JP3133793B2 - Lift / loader boom device and work tool moving method using lift / loader boom device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION This invention relates to a self-propelled, self-propelled boom assembly that is controlled to maintain the boom assembly tip in a substantially vertical linear trajectory throughout a substantial portion of the boom assembly upstroke .
Lift / loader boom device and lift / loader boom
The present invention relates to a work tool moving method using a device .

[0002]

2. Description of the Prior Art A loader boom assembly that provides a substantially vertical movement of a bucket has been used to lift material. For example, U.S. Pat. No. 4,355,946 uses a long lift arm support link at the rear of the loader boom assembly to improve the ascent path of the front bucket and to level the bucket. A link mechanism for controlling a lift arm of a loading machine is described.

US Pat. No. 3,215,292 to Hall, dated Nov. 2, 1965, describes a guide link that operates to extend the lift arm of a loader as it is raised.

[0004]

However, in the above described prior art device, when the bucket is raised, in the upper part of its operating range, the bucket does not move along a substantially vertical trajectory, but rather moves out of the support device. It moves continuously toward.

[0005]

SUMMARY OF THE INVENTION The present invention has a pair of lift arms, each lift arm being lifted up from a horizontal position, as the lift arm is lifted. A boom assembly for a loader that includes a pair of articulating links that are controlled to move the outer end substantially vertically and substantially linearly. The connecting link of each lift arm is a main lift arm link extending forward, that is, a main lift arm portion,
A substantially shorter lift arm link, i.e., one end pivotally supported on the main lift arm link or main lift arm portion and the other end pivotally supported on the frame of the self-propelled loader. Includes lift arm.

[0006]

[Action] The operation trajectory of the main lift arm part is partially
It is controlled by a control link connected to the leading end of the frame of the self-propelled loader and the main part of the lift arm of each lift arm. The lift arm is lifted by actuation of a hydraulic cylinder or actuator that exerts a repulsive force between the main lift arm section and the main frame of the loader. As the boom assembly is lifted, the rear lift arm link is first controlled to pivot about its pivot on the main frame of the loader and the other end of the rear link pivotally supported relative to the main lift arm link. That is, the first end is controlled to turn backward by the control link. After the bucket at the tip of the boom assembly approaches near the height of the pivot of the rear lift arm link with respect to the main frame of the loader, the rear lift arm, or one end of the link, raises the boom assembly further up. As it begins to move forward, and the main lift arm also moves forward. As a result, the rear and main lift arm links, or main lift arms, expand as the boom assembly is raised, and throughout the range of operation of the lift arms forming the boom assembly, above the full range of movement, the tip of the lift arm and the bucket. Keep moving in a nearly vertical trajectory.

Thus, the bucket support at the tip of the lift arm is positioned, for example, to facilitate the unloading of the material to the truck, and the tip of the lift arm draws an arc in the upper part of the lifting operation of the lift arm. It has the advantage that it does not move backward.

[0008] Both parts of each loader lift arm, the hydraulic actuator, and the control link of each lift arm are assembled so that they lie in a common plane, so that the lateral dimension of the driver's seat has a conventional boom. There is no need to change from the current dimensions of skid steerloaders.

[0009]

EXAMPLES loader assembly also made in accordance with the present invention
Is mounted on a skid control device, that is, a prime mover 12. This prime mover 12
Has a main frame 14 extending over the entire longitudinal direction and is suitably supported on front and rear wheels 16.
The wheels 16 are driven by an engine (not shown) in an engine room 15 disposed immediately behind the driver's seat 18 by the main frame 1.
Driven in a suitable manner via a drive train supported on 4. A frame-shaped upright member 20 at the rear of the main frame that constitutes the boom support member is used to support the loader 10. Each upright member 20 consists of a separately arranged plate at intervals.
It is well known that when a conventional loader boom mounted on a loader frame by a single pivot is raised and lowered, the outer tip moves in an arc. When the boom begins to ascend, the supported bucket moves some forward, and after the pivoted boom crosses the center point, the bucket moves upward and a considerable amount. There is a tendency for the bucket to move backward in the raised position, resulting in a shorter forward reach of the bucket in the raised position.

