JP4048743B2 - Bucket excavator - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a bucket excavator.
[0002]
[Prior art]
Conventionally, a bucket type excavator used for excavation is composed of a boom provided on a base machine so as to be able to turn horizontally, and an excavation bucket suspended from an upper end of the boom via a wire so as to be lifted and lowered. The pair of shells at the lower end of the bucket is driven to open and close to excavate the excavation groove. Then, in order to dig the excavation groove vertically, the excavation work is periodically interrupted to measure the verticality of the excavation posture of the excavation bucket.
[0003]
In this verticality measurement, after stopping operation with the excavation bucket placed in the excavation groove and in the excavation posture, the water string is suspended and the water line and the reference line marked on the excavation bucket are compared. It is done.
[0004]
When the measurement result is out of the tolerance range, the excavation bucket is suspended from the ground, and a protrusion that abuts the inner wall of the excavation groove and corrects the inclination is attached to the outer peripheral surface of the excavation bucket. Then, the excavation bucket is again placed in the excavation groove and the verticality measurement is performed, and if it is within the tolerance range, the excavation work is resumed. If it is out of the range, the protrusion is adjusted again, and the excavation bucket is repeated. The verticality of the is secured.
[0005]
[Problems to be solved by the invention]
However, the verticality measurement and the inclination correction require a long time because the excavation bucket has to be put on the ground in order to hang the water string or to attach the projection, and the excavation work is long each time. It was interrupted over time and the drilling efficiency was significantly reduced.
[0006]
The present invention has been made in view of such a conventional problem, and measures the excavation posture of the excavation bucket in a short time and can quickly correct the excavation posture vertically based on the measurement result. The purpose is to provide an excavator.
[0007]
[Means for Solving the Problems]
In order to achieve such an object, the invention shown in claim 1 includes a boom provided on a base machine so as to be horizontally rotatable, and an excavation bucket suspended at a top end of the boom via a wire so as to be movable up and down. In the bucket type excavator for excavating earth and sand by arranging the excavation bucket in an excavation groove, the excavation bucket is provided with a pair of shells whose upper ends are suspended from the wires and which are opened and closed at the lower ends. A main body, a pair of drive guides provided on both sides of the excavation bucket main body, capable of tilting back and forth and protruding sideways, and an inclination angle of the excavation bucket main body in the front-rear direction and the lateral direction with respect to the vertical, respectively An excavator to measure, and based on the inclination angle information transmitted from the inclinometer, the drive guide is appropriately driven and pressed against the excavation groove to Being configured to correct the tilt, the drive guide includes a guide body of box-shaped, and a guide plate, the guide on the main body are opened along the shape of the guide plate is formed, wherein The guide plate is housed in the opening so as to be able to project laterally from the side end face of the guide main body, and the guide main body can be relatively translated with respect to the excavation bucket main body. And an upper hydraulic cylinder is provided at the upper part of the guide body, and a lower hydraulic cylinder is provided at the lower part of the guide body, and the upper hydraulic cylinder and the By moving the piston rod of the lower hydraulic cylinder from the predetermined neutral position by the same amount in the same direction, the guide body is Translated relative to the bucket body, the piston rods of the upper hydraulic cylinder and the lower hydraulic cylinder are moved in the opposite directions from the predetermined neutral position, or only one of them is moved. The guide body is configured to be tilted relative to the excavation bucket body, and based on the tilt angle information in the front-rear direction transmitted from the inclinometer, the guide body is The left and right guide plates are tilted back and forth and are projected with a difference in the amount of protrusion from the guide body based on the tilt angle information in the lateral direction transmitted from the inclinometer. It is characterized by being.
[0009]
Invention shown in claim 2 is the bucket type excavator according to claim 1, in a storage state of the guide plate, the side end face of the guide body so as to have a gap between the excavation inner wall, said The width between the side end surfaces of the pair of guide bodies is narrower than the lateral width when the pair of shells are opened.
