JP3457853B2 - Backhoe - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] TECHNICAL FIELD The present invention relates to a backhoe.
The outer frame covering the driving unit and the backhoe
Related to a structure for avoiding contact with the socket. [0002] 2. Description of the Related Art In a backhoe, an outside covering a driving unit is provided.
To avoid contact between the frame and bucket,
The front frame is separated from the external frame by a predetermined distance in front.
Surface, and a lateral restraint surface was provided on the side. Laterally outside
Is the reference for buckets that move closer to the
When the part reaches the lateral restraint, a stop command is issued,
In consideration of the suspension delay due to the inertia of the
It is provided with a space from the frame. [0003] The conventional structure as described above
In FIG. 6, as shown in FIG.
Even when moving away, the front check surface A
1 and the area where the driving section is located
If the reference part of the bucket hangs, activate the bucket
Had been stopped. Then, like the arrow shown in FIG.
At the time of moving from the front of the driving unit to the side of the driving unit
At the intersection of the front restraint surface A1 and the first lateral restraint surface A2.
To move the bucket so as to grab the corner part,
It will be possible to move quickly, but the bucket
At the point when the reference part overlaps the above-mentioned area part, the bucket
Will stop, so the bucket moves smoothly.
I couldn't. On the other hand, buckets along the side
When performing the scraping operation, do not approach the driving section.
Therefore, set the position of the lateral restraint to a position that considers inertia.
Need not be. [0004] It is an object of the present invention to smoothly move a bucket.
Bucket that moves with the external frame of the driving unit while performing
Is to provide something that does not come into contact with. [0005] [Means for Solving the Problems] 〔Constitution〕 The feature of the invention according to claim 1 is that the position of the bucket is
Equipped with a position sensor to detect
Control means for controlling the operation of the bucket based on the detection of
Steps are provided, only a predetermined distance from the external frame covering the driving unit
Front traction to prevent bucket entry into a remote space position
Control surface and a predetermined distance from the external frame on the outside of the driving section
The side that prevents the bucket from entering the space position
Assuming one restraint surface, beside the first restraint surface
Assuming a lateral second check surface on the outside,The first horizontal check surface and the front
A first lateral restraint area between the lateral second restraint surface;
Forming a second lateral restraint area outside the second restraint surface;
In the area outside the restraint area,
Keeps the moving speed of the bracket at the speed set by the artificial speed setting device.
And within the second restraint area,
The bucket has a lateral movement component and approaches the driving unit
The bucket moves regardless of the set speed.
The second lateral restraint surface is configured to reduce a dynamic speed.
The first restraint area
The bucket has a lateral movement component
When approaching the turnover, close to the bucket.
Stop the contact movement, or regardless of the set speed
It is configured to reduce the bucket moving speed and
The first restraint surface is configured to prevent entry, and the side
In the second restraint area or the first lateral restraint area,
The bucket has a lateral movement component close to the driving unit.
When moving without moving the bucket forward,
It is configured to maintain the set speedIn the point, the work
The effects are as follows. [Action] In other words, the bucket has a lateral movement component and
When contacting, consider the stop delay due to the inertia of the bucket
It is necessary to perform
2 Prevents the bucket from entering from the check surface. one
The bucketClose to the driving sectionHas a lateral movement component
If not, i.e., rake in along the driving section
Driving even if it has a lateral movement component
In the case of going away from the section, the second horizontal check surfaceAnd besideFirst
Formed between the check surfaceHorizontal first checkGet into the territory
Will be allowed, and will be blocked if it crosses the first horizontal check surface.
Control. [0007] 〔effect〕 This moves the bucket laterally from the front of the driving section
If you do, move along a shorter route
Excavation work in the area close to the driving section
And store it close to the side of the driving unit.
You can do it too. [0008] FIG. 1 shows an overall side view of a backhoe.
And a swivel 2 is mounted on a traveling device 1 of a rubber crawler type.
Supported, and a backhoe device 3 is provided in front of the swivel 2.