[0010] the main frame 14 has a characteristic of the frame-shaped uprights 20, the arrangement of the drive wheels, Feng Da 2 2, and Wide driver's seat 18 are all standard skid steer loading device. The driver's seat extends laterally across the entire main frame. The driver's seat extends over substantially the entire width between the inner plate of the frame-shaped upright member 20 and the fender 22 (see FIG. 4). The articulated boom of the present invention is designed to conform to the basic structure of the main frame, and the upright wide driver's seat allows normal access to maintain the machine in a conventional manner. The engine room 15 is located immediately behind the driver's seat 18 and the engine handling door or panel 15A is provided with a rear lift door.
Unhindered to over arm links 32, and because it uses a pivot 40 provided in the high position, there is clearance from transverse member 36, it may be opened like the machines existing.

For the purpose of utilizing the conventional boom basic loading device design with a radiused arc, the rear axle in the elevated position remains the same.

The general form of skid steerer loader shown here is well known and is manufactured by the Merlot Company, an affiliate of the Clark Equipment Company of Fargo, North Dakota, and manufactured by Bobcat "BOBC".
AT "is a registered trademark on the market.

In this embodiment, the loader 10 has a lift boom assembly 24 consisting of two partial booms. The two part booms comprise a main lift arm assembly 26 and a rear lift arm link assembly 28 that are pivotally mounted on each other. Main lift arm assembly 2
Reference numeral 6 includes a pair of main lift arm links or main lift arms 30, which are disposed at intervals in the lateral direction, and a pair of rear or second lift arm links or second lift arms 32. The main lift arm link 30 is on both sides of the main frame and its tip is
Are connected by a suitable transverse member. And
Spacing rear lift arm links 32 are on both sides of the main frame and are joined together by suitable transverse members 36. The main lift arm assembly 26 has a leading end and a trailing end, and the main lift arm portion has a suitable pivot pin 38 at the trailing end.
Are pivotally connected to each other to form a pivot with the first end of the rear lift arm link 32. Main lift arm section 30 and rear lift arm link 32
Are coupled so as to lie on a common plane along the side of the driver's seat.

Further, each rear lift arm link 32
Is close to the rear portion of the main frame 14, and be in the upper portion of the upright member 20, suitable for forming a pivot for each of the frame-shaped uprights 20 between the plates that form the respective frame-like upright member 20 The pin 40 is pivotally connected to the pin 40. The axis of the pin 40 forming the pivot of the rear lift arm link assembly 28 has been raised to a considerable height from a support surface indicated generally by the reference numeral 42. The main lift arm link 30 has a forward arm 44 extending downward. When the lift boom assembly 24 is in the lowered position, the front arm 44 extends downward and forward just in front of the front wheel 16. At the tip of the main lift arm 30, there is a mounting pin 46 that forms a pivot for supporting the work implement. The work implement is a bucket 48 supported by an auxiliary frame 50 as shown. The auxiliary frame 50 is pivotally mounted on the pin 46 and is controlled by a tilting cylinder or actuator 52 in a known manner. The tilting cylinder 52 has at its proximal end the transverse member 34.
And a supporting member 53 attached to the supporting member 53. The sub-frame 50 is owned by Merlot, an affiliate of the Clark Equipment Company of Fargo, North Dakota.
Bob Touch "BOB-TACH" by Company
It is a mounting frame sold under the registered trademark. Of course, other desired attachments for the work implement or bucket 48 could be used. In many instances, there is a defined point, such as the axis of a pin 46 or the forward edge of a bucket 48, used to determine the path of travel of the tip of the main lift arm link 30 during a lifting operation.

In this embodiment, a control arm 54 is fixed to a position of the main lift arm portion, that is, the main lift arm link 30 at a distance from the pivot 38 in the forward direction.
Control arm 54 is made of two plates spaced, as can be seen, off along both sides of the driver's seat 18 Enda 2
2 to a position directly above. The mounting plate portion 56 of the hydraulic actuator or cylinder is secured in a suitable manner to the main lift arm 30 on each side of the boom assembly. The mounting plate portion 56 may be a part of a plate constituting the control arm 54.