[0010]
According to the above invention, since the gap is provided between the side end surface of each guide body and the inner wall of the excavation groove, the shell is supported as a fulcrum by protruding at least one guide plate and pressing it against the inner wall of the groove. Thus, the excavation bucket body can be tilted sideways. Furthermore, by making a difference in the amount of lateral protrusion of the two guide plates, the excavation bucket body can be inclined to the side by the difference, so that the excavation bucket body can be inclined in the lateral direction. Can be set to angle.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment according to the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a side view of an embodiment according to the present invention, showing a state in which a excavation bucket is suspended in an excavation groove.
[0012]
As shown in FIG. 1, a bucket excavator 11 of this embodiment includes a base machine 13 including a turning base 13a capable of turning horizontally, a boom 15 pivotally supported on the turning base 13a, The excavating bucket 20 is suspended from the upper end 15a of the boom 15 via a wire 17 so as to be lifted and lowered. Then, the bucket excavator 11 having such a configuration is: (1) lowering the wire 17 and placing the excavation bucket 20 in the excavation groove 3; and (2) opening and closing the pair of shells 25a and 25b at the lower end of the excavation bucket 20. The excavated soil is accommodated in the shells 25a and 25b by excavating the earth and sand. (3) The wire 17 is wound up to suspend the excavating bucket 20 to the ground. Then, the pair of shells 25a and 25b are opened and closed to discharge the earth and sand, and (5) the excavation bucket 20 is moved onto the excavation groove 3 by the boom turning and tilting. By repeating ▼ to ▲ 5, the excavation groove 3 is dug deeply in the ground 1.
[0013]
The base machine 13 includes a turnable base 13a that can turn horizontally on a caterpillar that can travel, and a cab and the boom 15 are provided on the turn base 13a.
[0014]
The boom 15 is pivotably supported at its lower end 15b so as to be tiltable to the swivel base 13a. The link member 16 connected to the upper end 15b via a cable 16a is driven to swivel in a vertical plane so as to be able to move up and down. The Further, sheaves 15c and 15d are rotatably supported on the upper end 15a of the boom 15, and the wire 17 that suspends the excavation bucket 20 uses the sheaves 15c and 15d as a guide on the turning base 13a. The wire winch (not shown) is appropriately wound up and down.
[0015]
A vertical steel guide bar 31 is interposed between the wire 17 and the excavation bucket 20 coaxially with the wire 17 and fixed to the wire 17, while the excavation bucket 20 includes a connecting portion. Are connected through a universal joint 27. A steel guide pipe 33 is connected to the upper end 15a of the boom 15 via a universal joint 35, and the guide pipe 33 is suspended vertically. And this guide pipe 33 accommodates the said guide bar 31 from the lower end so that insertion / extraction is possible, and in the said accommodation state, by restrict | constraining the movement of the guide bar 31, the excavation bucket 20 connected with the lower end is carried out. Suppresses rocking on the ground. That is, the guide pipe 33 and the guide bar 31 function as a steady stop for the excavation bucket 20 on the ground.
[0016]
FIG. 2 shows a front view of the excavation bucket with the drive guide described later removed. As shown in the figure, the excavation bucket 20 has an upper end suspended from the wire 17 via the guide bar 31 and an excavation bucket main body 21 provided with a pair of shells 25a and 25b that are opened and closed at the lower end. A pair of drive guides 41 that are provided symmetrically on both the left and right sides, and that can tilt forward and backward and project laterally, and an inclination that measures the inclination angle of the excavation bucket body 21 in the longitudinal and lateral directions with respect to the vertical. 71 in total. When the excavation bucket 20 is arranged in the excavation groove 3 and the shells 25a and 25b are opened to take an excavation posture, the inclination angle information from the inclinometer 71 is displayed on the screen of the CRT or the like in the cab. Transmitted to the display means, the driver operates the drive guide 41 on the basis of the inclination angle display to appropriately press the drive guide 41 against the inner wall of the excavation groove 3, so that the attitude of the excavation bucket body 21 is made vertical. Correct it. The excavation bucket body 21 and the pair of shells 25a, 25b are provided coaxially in the vertical direction, and therefore, the inclination angle of the pair of shells 25a, 25b with respect to the vertical is represented by the excavation bucket body 21.