Have been. The backhoe device 3 is driven by a hydraulic cylinder 11.
Boom 4 and hydraulic cylinder 12
Arm 5 and hydraulic cylinder that are operated to swing back and forth
13 is provided with a bucket 6 which is swingably operated.
ing. The boom 4 of the backhoe device 3 swings up and down.
First boom part 4a to be operated and first boom part 4a
The second boo is slidably connected around the axis P1 at the front end of the
Around the axis P2 at the front end of the second boom portion 4b
And a support bracket 4c that is swingably connected to
And the arm 5 is connected to the support bracket 4c.
You. Over the first boom portion 4a and the support bracket 4c
The link 8 is erected to form a parallel quadruple link.
And the second boom portion 4b is moved by the hydraulic cylinder 7.
By swinging, the arm 5 and the bucket 6
So-called offset operation that moves left and right in parallel
You. As shown in FIG. 1 and FIG.
The backhoe device 3 is arranged on the right side, and the driver's seat on the left side.
Driving composed of 14 and right and left operation levers 9 and 10
The part 15 is arranged. In the center of left and right of swivel 2
With a window that separates the backhoe device 3 and the driving unit 15
A vertical partition plate 16 is provided and is located above the vertical partition plate 16.
An upper partition plate 17 is fixed to the end along the outside of the swivel 2.
ing. Next, the hydraulic circuit structure, the backhoe device 3 and
The operation structure of the swivel 2 and the like will be described. As shown in Figure 2
Thus, the hydraulic cylinder of the first boom portion 4a (boom 4)
11 control valve 21 and control of hydraulic cylinder 12 of arm 5
A valve 22, a control valve 23 for the hydraulic cylinder 13 of the bucket 6,
Control valve 24 of swivel motor 18 of swivel 2, second boom section
The control valve 25 of the hydraulic cylinder 7 for the minute 4b, the right traveling device 1
Control valve 26, left traveling device 1 control valve 27, service
The control valve 28 of the port (not shown) and the port shown in FIG.
Control valve 29 of hydraulic cylinder 51 for raising and lowering user 19
Is provided, and hydraulic oil from the pump 20 is supplied to the control valve 2.
1 to 29. Control valve 21, arm of first boom portion 4a
5, the control valve 23 of the bucket 6, the control valve 23 of the
The control valve 24 and the control valve 25 of the second boom portion 4b are
Neutral return type with pilot operation by pilot pressure
You. The control valves 26 and 27 of the right and left traveling devices 1
The control valve 28 of the sport and the control valve 29 of the dozer 19 are operated.
Mechanically operated with a lever (not shown)
It is a vertical return type. [0013] As shown in FIG.
It is configured so that it can be operated to the right, and can be operated after the right operating lever 9.
Pilot valve 31a that generates pilot pressure by
Pilot pressure is generated by the front operation of the right operating lever 9
Operating the pilot valve 31b and the right operating lever 9
Pilot valve 33a that generates pilot pressure
A pilot pressure is generated by operating the operation lever 9 to the left.
An pilot valve 33b is provided. The left operating lever 10 is also operated in the forward, backward, left and right directions.
The left operation lever 10 can be freely operated.
Pilot valve 32a that generates pilot pressure
Pilot pressure is generated by the previous operation of the operation lever 10
With the pilot valve 32b and the right operation of the left operation lever 10,
Pilot valve 34a for generating pilot pressure, and left operation
Operation that generates pilot pressure by operating the lever 10 to the left.
An ilot valve 34b is provided. [0015] As shown in FIG.
Operation pedal 39 is provided, and left pedal of operation pedal 39 is provided.
Pilot valve 35 which generates pilot pressure by
a, and the pilot depresses the operation pedal 39 to the right.
A pilot valve 35b for generating pressure is provided. Pa
A valve for supplying pilot pressure to the pilot valves 31a to 35b.