A separate double acting fluid pressure actuator or cylinder assembly 58 is mounted on each side of the main frame and has telescopic rods. The rod has a rod end connected by suitable pins 60 between the spaced plates 56. The proximal end of each actuator or cylinder 58 is connected to the main frame 14 by suitable pins 62 and is located between the plates forming the uprights 20, as shown. The proximal pin 62 for the double acting hydraulic actuator or cylinder 58 is
Note that it is well below that. The actuator extends forward and upward from pivots 62 to 60.

In the present embodiment, the control link is a fixed length link, that is, a fixed link, generally indicated by reference numeral 66. Stationary control links are located on either side of main frame 14, and thus separate control links 66 are provided for each lift arm of the boom assembly.
Each control link 66, by having a tip which is pivotally secured at a suitable pin 68 to each Feng Da 2 2 on the fixed bracket is fixed to the main frame 14 of the prime mover 12. The other end of the fixed or control link 66 is coupled to each control arm 54 of each main lift arm section 30 by a suitable pin 70 and is located between the plates forming each control arm 54.

Each control link 66 is substantially horizontal to the lift boom assembly 24 in its lowered position.
During work with a bucket or the like, when a load is applied to the bucket, there is a rearward force. The horizontal control
The control link 66 is substantially parallel to the direction of the rearward force and serves to hold the individual main lift arm portions 30 and rear lift arm links 32 from moving rearward. Of course, a part of the rearward load is transmitted to the rear lift link arm 32 via the pin 38 and also to the pivot 40 of the frame-shaped upright member 20. However, for an articulated lift arm in which the two lift arms are pivotally supported relative to each other, the main lift arm 30 and the rear lift arm link avoid the horizontal load vector acting rearward on the pin 46. 32 tends to collapse. Control link 66, actuator 5
8. The main lift arm 30 and the rear lift arm or link 32 on each side of the boom assembly save lateral space, reduce the width of the driver's seat or increase the overall width of the device. Instead, they are located on a common plane to accommodate existing skid controls.

Actuator or cylinder assembly 58
Is operable to lift the lift boom assembly 24 to a high off-load position using a valve and a source of fluid pressure (not shown). When the lift boom assembly 24 is raised lifting the tip of the shaft, i.e. the bucket 48 of the pin 46 draws a substantially vertical trajectory throughout the upper portion of the working range used unloading bucket 48. FIG. 1 shows the lift boom assembly 24 in the lowered position. In FIG. 3 showing the movement trajectory of the pin 46, the pin 46
After reaching approximately the same height as the pin 40 above (indicated by the horizontal dashed line in FIG. 3), the lift boom
As the assembly 24 is further lifted, rather than moving in an arc toward the rear, the axis of the pin 46 lifts the boom assembly
It moves almost vertically to the highest lifting position of the solid 24 . The tilting cylinder 52 can be operated as desired in a conventional manner to tilt the auxiliary frame 50 and the bucket 48 about the axis of the pin 46. as a result,
No matter what specific tilting position the bucket 48 is in,
Each point of the bucket 48 , for example its leading edge, is
It will move along a trajectory corresponding to the six axis trajectory.

[0020] In the lowered position of the lifting boom assembly 24, the main lift arm section, that the main riffs on both sides of the loader
Toamu link 30 and the rear lift arm section, that the main
The lift arm link 32 is a rear lift arm link 3
The two center lines, the line connecting the axes of the pivot pins 38 and 40, and the line connecting the pivot pins 38 and 46 form an included angle. This included angle is represented by a double arrow 74. When operatively lift cylinder clogging actuator 58 lifts the lift blanking <br/> over arm assembly 24, i.e. the bucket 48 is started, by a fixed link 66 to pivot in an arc upwards about pin 68, rear As the lift arm link 32 is forcibly moved rearward, the included angle 74 first decreases.