[0017]
3 and 4 show the drive guide 41 in an enlarged manner. 3 shows a portion III in FIG. 2 with a part of the rear plate cut away, and FIG. 4 is a sectional view taken along line IV-IV in FIG. Yes. As shown in FIG. 4, the drive guide 41 includes a front plate 43 and a rear plate 45 that are a pair of long rectangular plates that are opposed to each other with an interval corresponding to the front-rear width of the pair of shells 25 a and 25 b (not shown). A guide main body 47 having a substantially U-shaped cross section including a single side plate 46 for connecting them is provided. Then, as shown in FIG. 2, with the side opening 47 a of the guide main body 47 facing the excavation bucket main body 21, a pair of upper and lower parts are mounted on the bracket 23 protruding sideward from the side end surface of the excavation bucket main body 21. It is connected via bearings 29a and 29b described later.
[0018]
As shown in FIG. 4, the front plate 43 and the rear plate 45 are connected to each other at the upper and lower portions thereof by horizontal round bars 51a and 51b, and at the intermediate portion thereof by square members 52. , 45 and the guide main body 47 are firmly reinforced. FIG. 5 (a) and FIG. 5 (b) show the A portion and B portion in FIG. 4 in an enlarged manner. Of these round bars 51a and 51b, both ends of the upper round bar 51a Bolts are fixed to the plates 43 and 45 (not shown). On the other hand, both ends of the lower round bar 51b are connected to the front and rear plates 43 and 45 through a spherical seat 53, and the lower round bar 51b is tilted relative to the front and rear plates 43 and 45 in a vertical plane. The front-rear distance between the front and rear plates 43 and 45 is maintained.
[0019]
On the other hand, as shown in FIG. 2, the bracket 23 extends over almost the entire height of the excavation bucket body 21. The upper and lower portions are provided with the bearings 29a and 29b for guiding the upper and lower round bars 51a and 51b so as to be relatively movable back and forth, and the bracket 23 is interposed via the bearings 29a and 29b. The guide body 47 is supported so as to be relatively movable back and forth.
[0020]
As shown in FIG. 5, the upper bearing 29 a is pivotally supported by the bracket 23 so as to be swingable in the front-rear direction in the vertical plane, so that the guide body 47 tilts in the front-rear direction with respect to the bracket 23. There is no regulation. On the other hand, the lower bearing 29b is fixed to the bracket 23. As described above, the round bar 51b guided back and forth by the lower bearing 29b is attached to the guide body 47 by the spherical seats 53 at both ends thereof. The guide body 47 can be tilted relatively with respect to the bracket 23, and thus the tilt of the guide body 47 in the front-rear direction with respect to the bracket 23 is not restricted at all. Therefore, the guide main body 47 can be translated and tilted relative to the excavation bucket main body 21 in the front-rear direction.
[0021]
The upper and lower bearings 29a and 29b are respectively provided with hydraulic cylinders 55a and 55b for relatively moving the guide body 47 in the front-rear direction. The hydraulic cylinders 55a and 55b are respectively connected to the bearings 29a and 29b. It is pivotally supported by 29b so that it can rotate back and forth in the vertical plane. The ends of the piston rods 56a and 56b are connected to the front plate 43 through the horizontal connecting pins 57a and 57b so as to be relatively rotatable. The hydraulic cylinders 55a and 55b are provided with sensors 58a and 58b for recognizing the position of the piston rod. Based on the sensor signal, hydraulic oil is appropriately transferred into and out of the hydraulic cylinders 55a and 55b by a servo valve or the like. By doing so, the piston rod position can be set to an expected value.