An pilot pump 30 is provided. As shown in FIGS. 2 and 3, the right operating lever
9 pilot valves 31a, 31b and first boom portion 4a
Control valve 21, the pilot valve 33a of the right operation lever 9,
33b and the control valve 23 of the bucket 6
And the pilot operation of the left operation lever 10
And the control valve 22 of the arm 5, the left operating lever
Control of the pilot valves 34a, 34b of the bar 10 and the swivel 2
The control valve 24 is connected via a pilot oil passage.
You. The pilot valves 35a and 35b of the operation pedal 39 and the
The control valve 25 of the 2 boom portion 4b connects the pilot oil passage
Connected through. With the above structure, the right operation lever 9 is operated backward.
Then, by the pilot pressure from the pilot valve 31a,
When the control valve 21 is on the rising side of the first boom portion 4a (the hydraulic
The right operating lever 9 is operated forward.
Then, by the pilot pressure from the pilot valve 31b,
When the control valve 21 is on the lower side of the first boom portion 4a (the hydraulic
(The contraction side of the damper 11). Right operation of the right operating lever 9
When operated, the pilot pressure from pilot valve 33a
The control valve 23 is connected to the discharge side of the bucket 6 (the hydraulic cylinder 1
3), and the right operation lever 9 is operated to the left.
And control by pilot pressure from pilot valve 33b.
When the valve 23 is on the rake side of the bucket 6 (the hydraulic cylinder 13
(Extended side). When the left operating lever 10 is operated backward, the pilot
The control valve 22 is opened by the pilot pressure from the valve 32a.
To the scraping side of the arm 5 (extension side of the hydraulic cylinder 12).
When the left operating lever 10 is operated forward, the pilot valve
The control valve 22 is armed by the pilot pressure from 32b.
5 is operated to the earth discharging side (the contracting side of the hydraulic cylinder 12).
You. When the left operating lever 10 is operated to the right, the pilot valve 34
a, the control valve 24 turns the turntable 2
It is operated to the right turning side, and the left operation lever 10 is operated to the left.
And the pilot pressure from pilot valve 34b
The control valve 24 is operated to the left turning side of the swivel 2. When the operation pedal 39 is depressed to the left, the pyro
The second boom section is controlled by the pilot pressure from the cut valve 35a.
The control valve 25 for the minute 4b is moved to the left swing side (extension of the hydraulic cylinder 7).
Side), and when the operation pedal 39 is depressed to the right, the
Due to the pilot pressure from the pilot valve 35b, the second
The control valve 25 of the system portion 4b is pivoted to the right (the hydraulic cylinder 7
It is operated to the contraction side). Right and left operating levers 9, 10, operating pedals
The more the valve 39 is operated from the neutral position, the more the pilot valve 3
1a to 35b are configured to increase the pilot pressure.
Have been. Thereby, the right and left operation levers 9, 10,
The more the operating pedal 39 is operated from the neutral position, the more
The pilot pressure of the lot valves 31a to 35b increases,
The control valves 21 to 25 are operated to the large flow rate side. That is,
And left operating levers 9, 10 and operating pedal 39
The hydraulic cylinders 7, 11, 12, 13 and
The motor 18 operates at high speed. Next, the front restraint set for the swivel 2
Surface A1, lateral first restraint surface A2, lateral second restraint surface A3, etc.
Will be explained. As shown in FIGS. 4 and 5, the vertical partition 1
6 ahead of the front edge of the upper partition plate 17
The front restraint surface A1 separated by a distance and the side of the vertical partition plate 16
A first lateral restraint surface A2, which is separated from the side by a predetermined distance to the right, and
Further, a lateral second check surface A3 is assumed outward, and the control
It is set in the control device 40 (see FIG. 3) as a step.
You. Here, the vertical partition plate 16 and the upper partition plate 17 are connected to the outside.
It is called a frame. In this case, the bucket 6 is attached to the tip of the arm 5
The connected bucket pin 6a is located at the front restraint surface A1.
The bucket 6 is closest to the operation unit 15 side.
