the correct front first and second front restraint surfaces A1, A2 shown in FIG.

The above-described correction operation is performed in the backhoe apparatus 3 provided with the bucket 6 and the arm 5 having the same shape.
Slight errors in each part at the time of assembly, etc. and potentiometer 3
This is for absorbing the individual differences and the like of each of the backhoes 6 and 38 and stopping all the backhoe buckets 6 at the correct front first and second front check surfaces A1 and A2 shown in FIG. However, the above correction operation can be used in the following cases. That is, the bucket 6 may be replaced with a different shape such as a different length of the claw at the tip, the vertical partition plate 29 and the upper partition plate 30 of the operating unit 27 may be changed to those having different shapes, When the specification is changed, such as changing the length, by detecting the angle differences D and E shown in FIGS. 2 and 3, the tip and the bottom of the bucket 6 can be moved regardless of the specification change. As shown in FIG. 1, the vehicle can be stopped at the correct front first and second restraint surfaces A1 and A2 separated from the front surface of the vertical partition plate 29 by a predetermined distance.

[Alternative Embodiment] In the above-described embodiment, the first and second front restraint surfaces A1, A2 and the horizontal restraint surface C are set with reference to the tip, the bottom, and the left lateral surface of the bucket 6. , Potentiometer 3 in FIG.
9 is omitted, and the potentiometers 36, 37, and 38 are used to refer to the tip of the arm 5 (the connection point of the bucket 6) as a reference.
The first and second front restraint surfaces A1 and A2 and the lateral restraint surface C may be set.

In the above-described embodiment, after the correction of the potentiometer 36 of the boom 4 is performed, the correction of the potentiometer 38 of the arm 5 is performed. However, the order may be reversed. Further, the potentiometer 36 of the boom 4 and the potentiometer 38 of the arm 5 as described above.
In addition to the above correction, the same correction may be made in the potentiometer 37 of the second boom portion 4b and the potentiometer 39 of the bucket 6 shown in FIG.

In the above-described embodiment, the operating positions of the right and left operating levers 9, 10 and the operating pedal 26 are electrically detected by the potentiometers 15 to 18, and the pilot valves 31a to 35b of the electromagnetic proportional pressure reducing valve type are used. The present invention is applied to the operation type control valves 21 to 25, and the present invention is applied to this type. However, the present invention may be applied to a backhoe having the following configuration. That is, the operation positions of the right and left operation levers 9, 10 and the operation pedal 26 are electrically detected by the potentiometers 15 to 18 without the provision of the above-described pilot valves 31a to 35b of the electromagnetic proportional pressure reducing valve type. A type in which the control valves 21 to 25 of the electromagnetic proportional pressure reducing valve type are operated based on the detected value. Also, without the potentiometers 15 to 18 described above, the right and left operation levers 9 and 1 are provided.
0, a type in which a pilot valve (not shown) is directly mechanically operated by operating the operation pedal 26, and the control valves 21 to 25 are switched by a pilot pressure from the pilot valve.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a schematic side view of a backhoe showing front first and second check surfaces and a front check area.

FIG. 2 is a schematic side view showing a state in which a correction relating to a boom potentiometer is performed.

FIG. 3 is a schematic side view showing a state in which a correction relating to a potentiometer of an arm is being performed.

FIG. 4 is a side view showing a state where the tip of the bucket has reached the first and second front restraint surfaces.

FIG. 5 is a diagram showing a flow of control of the backhoe apparatus in the front restraint area, the first first and second front restraint surfaces.

FIG. 6 is a schematic plan view of a backhoe showing a front first restraint surface, a front restraint region, a lateral restraint surface, and a lateral restraint region.

FIG. 7 shows each hydraulic cylinder, control valve,
Diagram showing the relationship between the pilot valve, right and left operating levers, etc.

FIG. 8 is an overall side view of the backhoe.

[Explanation of symbols]

 2 Swivel base 3 Backhoe device 4 Boom 5 Arm 6 Bucket 11, 12 Hydraulic cylinder 27 Operating unit 29 External frame 36 Boom angle sensor 38 Arm angle sensor A1, A2 Traction surface D, E Correction value

Continuation of the front page (56) References JP-A-5-79063 (JP, A) JP-A-2-261128 (JP, A) JP-A-7-3845 (JP, A) JP-A-3-156037 (JP) , A) (58) Field surveyed (Int.Cl. ⁶ , DB name) E02F 9/24

Claims (1)

(57) [Claims] An operating unit (2) provided on a swivel (2).
7) A predetermined shape is specified at a position away from the external frame (29) by a predetermined distance in front of the outer frame (29), and the check surface (A1),
Setting means for setting (A2) in space, a boom angle sensor (36) for detecting the vertical angle of the boom (4) with respect to the swivel (2), and front and rear of an arm (5) with respect to the boom (4) An arm angle sensor (38) for detecting an angle, wherein the boom and arm angle sensors (36), (38)
, The bucket (6) is connected to the check surface (A)
1) and (A2), when trying to enter the operation section (27) side, the backhoe device (3) stops the hydraulic cylinders (11) and (12) for driving, And the shape of the check surfaces (A1) and (A2) by the setting means is provided.
The boom angle sensor (3) is provided so that the front-rear angle of the check surfaces (A1) and (A2) with respect to the external frame (29) can be changed to a desired front-rear angle without deleting the setting.
6) a boom correction means for adding a correction value (D) to the detection value, and a shape of the check surfaces (A1) and (A2) by the setting means.
The arm angle sensor (3) is provided so that the front-rear distance between the tread surfaces (A1) and (A2) with respect to the external frame (29) can be changed to a desired front-rear distance without deleting the setting.
8) A backhoe including arm correction means for adding a correction value (E) to the detected value of 8).