JP3208277B2 - Slope construction machine and bucket angle detecting device of the slope construction machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bucket angle detecting device of a hydraulic shovel provided with a bucket for slope construction used for, for example, embankment of a river.

[0002]

2. Description of the Related Art A hydraulic excavator equipped with a slope construction bucket having a flat bottom portion (hereinafter referred to as a slope bucket) in place of a normal excavation bucket is used for slope construction such as embankment of a river. Used.

[0003] In this construction of a slope by a hydraulic shovel, a worker who gives an operation instruction to an operator by looking at the angle of the slope to be formed and the like from outside the hydraulic shovel, and operates the hydraulic shovel according to the instruction. Performed by an operator.

In order to be able to perform such operations by one person, it is necessary to automatically detect the finished surface angle of the formed slope and notify the operator of the angle. Conventionally, the angle is measured using a goniometer such as a potentiometer directly attached to each pin support (rotation center) of the boom, arm and bucket, or a link mechanism 102 as shown in FIG. Moving center 101
The angle of a boom, an arm, and a bucket is each detected by the potentiometer 100 provided in the part away from the vehicle, and the bucket position is calculated based on those angles.

[0005]

With the potentiometer mounted in this manner, the ground angle of the bucket, that is, the finished surface angle of the slope, is determined by the relative angle of the boom with respect to the vehicle body, the relative angle of the arm with respect to the boom, and the bucket with respect to the arm. From the relative angle of Therefore, the detected finished surface angle is likely to have an error due to the accumulation of the mounting error of each of the potentiometers and the like. Further, since a plurality of potentiometers are mounted, the number of components increases, the wiring becomes complicated, and the assembly takes time.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an angle detecting device for a slope construction bucket capable of accurately detecting a finished surface angle of a slope with a simple structure.

[0007]

The structure of the present invention will be described with reference to FIGS. 1, 2, 7, and 22 showing one embodiment. (1) The invention according to claim 1 is a vehicle body 2 capable of traveling and a vehicle body 2
Boom 3 whose base end is rotatably supported at its base, and boom 3
Arm 4 whose one end is rotatably supported at the other end of the arm 4
A slope-construction bucket 5 pivotally supported at the other end of the arm 4, and a bucket angle sensor (13, 14) provided on the bucket 5 and outputting a signal corresponding to the inclination angle thereof;
The present invention is applied to a bucket angle detecting device of a slope construction machine comprising: a calculating means 15 for calculating a finished surface angle of the slope by the bucket 5 based on output signals from the bucket angle sensors (13, 14). Then, the bucket angle sensor (1
3, 14) are composed of at least two first and second inclination sensors (13, 14) having an angle detection range narrower than the angle detection range to be detected. The above-described object is achieved by performing detection based on the first angle detection range of the inclination sensor 13 and the second angle detection range of the second inclination sensor 14. (2) The invention according to claim 2 is the bucket angle detection device according to claim 1, wherein the first and second tilt sensors 1
3 and 14 are installed so that a part of the first angle detection range of the first inclination sensor 13 and a part of the second angle detection range of the second inclination sensor 14 overlap each other. And means for switching the signals of the first and second inclination sensors to each other. (3) The invention according to claim 3 is the bucket angle detecting device according to claim 1 or 2, wherein a finishing surface angle of a predetermined slope set in advance as shown in FIGS. A determination means 17f for determining whether or not the angle difference between the actual slope surface and the finished surface angle calculated based on the output signals from the output signals from the output signals from the output signals from the output signals from the output signals from the output signals from the output signals from the output signals from the output signals from And a notifying means 18 for notifying that effect. (4) The bucket angle detection device according to any one of claims 1 to 3, wherein the reference angle signal for correcting the signal output from the bucket angle sensor (13, 14) is provided. Input means (19, 20) for inputting, and the calculating means 17 comprises a bucket angle sensor (13, 14).
The output signal of the bucket 5 is corrected with a reference angle signal to calculate the finished surface angle of the bucket 5. (5) According to a fifth aspect of the present invention, in the bucket angle detecting device according to any one of the first to fourth aspects, a vehicle body tilt angle sensor 23 that outputs a signal corresponding to the tilt angle of the vehicle body 2 is provided.
The calculating means 17 calculates a finished surface angle of the bucket 5 based on output signals of the vehicle body tilt angle sensor 23 and the bucket angle sensors (13, 14). (6) The invention according to claim 6 is characterized in that:
Boom 3 whose base end is rotatably supported at its base, and boom 3
Arm 4 whose one end is rotatably supported at the other end of the arm 4
A slope-construction bucket 5 pivotally supported at the other end of the arm 4, and a bucket angle sensor (13, 14) provided on the bucket 5 and outputting a signal corresponding to the inclination angle thereof;
The present invention is applied to a bucket angle detecting device of a slope construction machine comprising: a calculating means 15 for calculating a finished surface angle of the slope by the bucket 5 based on output signals from the bucket angle sensors (13, 14). A space 5e is provided on the back surface of the slope construction bucket 5 so as to cover the back surface with a plurality of members (5a, 5b, 5c, 5d) including the flat plate 5b and the flat plate 5b provided on the bottom of the bucket. And the bucket angle sensors 13 and 14 are provided in the space 5e to achieve the above-described object. (7) The slope construction machine according to the seventh aspect of the present invention includes a vehicle body 2 that can travel as shown in FIGS. 20 to 22, a boom 3 whose base end is rotatably supported by the vehicle body 2, An arm 4 whose one end is rotatably supported at the other end of the boom 3;
A slope construction bucket 5 pivotally supported at the other end of the arm 4, a bucket angle sensor (13, 14) provided on the bucket 5 and outputting a signal corresponding to the inclination angle thereof; Setting device (2) to set bucket finishing surface angle in advance
, 22) and the output signals from the bucket angle sensors (13, 14) and the output signals from the setting devices (21, 22), the finishing surface angle of the bucket 5 is set by the setting devices (21, 22).
A control device (25, 26) for controlling the attitude of the bucket 5 so as to have a predetermined angle set in 2), wherein the bucket angle sensor (13, 14) has an angle smaller than the angle detection range to be detected. At least two first having a detection range
And a second tilt sensor (13, 14),
The object described above is achieved by detecting the finished surface angle of the bucket 5 based on the first angle detection range of the first inclination sensor 13 and the second angle detection range of the second inclination sensor. .