Even if the rocking operation is performed, the front edge of the vertical partition
Locus separated by a predetermined distance from the front edge of the upper partition plate 17
Front restraint surface A so that the tip of bucket 6 is located at C1
1 is set. Bucket pin 6a is horizontal first check surface
In the state located at A2, the left lateral side of the bucket 6
Positioned on a locus C2 separated by a predetermined distance from the vertical partition 16
The first lateral restraint surface A2 is set so as to perform the control. A predetermined distance from the front and lateral first restraint surfaces A1, A2
A plane that is separated forward or to the right is set, and
Between the surface and the front and first horizontal check surfaces A1 and A2
The control device 40 is provided as the area B1 and the first lateral restraint area B2.
Is defined. The lateral side of the lateral restraint area B2 is the second lateral restraint
A3. And further outward than the second lateral restraint surface A3
A third lateral check surface is provided, and a second lateral check surface A3 and a third lateral check surface are provided.
A second lateral restraint region B3 is provided between the vehicle and the restraint surface. that's all
Front and side first and second check surfaces A1, A2, A3, such as
The front and side restraint areas B1, B2, B3 are
It is set as the swivel 2 turns.
That is, it moves together with the swivel 2. As shown in FIG. 1 and FIG.
At the connection with the 1 boom portion 4a, the first
Angle sensor 36 for detecting the vertical angle of boom portion 4a
For connecting the first and second boom portions 4a, 4b
The second boom part 4b with respect to the first boom part 4a
Is provided with an angle sensor 37 for detecting the left-right angle of the
You. The connecting portion between the support bracket 4c and the arm 5 has a second
Detecting the front-back angle of the arm 5 with respect to the boom portion 4b
An angle sensor 38 is provided. Where the angle sensor
The sensors 36, 37, 38 are called position sensors. The angle sensors 36, 37, 3 as described above
8 is input to the control device 40, and will be described later.
Based on the detection values of the angle sensors 36, 37, 38
The front and side first and second check surfaces A1, A2, A3,
Of the bucket pin 6a with respect to the lateral restraint areas B1 and B2
The position is detected in the control device 40. As shown in FIG.
The lot valve 31a and the control valve 21 of the first boom portion 4a
Pilot oil path to be connected (control valve of first boom portion 4a)
21) Pilot oil passage for operating the ascending side), left operating lever
-10 pilot valve 32a and arm 5 control valve 22;
Oil passage (scratch control valve 22 of arm 5)
Pilot oil passage operated on the intake side) and operation pedal
Control of pilot valve 35a and second boom part 4b
Pilot oil passage connecting to valve 25 (second boom part)
Pilot oil for operating the control valve 25 of 4b to the left swing side
), The electromagnetically operated pressure control valves 41, 42, 4
3 are provided. Therefore, the pressure control valves 41, 42, 43
Operation to reduce pilot pressure (for maximum pressure, right and left
Set by levers 9 and 10 and operation pedal 39
Value), right and left operation levers 9 and 10 and operation pedal 39
Regardless of the operating position, the control valve 21 of the first boom portion 4a
Of the control valve 22 of the arm 5
The opening degree of the control valve 25 of the second boom portion 4b on the left swing side is opened.
The degree can be changed arbitrarily. For pressure control valves 41, 42, 43
By setting the pilot pressure to zero, the right and
The operation positions of the left operation levers 9 and 10 and the operation pedal 39 are
Regardless, the hydraulic cylinder 11 of the first boom portion 4a
The hydraulic cylinder 12 of the system 5 and the hydraulic system of the second boom portion 4b
The cylinder 7 can be stopped. Next, a check area for the backhoe 3
The relationship between B1, B2, and B3 will be described. in this case
The position of the bucket 6 in the first place becomes a problem
Uses the bucket pin 6a as a reference position for the bucket 6.
To perform control. As shown in FIG.