The control arm 54 positions the pivot pin 70 at the rear end of the control link 66 at a predetermined position so that the rear lift arm link 32 moves rearward when the control arm 54 turns. Then the pin 46 rises along the track 47 as shown in FIG. 3, the lift boom assembly 24
However, when the cylinder or actuator 58 extends to a position where it moves by about 1/3 of its full ascent stroke, the angle
The decrease of 4 stops. And the main lift arm,
When the two lift arms including the main lift arm link 30 and the rear lift arm, that is, the rear lift arm link 32, are widened as the end of the control link 66 moves in an arc, the included angle 74 is increased. Begins to increase again. The effective length of the lift boot <br/> arm assembly 24 from pivot pin 40 to the front portion, the top of the upstroke 2/3
, So that the pin 46 and the bucket 4
Move the relevant part of 8 along a vertical trajectory. Thus, the fixed or control link 66 controls the pivoting movement of the pivot pin 38 as the rear lift arm link 32 pivots about the pin 40. Having the control link 66 have a substantial length (i.e., about twice as long as the rear lift arm link 32);
By appropriately selecting the dimensions and the positional relationship (geometric relationship) of each link, including setting the main lift arm link, that is, the main lift arm portion 30 to be considerably shorter, the movement trajectory of the pin 46 and the bucket 48 can be adjusted. Can be as desired.

Since the length of the control link 66 is fixed, the same movement path is followed when the lift boom assembly 24 is lowered. This boom assembly retains the benefits of the elevated swivel boom point 40 of existing skid steer loaders with improved lifting capacity, and the advantage of having a smaller loader that can be steered like a conventional skid steer loader. However, in the upper portion of the operating trajectory of the lift boom assembly 24 , it achieves the purpose of obtaining a longer operating distance (reach), thus facilitating unloading of trucks and stacking to high positions.

The plane defined by pins 68 and 70 corresponds to pin 6 of the lift cylinder or actuator 58.
2 above and pin 70 is behind pin 68, so that from the position where lift boom assembly 24 is lowered and control link 66 is substantially horizontal, pin 70 moves upward and forward, and the rear lift First, the arm link 32 is moved backward. The axis of pin 70 traverses the plane defined by the axes of pins 68 and 38, leading to an overcenter as pin 70 rises. Of the main lift arm section 30, at a selected lifting position, when the main lift arm section 30 is further lifted,
The fixed link 66 is located at the rear, that is, the second lift arm link.
32 begins to move forward and the included angle 74 begins to increase again. Li, consisting mainly lift arm section, that the main lift arm Li <br/> link 30 and the rear lift arm link 32
The effective length of the shift boom assembly 24 is increased as long as the rise continues.

It should be noted that the control link 66 is made so that its length can be adjusted in order to adapt to the individual requirements required for the operating trajectory and to control the different trajectories of the pin 46. It is. However, according to the link structure shown here, the desired vertical motion trajectory of the pin 46 is obtained when the bucket is lifted to the desired height. In other words, after reaching the desired height near the height of the pivot of pin 40, bucket 48 is lifted along a substantially vertical path.

A short rear lift mounted on a high pivot
Arm link 32Loader assembly equipped with10Is a riff
The stiffness of the boom assembly 24 has been improved and
Orbit of limited space securedeachLifter
HomeLinkMoves. Frame-shaped upright member 2 with high pivot 40
0, the rear lift arm link 32 attached to the rear
Without extending to the space required to open the engine room
ToConnectionThe benefits of a boom with
HomeFifteenImproved access to maintenanceliftB
Arm assembly24I will provide a.liftBoom assembly24
Crosses the rear entrance door 15A of the engine room 15
And does not extend backward.ConnectionOf the present invention havinglift
Boom device or loader deviceIs the basic frame and drive
In the structure of the section, there is a general skid control loading machine
It has a degree of commonality.

Bucket 48 and lift boom assembly 2
The movement trajectory of the tip of the main lift arm link 4 is, as described above, the rear lift arm link 32
While moving backwards in the initial lifting position. This is in the initial, more caused a tendency to move the bucket 48 in a vertical trajectory, when the bucket <br/> Tsu bets 48 was first lifted, the bucket 48 and the load outward on rotation radius Keep it closer to the front wheels and main frame 14, rather than movement. Therefore, the rearward movement of the rear lift arm link 32 depends on the bucket.
An important feature in the determination of the 48 initial lifting trajectories.