[0008]

(1) According to the first aspect of the present invention, a measurement signal corresponding to the inclination posture of the bucket 5 is output from the bucket angle sensors (13, 14), and the calculating means 15 determines the method by the bucket 5 based on the output value. Calculate the finished surface angle of the surface. The finished surface angle range of the bucket 5 to be detected is covered by the first and second angle detection ranges of the first tilt sensor 13 and the second tilt sensor 14. (2) According to the second aspect of the present invention, the output of the first tilt sensor 13 and the output of the second tilt sensor 14 are in a range where a part of the first angle detection range and a part of the second angle detection range overlap. The signals are used interchangeably. (3) According to the third aspect of the present invention, the preset finishing surface angle of the slope is compared with the actual finishing surface angle calculated based on the detection values of the bucket angle sensors (13, 14). When the difference is equal to or larger than a predetermined value, the notification unit 18 notifies the user of the difference. (4) According to the invention of claim 4, the finishing surface angle of the bucket 5 is obtained by correcting the output signal of the bucket angle sensor (13, 14) with a reference angle signal input and set by the input means (19, 20). Is calculated by (5) According to the fifth aspect of the invention, the finished surface angle of the bucket 5 is determined by the inclination angle of the vehicle body 2 detected by the vehicle body inclination sensor 23 and the bucket angle detected by the bucket angle sensors (13, 14). It is calculated based on. (6) In the invention of claim 6, the bucket angle sensor (13,
14) is provided in the space 5e provided on the back surface of the bucket 5. (7) According to the invention of claim 7, the finishing surface angle detected by the bucket angle sensor (13, 14) and the setting finishing are set so that the finishing surface angle of the slope surface set by the setting device (21, 22) is obtained. The control device (2
5, 26), whereby the finished surface angle of the bucket 5 is controlled to a predetermined angle set in advance. The finished surface angle range of the bucket 5 to be detected is covered by the first and second angle detection ranges of the first tilt sensor 13 and the second tilt sensor 14.

In the means and means for solving the above problems which explain the constitution of the present invention, in order to make the present invention easy to understand, the drawings of the embodiments are used. However, the present invention is not limited to this.

[0011]

【Example】

-First Embodiment- FIGS. 1 to 10 and FIG. 2 show a first embodiment of the present invention.
2 will be described. First, the configuration of a hydraulic shovel including a bucket for slope construction will be described with reference to FIG. In the figure, 1 is a traveling body, 2 is a revolving body provided rotatably on the traveling body 1, 3 is a boom whose base end is rotatably supported on the revolving body 2, and 4 is the other end of the boom 5 is a slope bucket whose one end is rotatably supported at one end thereof, 5 is a slope bucket which is rotatably supported at the other end of the arm 4, and includes a boom cylinder 6, an arm cylinder 7, and a bucket. Cylinder 8
Are respectively driven.

Next, the structure of the slope bucket 5 is shown in FIG.
4 to FIG. FIG. 3 is a side view of the slope bucket, and FIG.
FIG. 4 is a view in the direction of arrow A in FIG. 3. 1 and 2 are a sectional view taken along the line aa and a sectional view taken along the line bb of FIG. 4, respectively. As shown in the figure, the slope bucket 5 includes a back plate 5a formed in a curved shape similarly to a bucket used for normal excavation work,
Flat plate 5b fixed to the bottom surface and extending in the direction of rear plate 5a
A side plate 5c provided on each of the left and right ends of the back plate 5a; and a rear plate 5d provided so as to cover the back plate 5a.
And formed from Behind the back plate 5a, the back plate 5a
A space 5e is formed by the flat plate 5b, the side plates 5c, 5c, and the rear plate 5d. Note that 5f is a rear plate 5d.
And a mounting bracket for the arm 4 and the arm cylinder 8. The rear plate 5d is provided with an opening 5d1 communicating with the space 5e, and the opening 5d1 is closed by fixing a lid 9 described later with bolts 10.