Depends on the detection values of the angle sensors 36, 37 and 38
The vertical angle of the first boom portion 4a and the vertical angle of the second boom portion 4b
Left and right angles, front and rear angles of the arm 5, and the first boom portion 4
a, each length of the second boom portion 4b and the arm 5
Therefore, the position of the bucket pin 6a is always detected. I
Therefore, based on the detection result, the bucket pin 6a
To determine in which area the position of
In the area B1 and in the lateral restraint areas B2 and B3.
Others located outside of both restraint areas B1, B2, B3
Control corresponding to each case
The front restraint control and the lateral restraint control when the vehicle is in the front restraint area B1.
Side restraint control in areas B2 and B3, in other areas
The normal control in the case is performed (S100 to S1).
03). As shown in FIG. 6, in the normal control,
The left and right operation levers 10 and 9 and the operation pedal 39 are
Based on the operation, a vertical movement command for the first boom portion 4a is issued.
The boom up and down, and move the arm 5 back and forth
In front of arm 5 when there are operation commands to the earth removal side and the scraping side
A post operation is performed, and the second boom portion 4b is swung right and left.
When an operation command is issued, the second boom portion 4b and the arm 5 are moved together.
Perform the so-called offset operation by swinging the body left and right.
(S201 to S206). The control here is the first boom
The moving speed of the portion 4a and the like is set so as not to decelerate. Up
Of the bucket pin 6a in the state where the normal control described above is being performed.
When the position reaches the second lateral restraint surface A3 of the lateral restraint area B2
Swings to the left with respect to the boom, ie, the second boom portion 4b.
If there is a command, the swing operation to the left is stopped (S
207-S209). In other words, there is a left swing command
This means that at least the bucket 6 has entered the driving unit 15
In this case, the bucket 6
Stop operation on the outer lateral second check surface A3 in consideration of the inertia of
To do. Therefore, the swing command to the right
When moving in a direction away from the driving unit 15 due to
, Normal control is performed. The front restraint control will be described. First,
The operation when an operation command is issued to the kuho device 3 will be described.
I do. That is, when a vertical movement command is issued to the boom 4
, The following control is performed. Front check area shown in FIG.
When entering B1, the right operation lever 9 is operated backward to
When the 1 boom portion 4a is raised, the bucket pins 6a
Before handling reaches the front restraint surface A1
Do so. FIG. 3 shows a specific operation mode in this case.
The pilot of the pilot valve 31a is controlled by the pressure control valve 41.
The pressure is reduced, and the operating position of the right
Regardless of the position, the rising speed of the first boom portion 4a (the hydraulic system
The extension speed of the cylinder 11) is decelerated.
As the ket pin 6a approaches the front restraint surface A1, the first block
(The extension speed of the hydraulic cylinder 11)
(Degree) is greatly decelerated (S301, 302, 30)
5). When the bucket pin 6a reaches the front restraint surface A1
This will be described later (S303, 304). Conversely, the front operation of the right operating lever 9 causes the first boot
When the memory portion 4a is lowered, the bucket pin 6a is pulled forward.
Since it is separated from the control surface A1, the bucket pin 6
a is located on the front restraint plane A1 and the front restraint area B1
Also, regardless of this, the operation position of the front operation of the right operation lever 9
The first boom portion 4a is lowered at a speed corresponding to
(S306) (as shown in FIG.
A pressure control valve 4 is provided in the pilot oil passage of the pilot valve 31b.
1 is not provided). In the front restraint area B1, with respect to the boom 4
When a vertical movement command is issued, the following control is performed.
Bucket pin 6a enters front restraint area B1
(S307), the left operation lever 10 is operated backward to
When the arm 5 is squeezed, the bucket pin 6a is pulled forward.
The state is approaching the control surface A1 (S308). This state
In FIG. 3, the pilot control valve 42 shown in FIG.
32a is operated to reduce the pilot pressure, and the left operating lever 1 is operated.
0 Scraping of arm 5 regardless of operating position
The speed (extension speed of the hydraulic cylinder 12) is reduced.