[0022]
The guide main body 47 having such a structure moves the guide main body 47 back and forth in parallel and tilts back and forth by moving the piston rods 56a and 56b of the upper and lower hydraulic cylinders 55a and 55b back and forth. Can be. If it demonstrates using the side view of the excavation bucket 20 arrange | positioned in the excavation groove 3 shown in FIG. 7, it will excavate from a neutral position like FIG. 7 (a), as shown to the same figure (b), for example. When the guide body 47 is translated back and forth with respect to the bucket body 21, the piston rods 56a and 56b of the upper and lower hydraulic cylinders 55a and 55b are moved in the same direction from the neutral position shown in FIG. Just move it by the same amount. As shown in FIG. 7C, when the guide body 47 is tilted back and forth with respect to the excavation bucket body 21, as shown in FIG. 6, the piston rods 56a of the upper and lower hydraulic cylinders 55a and 55b, It is only necessary to move 56b in opposite directions or to move only one of them. As described above, since the positions of the piston rods 56a and 56b can be set to desired values, it is needless to say that the parallel movement amount and the tilting amount can be arbitrarily set.
[0023]
As shown in FIGS. 3 and 4, the drive guide 41 further includes a guide plate 61 having a substantially rectangular plate shape that is stored so as to be able to project from the side end face 47 b of the guide main body 47 so as to be driven sideways. That is, the side plate 46 of the guide body 47 is formed with an opening 46a along the substantially rectangular shape that is the shape of the guide plate 61, and the guide plate 61 can be protruded from the opening 46a to the side. Yes. In the retracted state, the side surface of the guide plate 61b is flush with the side plate surface 47b.
[0024]
The guide plate 61 is connected to the upper and lower portions of the guide main body 47 via a pair of link members 63a and 63b provided on the upper and lower sides of the guide plate 61. One end of each of the link members 63a and 63b is pivotally supported by the guide main body 47 via horizontal connecting pins 64a and 64b, and the other end of the link member 63a and 63b is pivoted from below to the side. The guide plate 61 is pivotally supported via the horizontal connecting pins 65a and 65b, so that the guide plate 61 can be projected and retracted laterally as shown in FIGS. 3 (a) and 3 (b). .
[0025]
The intermediate portion of the lower link member 63b is connected to a piston rod 67a of a hydraulic cylinder 67 for swinging and driving the link member 63b. By extending and contracting the piston rod 67a, The guide plate 61 can be driven freely. The hydraulic cylinder 67 is supported by the square member 52. The position of the piston rod 67a can also be recognized by a built-in sensor, and the position of the piston rod 67a can be set to a desired value by a servo valve or the like as described above. The amount of protrusion to the side can be set to the expected value.
[0026]
FIG. 8 (a) shows the excavation bucket 20 disposed in the excavation groove 3 in a front view, so that a gap 5 is generated between the side end surface 47b of the guide body 47 and the inner wall of the excavation groove 3. The width between the side end faces 47b of the pair of guide main bodies 47 is narrower than the side width when the pair of shells 25a and 25b are opened. Therefore, as shown in FIG. 8 (b), at least one guide plate 61 is protruded and pressed against the inner wall of the excavation groove 3, thereby rotating the excavation bucket body 21 to the side with the shell 25a as a fulcrum, and thus the excavation bucket 20 Can be tilted sideways. And as shown in FIG.8 (c), by making the difference in the protrusion amount to the side of the left and right guide plates 61, the excavation bucket body 21 can be inclined to the side by the difference. It can be tilted by the desired angle.