As shown in FIGS. 1 and 2, first and second inclinometers 13 and 14 mounted on first and second brackets 12a and 12b are provided in the space 5e. The brackets 12a and 12b are attached to the lid 9 by bolts 11, respectively. The first and second inclinometers 13 and 14 have output characteristics as shown in FIG. 5, for example, and output an output voltage of 0.5 V to 4.5 V according to the inclination angle in a range of inclination angle ± 60 degrees. It is supposed to.

The first and second brackets 12a, 12a
The inclinometer mounting surface 2b has a flat plate 5b (hereinafter referred to as a finished surface portion) when the inclinometer is attached as shown in FIG.
Are formed so as to be inclined by -50 degrees and +50 degrees, respectively. By attaching the first and second inclinometers 13 and 14 to their mounting surfaces, the first inclinometer 13 can move the bucket angle range of -110 degrees to +10 degrees as shown in FIG. The inclinometer 14 can detect an angle range of −10 degrees to +110 degrees. By switching the output signals of the first and second inclinometers 13 and 14 within the range of -10 degrees to +10 degrees, the bucket angle is set to -110 degrees.
+110 degrees is detected. Therefore, as can be seen from FIG. 10, the measurement range of the first inclinometer 13 is −10 degrees to +10 degrees.
And the measurement range of the second inclinometer 14 -10 degrees to +10 degrees, and the first inclinometer 1 is changed due to errors in manufacturing the mounting brackets 12a and 12b and errors in mounting the inclinometer.
At the time of switching between the third inclinometer 14 and the second inclinometer 14, there is no portion where the angle is not detected.

Next, the first,
The detection of the inclination angle of the finished surface portion 5b of the slope bucket 5 in the second inclinometers 13 and 14 will be described with reference to FIGS. FIG. 7 is a schematic configuration diagram showing an embodiment of the tilt angle detecting device. As shown in FIG. 7, the tilt angle detecting device includes first and second inclinometers 13 and 14, and these inclinometers 13 and 14. , 14 for calculating the inclination angle based on the output signal output from the output signal, and a display 1 for numerically displaying the calculation result of the calculation device 15 in a cab (not shown).
6 The detection signals of the first and second inclinometers 13 and 14 are transmitted to an arithmetic unit 15 provided on the revolving unit 2 by wires (not shown) provided along the arm 4 and the boom 3. The display 16 is of a liquid crystal or LED type.

As shown in FIG. 8, the arithmetic unit 15 performs an arithmetic operation on a multiplexer 15a, an AD converter 15b, and an inclination angle, which selectively take in output signals from the first and second inclinometers 13, 14. It comprises a CPU 15c, a ROM 15d storing a program for calculating the tilt angle, a RAM 15e, and an interface 15f for outputting the calculation result to a display device.

Next, the first, second
The processing procedure of the output signals of the inclinometers 13 and 14 will be described with reference to FIGS. Note that the inclination angle detection range detected here is a range of ± 90 degrees with respect to the horizontal plane based on the finished surface angle of the slope that is normally constructed.

First, the output signal of the first inclinometer 13 is AD-converted in step S1, and the second inclinometer 1 is converted in step S2.
4 is AD-converted. In the next step S3,
It is determined whether the measured value of the first inclinometer 13 is less than -90 degrees, 0 degrees or more, or -90 degrees or more and less than 0 degrees.

If it is less than -90 degrees, the process proceeds to step S4, and it is determined whether the measured value of the second inclinometer 14 is equal to or more than 0 degrees or less than 0 degrees. When the measured value of the first inclinometer 13 is less than -90 degrees, it is impossible to output a signal whose measured value of the second inclinometer 14 is 0 degrees or more. Therefore, if the measured value of the second inclinometer 14 is 0 degree or more, an error is output in step S7 as an abnormal value, and the display 16 is displayed in step S14.
Displays, for example, "EEE" indicating an error. If it is determined in step S4 that the measured value of the second inclinometer 14 is less than 0 degrees, it is determined that the value exceeds the detectable range,
In step S8, the inclinometer outputs an overrange of less than -90 degrees, and in step S15, the display 16 displays, for example, "-9".
Flashes “0”.

If it is determined in step S3 that the value measured by the first inclinometer 13 is not less than -90 degrees and less than 0 degrees, step S5 is performed.
And the measured value of the second inclinometer 14 is 0 in step S2.
It is determined whether it is greater than or equal to 0 degrees or less than 0 degrees. If it is 0 degrees or more, an error is output as an abnormal value in step S9 as described above, and the process proceeds to step S14. If it is determined in step S5 that the angle is less than 0 degree, the process proceeds to step S10, where the first inclinometer 1
A signal indicating the measured value output from 3, that is, a signal indicating a measured value within the effective output range of −90 degrees or more and less than 0 degrees is output, and the process proceeds to step S 16 to display the value on the display 16.

If it is determined in step S3 that the measured value of the first inclinometer 13 is equal to or more than 0 degree, the process proceeds to step S6, in which the measured value of the second inclinometer 14 is less than 0 degree or 0 degree or more and 90 degrees. It is determined whether it is less than 90 degrees or more than 90 degrees.