Therefore, the bucket pin 6a approaches the front restraint surface A1.
The speed at which the arm 5 is scraped (the extension of the hydraulic cylinder 12)
(Long speed) is greatly decelerated (S308, 31)
0). When the bucket pin 6a reaches the front restraint surface A1 (S
308), and piloted by the pressure control valve 42 shown in FIG.
When the pilot pressure of the valve 32a is set to zero, the left operating lever
The control valve 22 is neutral regardless of the operation position of the post-operation.
Arm 5 (hydraulic cylinder 12) is stopped
(S309). Conversely, the left operation lever 10 is operated forward to
When the system 5 is operated to the discharging side (S307), the bucket pin
6a is separated from the front restraint surface A1.
The set pin 6a is located at the front restraint surface A1 and the front restraint area B1.
The front operation of the left operating lever 10 regardless of this
The arm 5 moves to the unloading side at the speed corresponding to the operation position of
(S311) (as shown in FIG. 3, the left operating lever 1
0 pilot pressure in the pilot oil passage of the pilot valve 32b.
This is because the control valve 42 is not provided). The bucket pin 6a enters the front restraint area B1.
In the retracted state, the operating pedal 39 is depressed to
By swinging the 2 boom portion 4b, the bucket pin 6a is
The state approaches the front restraint surface A1 (S315). this
In the state, the pressure control valve 43 shown in FIG.
When the pilot pressure of the cut valve 35a is reduced,
Regardless of the operation position of the left depressing operation of the dull 39, the second boot
Left swing speed of the program part 4a (extension speed of the hydraulic cylinder 7)
Is decelerated, and the bucket pin 6a moves forward.
As the vehicle approaches the surface A1, the left swing speed of the second boom portion 4a increases.
Degree (extension speed of the hydraulic cylinder 7) is greatly reduced.
(S317). Bucket pin 6a reaches front restraint surface A1
Then (S313), the pressure control valve 43 shown in FIG.
The pilot pressure of the pilot valve 35a is set to zero,
Control regardless of the operation position of the left pedal operation of the operation pedal 39
The valve 25 is operated to the neutral position, and the second boom portion 4b (oil
The pressure cylinder 7) stops (S314). Conversely, the second pedal is operated by depressing the operation pedal 39.
When the swing operation is performed with the arm portion 4b facing the opposite side (S31
5), the state where the bucket pin 6a is separated from the front restraint surface A1
State, the bucket pin 6a is connected to the front restraint surface A1 and the front
Even if it is located in the check area B1, the operation
At the speed corresponding to the operation position of the stepping operation of the dull 39, the second
The boom portion 4b is rocked (S316) (see FIG. 3).
As shown, the pie of the pilot valve 35b of the operation pedal 39
The point that the pressure control valve 43 is not provided in the lot oil passage
by). Next, by raising the first boom portion 4a,
The bucket pin 6a reaches the front restraint surface A1 (S3
02), and the bucket pick-up operation
The case where the motor 6a reaches the front restraint surface A1 will be described.
As shown in FIG. 3, the pressure control valve 41 (the right
Pilot between pilot valve 31a) and control valve 21
An electromagnetically operated switching valve 44 is provided in the oil passage. Off
The switching valve 44 has a first position 44a and a second position 44b.
In the first position 44a, the pilot valve 31a
The pilot pressure is supplied only to the control valve 21 and the second position 4
4b, pilot pressure of pilot valve 31a is controlled
Left operating lever via valve 21 and pilot oil passage 45
Pyro between the ten pilot valves 32b and the control valve 22
And is usually supplied to the
One position 44a has been operated. For example, the right operation lever 9 is operated backward to
When trying to raise the boom portion 4a, the operation shown in FIG.
The switching valve 44 is operated from the first position 44a to the second position 44b.
At the same time, the pilot
The pressure is slightly increased from the state where the pressure is zero. Thus, the pilot of the right operating lever 9
The pilot pressure of the valve 31a controls the first boom portion 4a.