[0027]
As shown in FIG. 2, the inclinometer 71 is built in the upper portion of the excavation bucket body 21, and the inclination angle of the excavation bucket body 21 from the vertical, that is, the X direction as the front-rear direction and the Y as the lateral direction. The inclination angle of the direction can be measured. This tilt angle information is transmitted to the CRT in the cab, and the tilt angle in the X direction and the Y direction is the unit of mm / m on the screen, that is, the horizontal displacement per meter in the vertical direction. It is displayed in quantity. The tilt angle in the X direction is corrected by the tilt amount of the guide body 47, and the tilt angle in the Y direction is corrected by the protrusion amount of the guide plate 61. This inclinometer uses a biaxial angular acceleration sensor and can measure the tilt angles in the biaxial directions orthogonal to each other. Note that the present invention is not limited to this as long as a two-dimensional inclination can be measured.
[0028]
Next, a procedure for adjusting the excavation posture of the excavation bucket 20 in the excavation groove 3 will be described with reference to FIGS. 7 and 8. First, as shown in FIG. 8 (a), the wire 17 (not shown) is lowered to lower the excavation bucket 20 into the excavation groove 3, and the cutting edges of a pair of opened shells 25a and 25b are close to the bottom of the excavation groove 3. Like that. 7A, the tilt angle of the guide main body 47 with respect to the excavation bucket main body 21 is 0 degree, that is, the guide main body 47 is made parallel, and both the left and right guide plates 61 are protruded by the same amount to form the excavation groove. 3. Press against the inner wall of No. 3 to make it possible to excavate.
[0029]
In this state, the inclinometer 71 is activated to measure the inclination angles of the excavating bucket body 21 in the X direction which is the front-rear direction and the Y direction which is the lateral direction, and this inclination angle information is displayed on the CRT of the cab. To do. The driver moves the drive guide 41 based on the inclination angles in the X direction and the Y direction to adjust the excavation posture vertically. For example, when the tilt angle in the X direction is Ax and the tilt angle in the Y direction is Ay, as shown in FIG. 7C, the guide body 47 is tilted back and forth by an amount corresponding to the Ax. As shown in FIG. 8C, the protrusions of the left and right guide plates 61 protrude with a difference corresponding to Ay. After the posture adjustment, the inclination angle is re-measured by the inclinometer 71. If the inclination angle is within the tolerance range, the inclinometer 71 is stopped, and then the shells 25a and 25b are closed to excavate the soil at the bottom of the excavation groove 3. To do. On the other hand, if it is out of the tolerance range, the posture adjustment is performed again by tilting the guide body 47 and projecting the guide plate 61 based on the re-measured tilt angle information. As described above, according to the present embodiment, the excavation bucket 20 can be measured while the excavation bucket 20 is in the excavation groove 3, and the attitude can be corrected. it can.
[0030]
In addition, since the excavation bucket 20 of this embodiment is completely wire-suspended in the excavation groove 3, the excavation bucket 20 may be twisted around the vertical axis with respect to the excavation groove 3. In order to correct such a twist, the pair of guide main bodies 47 may be translated in the opposite directions of the front and rear. Further, when it is desired to translate the excavation bucket body 21 in the front-rear direction with respect to the excavation groove 3, if both the pair of guide bodies 47 are translated in the same direction by the same amount as shown in FIG. 7B. good.
[0031]
As mentioned above, although one embodiment concerning the present invention was described, the present invention is not limited to this embodiment, and the following modifications are possible in the range which does not deviate from the gist.
In the present embodiment, the drive guide 41 is driven by the manual operation of the driver based on the tilt angle information of the excavation bucket body 20 measured by the inclinometer 71. However, the present invention is not limited to this. A control device or the like may be provided to automatically drive the drive guide 41 based on the tilt angle information. For example, in the drive guide control device, the correspondence between the protruding amount of the left and right guide plates 61 and the inclination angle of the Y-directional excavation bucket body 21 and the inclination amount of the guide main body 47 and the inclination of the X-excavation bucket main body 21 are shown. The correspondence with the angle is stored. In addition, this drive guide control device is connected so as to be communicable with the inclinometer. Furthermore, among the tilt angle information received from the inclinometer, the guide plate 61 is set to a protrusion amount corresponding to the tilt angle in the X direction, while the guide body 47 is set to a tilt amount corresponding to the tilt angle in the Y direction. Such a control program may be stored in the drive guide control device.