In step S6, the second inclinometer 14
If it is determined that the measured value is less than 0 degrees, an error is output as an abnormal value in step S11 and the process proceeds to step S14. If the measured value is 0 degrees or more and 90 degrees or less, the second inclinometer 14 returns from step S12. The output measurement value, that is, the measurement value within the output valid range from 0 degrees to +90 degrees is output, and the value is displayed on the display 16 in step S17. Also,
In step S6, the measured value of the second inclinometer 14 is +9.
If it is determined that the angle exceeds 0 degree, the process proceeds to step S13 as a value exceeding the detectable range, where an overrange exceeding +90 degrees of the inclinometer is output, and step S1 is performed.
In step 8, for example, "90" blinks on the display unit 16.

In the above-described first embodiment, the case where the output signal (output waveform) that changes linearly is used as the inclinometer has been described. However, the output signal at the peak is as shown in FIG. When a magnetic sensor type having a curved shape is used, the processing shown in FIG.

That is, the output signals of the first and second inclinometers 13 and 14 are AD-converted in steps S100 and S101 in the same manner as steps S1 and S2 in FIG.
At 02, the second inclinometer 14 is measured from the value measured by the first inclinometer 13.
The difference is obtained by subtracting the measured value of. Then, step S10
At 3, it is determined whether or not this difference is positive. Since the difference does not become minus between -90 degrees and +90 degrees of the angle detection range, if it is not plus, step S104
Outputs an overrange outside the angle detection range, and blinks, for example, "000" on the display 16 in step S105. If a positive value is determined in step S103, the measurement value of the first inclinometer 13 is converted into an angle in step S106, and it is determined in step S107 whether the angle is positive. If step S107 is positive, steps S108 and S10 are performed similarly to steps S12 and S17 in FIG.
9, the display 16 displays a value from 0 to 90 degrees as a measured value within the effective output range of the second inclinometer 14, and if step S107 is not positive, step S1 in FIG.
As in the case of 0 and S16, the process proceeds to steps S110 and S111, and a value from −90 ° to 0 ° is displayed on the display 16 as a measured value within the output effective range of the first inclinometer 13.

The first embodiment has the following advantages. (1) Since the inclinometer is provided in the space 5e isolated from the outside of the slope bucket 5, failure of the inclinometer due to collision with earth and sand can be prevented. (2) Since the bucket angle is detected by the inclinometer provided on the slope bucket 5, errors at the time of angle calculation can be reduced and detection can be performed with high accuracy, component costs can be reduced, and assemblability can be improved. (3) Two inclinometers are installed at different installation angles, respectively.
By calculating the bucket angle by appropriately switching the output signals output from these inclinometers, even if the inclinometer has a detectable range narrower than the bucket rotation range,
All bucket angles in the bucket rotation range can be detected. Therefore, a general-purpose inclinometer can be used regardless of the detectable range of the inclinometer, and the cost can be reduced. (4) When two inclinometers having a narrow detectable range are used, a part of the detection range of each inclinometer is overlapped, and the signals used in the overlapping range are switched to each other. There is no range that cannot be detected due to differences in the accuracy of the mounting and mounting errors.

-Second Embodiment-This embodiment is similar to the first and second inclinometers 1 of the first embodiment.
The finishing surface angle of the bucket 5 detected by 3, 4 can be corrected to an angle based on a predetermined angle that is set in advance, and the finishing surface angle of the slope to be constructed can be set in advance to perform detection. The bucket angle is compared with the set finishing surface angle, and the result can be notified to the operator.

First, the configuration of this embodiment will be described with reference to FIG. In the present embodiment, an arithmetic unit 17 for calculating the inclination angle of the finished surface portion 5b of the bucket 5 based on the detection values of the first and second inclinometers 13 and 14 and a calculation result of the arithmetic unit 17 are displayed. The display device 18 and an initial setting switch 19 for setting when correcting the finished surface angle detected by the inclinometers 13 and 14 to an angle with respect to a predetermined reference surface.
And setting of the reference surface of the bucket 5, setting of the finishing surface angle,
And a mode switch 20 for switching between detection of an actual angle and an up switch 2 for setting a slope angle to be installed.
1, a setting down switch 22, and a third inclinometer 23 attached to the main body to detect the inclination of the vehicle body in the front-rear direction.
And calculating the angle of the finished surface portion 5b of the bucket 5 based on the measurement value of the third inclinometer 23, or
And a changeover switch 24 for switching whether to calculate the angle of the finished surface portion 5b without using the measured values of the above. Note that the third inclinometer 23 can be the same as the inclinometers 13 and 14.

As shown in FIG. 14, the display device 18 is an actual angle display unit 1 for displaying the angle of the finished surface 5b of the bucket 5 detected by the first and second inclinometers 13, 14.
8a, a set angle display section 18b for displaying a set slope angle set by the up switch 21 and the down switch 22, and a comparison between the bucket actual angle and the set slope angle, and an alarm is issued when a predetermined value is exceeded. It comprises a lamp 18c and a built-in buzzer (not shown), and further includes the above-described initialization switch 19, mode switch 20, up switch 21, and down switch 22. In addition,
The actual angle display section 18a and the set angle display section 18b have three digits of 7
It is composed of segment LEDs.