At the same time as being supplied to the valve 21 (upside), the arm 5
It is also supplied to the control valve 22 (discharge side),
1 boom portion 4a is raised at the lowest speed (hydraulic cylinder 1
1 is extended at the lowest speed) at the same time (S303).
Arm 5 is slowly discharged (the hydraulic cylinder 12
(S304). When the above operation is performed, FIG.
At the same time that the first boom part 4a is raised
In addition, the angle D between the second boom portion 4a and the arm 5 is slightly
And the bucket pin 6a is pulled forward.
The state is ascending along the control surface A1 (angle sensor
−36, 37, 38
The bucket pin 6a pulls forward while detecting the position of the pin 6a.
By the pressure control valve 41 so as to always be located on the control surface A1.
The pilot pressure is controlled). At the same time, the right operation lever
-9 to the left, and rake the bucket 6
The bucket 6 can be kept horizontal. Next, the lateral restraint control will be described. this
In the lateral restraint control, the bucket pin 6a is connected to the first lateral restraint.
In the case of being located in the area B2 and the second lateral restraint area B3.
Since the control form is almost the same, the first lateral restraint area B2
The position is mainly described, and the second lateral restraint area B3 is described.
, Only the different points will be described. The position of the bucket pin 6a is in the first lateral restraint area.
Control from the state located at B2 will be described. Ma
Whether an offset operation command has been issued, and
Whether or not this command indicates left swing
(S401). Depress the operation pedal 39 to the left to
When the boom portion 4b is swung to the left, the bucket pin 6a
Comes closer to the first lateral restraint surface A2 (S40).
4). In this state, the pressure control valve 43 shown in FIG.
The pilot pressure of the pilot valve 35a is reduced.
The operation position of the left pedal operation of the operation pedal 39.
The left swing speed of the second boom portion 4b (the hydraulic cylinder 7
Is decelerated (S404).
As the bucket pin 6a approaches the lateral restraint surface A2, the second
The left swing speed of the boom portion 4b (the extension speed of the hydraulic cylinder 7)
Degree) is greatly decelerated. Bucket pin 6a is horizontal
When reaching the first check surface A2, the pressure control valve 43 shown in FIG.
As a result, the pilot pressure of the pilot valve 35a is set to zero.
Regardless of the operation position of the left pedal operation of the operation pedal 39
When the control valve 25 is operated to the neutral position, the second boom portion 4b
(Hydraulic cylinder 7) stops (S403). Conversely, when the operation pedal 39 is depressed to the right, the
When the 2 boom portion 4b is swung right, the bucket pin 6
a is separated from the first lateral restraint surface A2.
The ket pin 6a is located on the first lateral restraint surface A2 and the first lateral restraint area.
Even if it is located at B2, regardless of this, the operation pedal 39
At the speed corresponding to the operation position of the right depressing operation of the second boom
The portion 4b is operated to swing right (the operation pen as shown in FIG. 3).
In the pilot oil passage of the pilot valve 35b of the dull 39,
(Because the pressure control valve 43 is not provided) (S40)
5). The bucket pin 6a moves to the first lateral restraint area B2.
In the retracted state, raise the first boom portion 4a
The arm 5 can be moved to the scraping side and the
Even if operated, the bucket pin 6a is in contact with the first lateral restraint surface A2.
The bucket pin 6a is not
In the state where the vehicle enters the first restraint area B2, the first boom
Raising and lowering operation of the part 4a, squeezing side of the arm 5
The operation to the soil removal side can be freely performed (S406).
To S409). The bucket pin 6a is located in the second lateral restraint area B3.
If it is located at the position
Switch the elephant's first lateral restraint surface A2 to the second lateral restraint surface A3
Control can be used as is in other steps
You. [Another Embodiment of the Invention] (1) In the above embodiment, the side restraint control
The bucket pin 6a is located in the first lateral restraint area B2.
In this case, the left swing command for the second boom portion 4b, that is,
When an offset command is issued, the motor decelerates (S40).