[0032]
【The invention's effect】
As described above, according to the present invention , the excavation posture can be measured in a short time by the inclinometer while the excavation bucket is placed in the excavation groove, and the excavation posture can be quickly corrected vertically by the drive guide. Can be stopped in a very short time, and excavation efficiency can be significantly improved. In addition, the guide body supported relative to the excavation bucket body and relatively tiltable relative to the excavation bucket body, and the upper hydraulic cylinder and the lower hydraulic cylinder are used to Translational movement and relative tilting can be realized.
[Brief description of the drawings]
FIG. 1 is a side view of an embodiment according to the present invention, showing a state in which a digging bucket is suspended in a digging groove.
FIG. 2 is a front view of the excavation bucket with the drive guide removed.
FIG. 3 shows part III in FIG. 2 with a part of the rear plate cut away.
4 is a sectional view taken along the line IV-IV in FIG.
5 is an enlarged view of part A and part B in FIG.
6 is an enlarged view of a part A and a part B in FIG. 4, and shows a state in which the guide body is tilted.
FIG. 7 is a side view of the excavation bucket disposed in the excavation groove.
FIG. 8 is a front view of the excavation bucket disposed in the excavation groove.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Ground 3 Excavation groove 11 Bucket-type excavator 13 Base machine 15 Boom 17 Wire 20 Excavation bucket 21 Excavation bucket body 25a, 25b Shell 41 Drive guide 71 Inclinometer

Claims (2)

A boom provided on the base machine so as to be horizontally pivotable, and a drilling bucket suspended at the upper end of the boom via a wire so as to be able to move up and down. In the bucket excavator to dig,
The excavation bucket has an excavation bucket body provided with a pair of shells whose upper ends are suspended from the wire and are driven to open and close at the lower ends;
A pair of drive guides provided on both sides of the excavation bucket body, capable of tilting back and forth and protruding sideways;
An inclinometer that measures the inclination angle of the excavation bucket body in the longitudinal direction and the lateral direction with respect to the vertical,
Based on the inclination angle information transmitted from the inclinometer, the drive guide is appropriately driven and pressed against the excavation groove to correct the inclination of the excavation bucket body,
The drive guide includes a box-shaped guide body and a guide plate, and the guide body is formed with an opening along the shape of the guide plate. The guide plate is formed from a side end surface of the guide body. It is stored in the opening so that it can be driven to protrude sideways,
The guide body is supported so as to be relatively parallel and tiltable relative to the excavation bucket body,
An upper hydraulic cylinder is provided at the upper part of the guide body, and a lower hydraulic cylinder is provided at the lower part of the guide body,
By moving the piston rods of the upper hydraulic cylinder and the lower hydraulic cylinder from the predetermined neutral position by the same amount in the same direction, the guide body moves relatively in parallel with the excavation bucket body. And
By moving the piston rods of the upper hydraulic cylinder and the lower hydraulic cylinder in directions opposite to each other from the predetermined neutral position, or by moving only one of them, the guide main body moves relative to the excavation bucket main body. Are configured to be tilted relatively ,
Based on the tilt angle information in the front-rear direction transmitted from the inclinometer, the guide body is tilted back and forth, and based on the tilt angle information in the lateral direction transmitted from the inclinometer, A bucket excavator , wherein the guide plate is configured to protrude with a difference in the amount of protrusion from the guide body .   In the retracted state of the guide plate, the width between the side end surfaces of the pair of guide bodies is the side when the pair of shells are opened so that the side end surface of the guide body has a gap between the inner wall of the excavation groove. The bucket excavator according to claim 1, wherein the bucket excavator is narrower than the lateral width.

Images