As shown in FIG. 15, the arithmetic unit 17 includes a multiplexer 17a connected to the first to third inclinometers 13, 14, and 23, an AD converter 17b, and switches such as an initial setting switch 19. Input interface 1
7c and a ROM 17d for storing an arithmetic program
A RAM 17e, a CPU 17f for performing calculations, and an output interface 17g for outputting calculation results to the display device 18.
17h and electrically rewritable EEPROM 17i
It is composed of

Next, the processing operation of the arithmetic unit 17 in this embodiment will be described with reference to FIGS. The procedure of calculating the bucket tilt angle by the first and second inclinometers 13 and 14 is the same as that in the first embodiment, and a detailed description thereof will be omitted.

First, as shown in FIG. 16, when the arithmetic unit 17 is powered on, the process proceeds to step S20, where it is determined whether or not the initialization switch 19 is turned on. If the switch is on, the process proceeds to step S21.
The process proceeds to Step S25 of Step 7. Here, when the initial setting switch 19 is turned on in step S20, after adjusting the inclination angle of the finishing surface portion 5b of the bucket 5 to a predetermined angle using the operation lever in the cab, the following steps S21 to S21 are performed.
The reference plane of the bucket 5 is set by the procedure of S24. For example, the bucket is placed on the horizontal firmness, and steps S21 to S2
4 is performed to set the horizontal plane as the bucket reference plane.

That is, in step S21, it is determined whether or not the mode switch 20 has been turned on. If the mode switch 20 has been turned on, the process proceeds to steps S22 and S23, where the output values of the first and second inclinometers 13 and 14 are output. Is AD-converted. In step S50, it is determined whether or not the relative angle calculation mode is set by the changeover switch 24. If the determination is negative, the process proceeds to step S24, and the measured value obtained by AD conversion in steps S22 and S23 is written to the EEPROM 17i as an initial setting value. If the mode switch 20 is OFF, the state of step S21 is repeatedly executed until the mode switch 20 is turned ON, and the process waits.

Thus, the initial setting of the reference surface of the bucket 5 is performed. The reference plane setting processing procedure is as follows.
The processing is performed in advance at the time of factory shipment or before work, and the subsequent processing is performed with the output values of the first and second inclinometers 13 and 14 at the time of setting the reference plane as zero points.

When the initial setting switch 19 is off, in step S25 in FIG. 17, the preset slope angle is set to 0 degree, and the angle of the bucket reference plane written in the EEPROM 17i is read. Step S2
6, the value read from the EEPROM 17i is set to 0 degree. For example, when the reference plane is set to +20 degrees with respect to the horizontal plane, the value of +20 degrees is corrected to 0 degrees and the actual angle display unit 18a And the lamp 18
c, output signal of buzzer 18d off interface 1
Output to 7g. Further, the set angle display section 18b displays
The preset set slope angle is displayed in the range of -90 degrees to 90 degrees.

Then, the process proceeds to a step S27 to determine whether the mode switch 20 is on or off. If the mode switch 20 is off, the process goes from step S28 to step S28.
By operating the up switch 21 and the down switch 22 while checking the display of the set angle display section 18b according to the procedure of 31, the finish surface angle of the slope to be constructed is set to a predetermined value. If the mode switch 20 is on, the process proceeds to steps S32 and S33 in FIG.
3. The value of the second inclinometer 14 is AD-converted, and the angle of the finished surface portion 5b of the bucket is calculated in step S34. The angle calculation procedure in this step S34 is the same as the flowchart in FIG. 9 shown in the first embodiment, and FIG.
The reference plane set in steps S20 to S24 of FIG.
Calculated as degrees. For example, when the reference plane is set at +20 degrees with respect to the horizontal plane, even when the finished surface angle is at +35 degrees with respect to the horizontal plane, the correction is made to +15 degrees and output.

Further, in step S35, step S
It is determined whether the value calculated in 34 is an overrange state, an error state, or a normal state. If it is in the over-range state, the actual angle display unit 18a displays, for example, in step S36, for example,
As in the first embodiment, "90" or "-90" is blinked, and the lamp 18c and the buzzer 1
An ON signal is output to 8d to light and sound them.
If it is in an error state, the actual angle display unit 1 is set in step S39.
"EEE" is displayed on the screen 8a, and step S40
To turn on and sound the lamp 18c and the buzzer 18d.

If the state is normal, the process proceeds to step S52,
It is determined by the changeover switch 24 whether or not the mode is the relative angle calculation mode. If the determination is negative, the process proceeds to step S38. Step S
At 38, the angle calculated by the actual angle display section 18a is represented by "-".
Displayed as numerical values from 90 "to" 90 ", then step S4
Proceeding to 1, the absolute value of the difference between the actual angle and the set slope angle is calculated. If the calculated value exceeds the predetermined value, the process proceeds to step S40, where the lamp 18c and the buzzer 18
d to output an ON signal to turn on and sound them to notify the operator of the state, and if it is within a predetermined value, step S4
In step 2, an off signal is output to the lamp 18a and the buzzer 18b.