[0027]

The present invention provides a vertical lifting trajectory in the operating range of a loader boom that would otherwise reduce the reach of the boom. As a result, the operation of the loader for loading the truck or loading the material can be more easily advanced. The control linkage provides reliable and reliable control for obtaining a vertical motion trajectory.

The present invention allows for a vertical lifting trajectory in the operating range of a boom device that creates a radius of gyration that would otherwise increase the reach of the boom, ie, move forward.

In this mechanical linkage system, both the initial inward movement and the increase in reach near the maximum lift position can be combined in a conventional skid control design. This allows the existing features and manufacturing methods of the device design, as well as the driver's seat, operating unit, engine,
Maintenance work in the areas of transmissions, fluids and hydrostatics, cooling systems, electrical systems, maintenance access features and means of attaching accessory work to skid controls can be maintained.

Although the present invention has been described with reference to preferred embodiments, workers skilled in the art will recognize that changes may be made in form and detail without departing from the spirit and scope of the invention. .

[Brief description of the drawings]

FIG. 1 is a partial cross-sectional side view showing a skid control loader equipped with a loader boom assembly of the present invention.

FIG. 2 is a side view of the loading machine shown in FIG. 1 when viewed from the opposite side.

FIG. 3 is a partial schematic side view illustrating the bucket and boom assembly in a plurality of raised positions to show the trajectory of the outer ends of the boom assembly and a supported bucket.

FIG. 4 is a perspective view of the loader boom assembly of the skid steerer loader shown in FIG. 1, shown with a planar frame with other parts removed for clarity.

[Explanation of symbols]

14 ... main frame, 20 ... frame-shaped upright member, 30 ... main lift arm link, 32 ... rear lift arm link, 4
8 ... bucket, 54 ... control arm, 58 ... fluid pressure cylinder, 66 ... fixed link

──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Orlan Jay. Loras United States, 58054 Elm Street, Lisbon, North Dakota 912 (72) Inventor Wally El. Kachimarsky United States, 58054 North Dakota, Lisbon, Route 3, Box 105 (72) Inventor Larry E. Albright Maplewood Drive, Guiner, 58040 North Dakota, United States, 580 (56) References JP-A-2-70834 (JP, A) JP-A-2-29940 (JP, U) (58) Fields studied (Int.Cl. ⁷ , DB name) E02F 3/348 B66F 9/065

Claims (7)