4) The control mode has been described. As shown in step 403,
Control to stop the leftward swing motion approaching the driving unit 15
May be. (2) In the above embodiment of the present invention, FIG.
And the position of the bucket pin 6a as a reference as shown in FIG.
The front and side restraint surfaces A1, A2, A3 are set as
However, an angle sensor (not shown) is also provided at the position of the bucket pin 6a.
) Is provided so that the position of the tip of the bucket 6 is forward and sideways.
The check surfaces A1 and A2 may be set. This
In the case of, the trajectories C1 and C2 shown in FIG.
And side restraint. (3) Right and left operation levers 9, 10
The operation position of the pedal 39 is indicated by a potentiometer (not shown).
) To detect the electric pressure, and use a pilot valve of the electromagnetic proportional pressure reducing valve type.
Operating the pilot valve (not shown) to operate the pilot-type control valve 2
1 to 25 operating type, right and left operating levers 9, 1
0, the operation position of the operation pedal 39 is indicated by a potentiometer (Fig.
(Not shown) electrically, and based on this detection value,
Operates a proportional pressure reducing valve type control valve (not shown)
Also, the present invention can be applied. Furthermore, the present invention
The driving unit 15 is arranged on the right side, and the backhoe is
The boom 4 (the first boom portion 4a) of the device 3 is arranged.
Also applicable to backhoes. [0047]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall side view of a backhoe. FIG. 2 is a hydraulic circuit diagram showing a hydraulic cylinder and a control valve of a backhoe device. FIG. 3 is a right and left operation lever, operation pedal, pilot valve and Hydraulic circuit diagram showing pilot oil passage, etc. [FIG. 4] Side view showing front restraint surface and front restraint region [FIG. 5] Front view and side restraint surface, plan view showing front and lateral restraint region [FIG. 6] Bucket forward FIG. 7 is a plan view showing a state where the bucket enters the lateral restraint region more from the side; FIG. 8 is a plan view showing a state where the bucket enters the lateral restraint region from the side; FIG. 8 is an overall control flow diagram; FIG. Flow chart showing the first half of the control flow in the front restraint plane and the front restraint area. [FIG. 11] Flow chart showing the second half of the control flow in the front restraint plane and the front restraint area. [FIG. 12] Flow chart showing the lateral restraint control. Explanation of code] 6 bucket 15 operating unit 16, 17 outside the frame 36, 37, 38 position sensor 40 control unit A1, A2, A3 restrain surface B2, B3 restraining region

Claims (1)

(57) [Claim 1] A position sensor for detecting a position of a bucket, and a control means for controlling the operation of the bucket based on the detection of the position sensor are provided, and an external unit for covering the driving unit is provided. A front restraint surface for preventing the bucket from entering at a spatial position separated by a predetermined distance from the frame; and a lateral one restraining surface for preventing the bucket from entering a spatial position at a predetermined distance from the external frame laterally outward of the driving unit. And a horizontal second restraint surface is further laterally outward of the horizontal first restraint surface, and a first horizontal restraint is provided between the first horizontal restraint surface and the second horizontal restraint surface.
Area and a second lateral restraint area outside the second lateral restraint surface
Is formed by the control means in an area outside the restraint area.
The bucket moving speed to the speed set by the artificial speed setting device.
The second restraint area.
The bucket moves to the driving section with a lateral movement component.
When the vehicle comes close to the vehicle,
The structure is designed to reduce the moving speed of the
(2) The first restraint surface is configured to prevent entry, and the first
In the restraint area, the bucket generates a lateral movement component.
When approaching the driving section with the
The approach movement of the unit or stop at the set speed.
Regardless, it is configured to reduce the bucket moving speed
To prevent entry at the first lateral restraint surface
The second lateral restraint area or the first lateral restraint area.
In this case, the bucket moves sideways close to the driving section.
When moving without a moving component, moving the bucket
A back configured to maintain the dynamic speed at the set speed
Hou.