The above is the control performed by setting the angle of the reference surface of the bucket finishing surface portion 5b in advance and based on the finishing surface portion 5b and the preset slope angle at the time of work.

Next, a control flow for calculating a relative angle between the inclination angle of the hydraulic excavator body and the bucket finishing surface 5b will be described.

When the relative angle of the finished surface portion 5b to the inclination angle of the vehicle body is calculated, the above-described switch 24 may be turned on. In this case, in step S51 of the control flow in FIG. 16, the output of the third inclinometer 23 is AD-converted, and the value is also set as the initial setting value in step S24 as EEP.
The data is written to the ROM 17i.

Further, when step S52 in FIG. 18 is affirmed, the process proceeds to step S53 in FIG. 19, where the output of the third inclinometer 23 is AD-converted. Obtain the body inclination angle. Since the third inclinometer 23 is provided horizontally with respect to the vehicle body, the vehicle body inclination angle calculated in step S54 is determined according to the magnitude of the output signal as shown in FIG. Degrees (downward in front of vehicle body) to +45 degrees (upward in front of vehicle body) are calculated.

In step S55, it is determined whether the body tilt angle is in an overrange state, an error state, or a normal state.
When a normal state is detected in step S55, the process proceeds to step S56, in which the difference between the angle of the bucket finishing surface 5b and the body inclination angle is calculated, and the angle of the finishing surface 5b with respect to the body inclination angle is calculated. Is displayed on the actual angle display section 18a in step S38, and the processes in steps S41 and S42 are performed based on the value as described above.

The determination in step S55 is made in step S5
4 to determine whether the measured value of the third inclinometer 23 is in an overrange state exceeding ± 45 degrees, an error state in which the output signal exceeds 0 V or 4.5 V, or a normal state. If so, the process proceeds to step S36, for example, "-45" is blinked and displayed on the actual angle display section 18a, and the process proceeds to step S37 described above. Step S5
If it is determined in step 5 that an error has occurred, the process proceeds to step S39, for example, blinking "EEE" is displayed, and then the process proceeds to step S40.

The vehicle body inclination angle calculated in step S54 is calculated by setting the value initially set in step S51 to 0 degree. For example, if the initially set vehicle body inclination angle is +10 degrees, the body inclination angle is +10 degrees with respect to the horizontal plane.
Even if it is 25 degrees, the correction calculation is performed to +15 degrees.

The second embodiment has the following advantages. (1) By displaying the finished surface angle of the slope to be constructed and the angle of the actual finished surface of the bucket numerically on the display device, it is easy to grasp the construction state of the slope. (2) The finishing surface angle of the slope to be constructed is set in advance, and the angle is compared with the actual angle of the finishing surface of the bucket.
When the difference exceeds a predetermined amount, the worker is notified by a buzzer and a lamp, so that the state can be confirmed without taking an eye from the slope to be constructed. Slope construction work can be performed by one person. (3) Since the bucket angle detected by the first and second inclinometers is an absolute angle with respect to the reference position, if the reference position of the bucket 5 is set to, for example, a horizontal plane, the vehicle body is placed at an inclined place. Even when the work is performed, the angle of the finished surface portion of the bucket with respect to the horizontal plane can be detected. (4) Since the reference position of the finished surface portion of the bucket can be arbitrarily changed, for example, even when a new slope is constructed based on a previously constructed slope, the angle can be easily set. (5) Since an inclinometer is provided on the vehicle body so that the relative angle between the vehicle body and the bucket angle can be detected, for example, when work is performed while the vehicle body is placed on an inclined position, the slope of the slope with respect to the installation surface of the vehicle body is The finish surface angle can be grasped.

Third Embodiment In this embodiment, the finishing surface angle of the slope to be constructed is set in advance in the arithmetic unit, and the angle of the finishing surface of the bucket is automatically corrected to the angle. . FIG. 20 is a diagram showing the third embodiment. Note that the same reference numerals are given to the same components in the above-described first and second configurations, and the detailed description thereof will be omitted.

First and second inclinometers 13 and 14 are connected to the arithmetic unit 17A, and the solenoid valve 2 is connected to the arithmetic unit 17A.
6 are connected. The oil discharged from the hydraulic pump 25 is guided to the bucket cylinder 8 through the solenoid valve 26, and the angle of the finished surface 5 b of the bucket 5 is controlled by switching control of the solenoid valve 26. In addition, 27 is a relief valve.

FIG. 21 shows a control flow of the solenoid valve 26 in the arithmetic unit 17A. First, in step S61, the slope angle to be constructed is set by the up switch 21 and the down switch 22, as in the second embodiment. In step S62, the set slope angle θ is set to the set angle display section 18b.
To be displayed. In step S63, the actual angle β of the finished surface portion 5b of the bucket 5 calculated according to the procedure shown in the first embodiment is read, and displayed in the actual angle display section 18a in step S64.