(57) [Claims] A lift / loader provided on a prime mover
In a boom device , a boom support member is fixedly attached to a rear portion of the lift arm assembly, and the boom support member is arranged on both sides of the main frame having an upper end, and is coupled together to form a lift arm assembly. Wherein the lift arm assembly is a pair of lift arms having a tip mounting member for mounting a work implement and a rear end, each of which extends rearward from a front portion of the main frame, and A first end shorter than the main lift arm link and pivotally mounted at the rear end of the main lift arm link; and a pivotally movable upper end of the boom support member well above the support plane of the main frame. A pair of lift arms comprising first and second articulated lift arm links including a second lift arm link having a second end mounted thereon; Telescopic actuator means which are pivotally mounted, extend forward and upward and are each coupled to a main lift arm link; and, when the lift arm is raised and lowered, the main lift arm link and each of the second lift arm links. A control link longer than said second lift arm link coupled to at least one main lift arm link to control a pivotal trajectory between said main frame and said main link near a forward portion of said main frame. A control end having a first end movably mounted and a control end extending rearward and having a second end slidably mounted on a main lift arm link, wherein the control link has a lift arm in a lowered position. At one time, it is located above the pivot support of the actuator means relative to the main frame and below the pivot support of the second lift arm link. As a result, as the lift arm assembly is lifted by the actuator means, the pivot disposed at the second end of the control link moves in an arc, and the lift arm assembly is lifted to a desired position. The pivot connecting each main lift arm link and its respective second lift arm link,
A lift / loader boom device wherein the tip mounting member moves on a track controlled to move substantially vertically. 2. When the main lift arm links are in the lowered position, each of the second lift arm links extends forward and upward from its pivot with respect to the upright boom support member toward its pivot with respect to the main lift arm link. By pivoting the second lift arm link backward, when the main lift arm link is lifted,
At first, the first included angle is reduced by the control of the control link,
To a desired position where the pivot of the second end of the control link passes through the center with respect to the plane defined by the second end of the second lift arm link and the pivot provided at the first end of the control link. After the lift arm assembly is lifted,
The lift / loader boom device according to claim 1, wherein the first included angle increases. 3. The main lift arm link and the second lift arm link are in a collapsed position when the main lift arm link is in the lowered position, the control link is substantially longer than the second lift arm link, and the actuator As the main lift arm link is moved upward by the means, the main and second lift arm links are first folded together and then unfolded when the control link passes through the center about the pivot of the first end of the control link. And a pivot connecting the second and main lift arm links moves the tip of the main lift arm link along a substantially straight vertical trajectory when the lift arm assembly is lifted above a desired height position. 2. The lift according to claim 1,
-Loader boom device . 4. A lift row for a self-propelled motor having a main frame extending in a longitudinal direction and having front and rear ends, and an upright loader boom support member provided at a rear portion of the main frame.
In Dabumu device, a lifting boom assembly having a pair of lift arms attached to each side of the main frame, the lift arms of the each is connected, and includes first and second lift arm The first lift arm portion forms a boom unit, and the second lift arm portion forms a rear link unit, and is rotatably mounted on the first lift arm portion and the upright loader boom support member on the main frame. A lift boom assembly, and actuator means coupled between the first lift arm and the main frame for supplying a force for lifting the tip of the first lift arm upward from the lowered position to the raised position; A first pivot has a first end pivotally mounted near the front of the main frame and extends rearwardly therefrom and a second pivot has a first end. A control link having a second end pivotally mounted to the arm, wherein the first lift arm is adapted to maintain a distal end of the first lift arm in a substantially vertical trajectory between a lowered position and a raised position. as part is lifted, the lift loader boom first and second lift arm is characterized by comprising a control link be induced to follow the trajectory
Equipment . 5. The control link is pivotally mounted to the main frame at a position substantially vertically below a pivot between the second lift arm portion and the upright loader boom support member, Operating from a substantially horizontal position with the first lift arm in the lowered position, and moving the first and second lift arms relative to each other when the first lift arm moves upward. Swiveling to initially reduce the effective length of the arc movement of the first lift arm tip measured between the pivot of the second lift arm relative to the upright loader boom support member and the tip of the first lift arm. The lift / loader boom device of claim 4, wherein the control link is substantially longer than the second lift arm. 6. The lift rod according to claim 4, wherein the control link is substantially longer than the second lift arm .
-Boom device . 7. A main frame extending in a vertical direction, wheels supporting the main frame so as to be able to move on the ground, a driver's seat at a central portion of the main frame, and a driver seat on both sides of the driver's seat. A pair of rear frame upright members that are adjacent to each other, fixed to the main frame, and extending upward therefrom; first and second pivotally coupled first portions and a second portion that are pivotally connected to a portion adjacent to a rear portion of the main frame. An articulated lift arm link assembly, wherein the first lift arm link assembly extends forward of the main frame to support a work implement at a distal end thereof, and a rear end of the second lift arm link assembly. The part is a loader boom assembly including a lift arm link assembly pivotally mounted on the upper part of the frame-shaped upright member, and a first lift arm link for raising and lowering a front end thereof.
Skid steerable lift loader boo with actuator means coupled between the main frame and the first lift arm link assembly, and a pair of control links for directing movement of the lift arm link assembly.
A method of moving the work implement along a lift trajectory, wherein the work implement is first moved upward from a known position; and simultaneously, the second lift arm link assembly is pivoted about its pivot axis. Moving the work implement along a substantially vertical trajectory between a known position and a raised position.