Next, in step S65, the actual angle β is compared with the set slope angle θ, and if β <θ, the process proceeds to step S66.
To operate the solenoid valve 26 in a direction to contract the bucket cylinder 8. If β = θ, the electromagnetic valve 26 is controlled in step S67 to stop the bucket cylinder 8 or maintain the state. If β> θ, the process proceeds to step S68 to operate the electromagnetic valve 26 in the direction to extend the bucket cylinder 8. Then, by repeating the control from step S63 to step S68, the angle of the finished surface portion 5b of the bucket 5 is controlled to a preset normal surface angle.

In the third embodiment, a worker can construct a slope at a desired angle only by operating the boom 3 and the arm 4, so that the workability is greatly improved.

In the above-described first and third embodiments, the description has been given of the case where the inclination angle of the bucket is detected by the two inclinometers of the first and second inclinometers 13 and 14. However, the detection angle range Even if one wide inclinometer is provided, three or more narrow inclinometers are provided at different mounting angles,
The arithmetic processing as in the first embodiment may be performed to detect the inclination angle of the bucket.

In the above embodiment, the finishing surface 5b is a flat plate, the first and second inclinometers 13 and 14 are bucket angle sensors and the first and second inclination sensors, and the arithmetic unit 1
5, 17, and 17A are arithmetic means, the display 16 and the display device 18 are notification means, the initial setting switch 19 and the mode switch 20 are input means, the up switch 21 and the down switch 22 are setting devices, The inclinometer 23 constitutes a vehicle body inclination angle sensor, and the hydraulic pump 25 and the solenoid valve 26 constitute a control device.

According to the present invention, the following effects can be obtained by the above configuration. (1) In the first and seventh aspects of the present invention, a predetermined angle detection range is ensured by at least the first and second angle detection ranges respectively detected by the first inclination sensor and the second inclination sensor. As a result, even when an inclination sensor having a relatively narrow angle detection range is used, the finished surface angle of the bucket can be sufficiently detected. (2) In the invention of claim 2, in addition to the configuration of claim 1,
When the entire detection range is covered by at least two inclination sensors, a part of the first and second angle detection ranges by the first and second inclination sensors is made to overlap, and within this overlapping range, each of the sensors from Since the signals are switched and used, even if the mounting positions of the first and second tilt sensors are shifted, an undetectable angle range does not occur, and continuous angle detection can be reliably performed. . (3) In the invention of claim 3, in addition to the constitution of claim 1 or 2, when the difference between the actual finished surface angle of the slope and a preset predetermined finished surface angle is not less than a predetermined value, Since the fact is notified, the work can be performed while checking the content of the notification, so that the slope can be easily formed at a desired finished surface angle. (4) In the invention of claim 4, in addition to the constitution of claims 1 to 3, the finishing surface angle of the bucket is controlled to a predetermined angle set by the input means, so that the worker can be connected to the boom. By simply operating the arm, a slope having a desired finished surface angle can be formed, so that workability can be improved and construction time can be reduced. Furthermore, since the reference surface of the finishing surface angle of the bucket can be arbitrarily changed by changing the value set in the input means, for example, when a new slope is formed with respect to a slope formed at a predetermined angle. The setting of the finished surface angle can be easily performed. (5) In the invention of claim 5, in addition to the configuration of claims 1 to 4, the finishing surface angle of the bucket is calculated based on the inclination angle of the vehicle body, so that the slope of the slope with respect to the inclination angle of the vehicle body is calculated. The finishing surface angle can be calculated. (6) According to the sixth aspect of the present invention, since the bucket angle sensor is provided in the space formed in the back surface of the bucket, it is possible to prevent the sensor from being exposed to earth and sand, wind, snow and rain, thereby shortening the service life and causing a failure. .

[Brief description of the drawings]

FIG. 1 is an enlarged view of a cross section aa of FIG. 4 showing a first embodiment of a slope angle detecting device for a slope construction work of the present invention.

FIG. 2 is an enlarged view of a section bb in FIG. 4;

FIG. 3 is an enlarged detail view of a slope bucket 5 shown in FIG. 20;

FIG. 4 is a view in the direction of arrow A in FIG. 3;

FIG. 5 is a diagram illustrating a relationship between an inclination angle and an output signal in the first and second inclinometers.

FIG. 6 is a view for explaining a mounting positional relationship between the first and second inclinometers shown in FIGS. 1 and 2;

FIG. 7 is a control block diagram illustrating a first embodiment of the angle detection device for a slope construction bucket according to the present invention.

8 is a block diagram illustrating a configuration of the arithmetic device of FIG. 7;

FIG. 9 is a flowchart of control in the arithmetic device shown in FIG. 7;

FIG. 10 is a diagram illustrating a relationship between a bucket angle and output signals of first and second inclinometers.

FIG. 11 is a diagram showing another relationship between the angle of the bucket and the output signals of the first and second inclinometers.

FIG. 12 is a flowchart of control of the arithmetic unit on the output signal shown in FIG. 11;

FIG. 13 is a block diagram showing a second embodiment of the angle detection device for a slope construction bucket according to the present invention.

FIG. 14 is a configuration diagram of a display device.

FIG. 15 is a block diagram illustrating a configuration of the arithmetic device of FIG. 13;

FIG. 16 is a flowchart of control in the second embodiment.

FIG. 17 is a flowchart of control in the second embodiment.

FIG. 18 is a flowchart of control in the second embodiment.

FIG. 19 is a flowchart of control in the second embodiment.

FIG. 20 is a diagram illustrating a schematic configuration of a hydraulic circuit and an arithmetic unit according to a third embodiment.

FIG. 21 is a control flowchart in the third embodiment.

FIG. 22 is an overall view of a hydraulic shovel including a slope construction bucket to which the present invention is applied.

FIG. 23 is a view showing a conventional angle meter mounted state for detecting a tilt angle of a bucket.

[Explanation of symbols]

 2 Revolving structure 5 Slope bucket 5b Flat plate 5e Space 9 Lid 12a, 12b Mounting bracket 13 First inclinometer 14 Second inclinometer 15, 17 Computing device 16 Display 18 Display device 19 Initial setting switch 20 Mode switch DESCRIPTION OF SYMBOLS 21 Up switch 22 Down switch 23 Third inclinometer 24 Changeover switch 25 Hydraulic pump 26 Solenoid valve 100 Potentiometer 102 Link mechanism

──────────────────────────────────────────────────続 き Continuation of the front page (72) Yoshimi Shiba Inventor, Hitachi Construction Machinery Engineering Co., Ltd. Field (Int.Cl. ⁷ , DB name) E02F 3/43 E02D 17/20 E02F 9/26

Claims (7)

(57) [Claims] 1. A vehicle body capable of running, a boom having a base end rotatably supported by the vehicle body, and an arm having one end rotatably supported by the other end of the boom. A slope construction bucket rotatably supported at the other end of the arm, a bucket angle sensor that outputs a signal corresponding to a tilt angle of the bucket, and an output signal from the bucket angle sensor. Calculating means for calculating a finished surface angle of the slope by the bucket, wherein the bucket angle sensor is provided in the bucket and is narrower than an angle detection range to be detected. The first and second tilt sensors include at least two first and second tilt sensors having an angle detection range, and determine a finishing surface angle of the bucket by using a first angle detection range of the first tilt sensor and a first angle detection range of the second tilt sensor. Bucket angle detecting device for slope construction machine and detecting on the basis of the second angle detection range. 2. The bucket angle detection device for a slope construction machine according to claim 1, wherein the first and second inclination sensors are a part of a first angle detection range of the first inclination sensor. Means for installing a part of the second angle detection range of the second inclination sensor so as to overlap with each other, and switching between the signals of the first and second inclination sensors within the overlapped range; A bucket angle detection device for a slope construction machine characterized by the following. 3. The slope angle detecting device for a slope construction machine according to claim 1, wherein a finish surface angle of the slope is set in advance and a finish surface of the actual slope calculated by the calculating means. Determining means for determining whether or not the angle difference from the angle is equal to or greater than a predetermined value; and notifying means for notifying when the angle difference is equal to or greater than the predetermined value, slope construction comprising: Machine's bucket angle detection device. 4. The bucket angle detection device for a slope construction machine according to claim 1, wherein the angle signal calculated based on output signals from the first and second inclination sensors is corrected. Input means for inputting a reference angle signal for performing the operation, wherein the calculating means corrects an output signal from the first and second inclination sensors with the reference angle signal to thereby obtain a finished surface angle of the bucket. And a bucket angle detection device for a slope construction machine. 5. The bucket angle detection device for a slope construction machine according to claim 1, further comprising a vehicle body inclination angle sensor for outputting a signal corresponding to the inclination angle of the vehicle body, A bucket angle detection device for a slope construction machine, wherein a finishing surface angle of the bucket is calculated based on output signals of the vehicle body inclination angle sensor and the first and second inclination sensors. 6. A vehicle body capable of running, a boom having a base end rotatably supported by the vehicle body, and an arm having one end rotatably supported by the other end of the boom. A slope construction bucket rotatably supported at the other end of the arm, a bucket angle sensor that outputs a signal corresponding to a tilt angle of the bucket, and an output signal from the bucket angle sensor. And a calculating means for calculating a finishing surface angle of the slope by the bucket, wherein the back surface of the bucket includes a flat plate and a flat plate provided on the bottom of the bucket. A bucket angle detecting device for a slope construction machine, wherein a space portion is provided so as to cover a rear portion thereof by a plurality of members, and the bucket angle sensor is provided in the space portion. 7. A vehicle body capable of running, a boom having a base end rotatably supported by the vehicle body, and an arm having one end rotatably supported by the other end of the boom. A bucket for slope construction rotatably supported at the other end of the arm, a bucket angle sensor provided on the bucket and outputting a signal corresponding to an inclination angle thereof, and a predetermined bucket finishing surface angle. A setting device that is set in advance, and the bucket based on an output signal from the bucket angle sensor and an output signal from the setting device, such that a finished surface angle of the bucket becomes a predetermined angle set in the setting device. And a control device for controlling the attitude of the bucket. The bucket angle sensor is composed of at least two first and second inclination sensors having an angle detection range narrower than an angle detection range to be detected, and A slope construction machine that detects a rising surface angle based on a first angle detection range of the first inclination sensor and a second angle detection range of the second inclination sensor.