JPH01322029A - Automatic offset mechanism of small turn type back hoe - Google Patents

Abstract

PURPOSE:To facilitate the accommodation operation and permit the perfectly automatic operation by previously teaching the boom angle, arm angle, offset starting angle, and the offset completion angle into a controller. CONSTITUTION:An arm 4 is supported through an offset arm 22 onto the top edge of a boom 6 pivotally supported in vertically turnable ways onto a turning base 12, and a bucket 1 is installed in turnable ways at the top edge of the arm 4. In turn, the boom 6 and the arm 4 are folded, and the bucket 1 can be accommodated onto the side of a cabin 2. Then, a boom operating lever, arm operating lever, and an offset pedal are manually operated, and the boom angle, arm angle, offset starting angle and the offset completion angle are teaching-inputted into a controller. Offset operation is carried out automatically at the teached position.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention aims to reduce the turning radius of the swivel base as much as possible when the bucket is stored, by folding the bucket, arm, and boom into a flat surface. Regarding a small-swinging backhoe that can be stored in a viewing swivel table, the arm part can be offset to a position parallel to the left and right directions of travel in order to facilitate ditch excavation. It is.

(B) Prior Art Conventionally, there has been a known technique for stopping the arm of a backhoe when the arm approaches a certain level or more and becomes dangerous. For example, Jikko 58
-12926 publication.

There is also a known technique for moving the arm and bucket of a backhoe to a position parallel to the direction of travel. For example, Japanese Patent Publication No. 40-20879.

(c) Problems to be Solved by the Invention The present invention enables the bucket to be stored on the side of the cabin in order to enable the swivel table to rotate even in a particularly narrow space, and furthermore, the bucket and the arm portion can be moved to the left or right in the direction of travel. In a configuration where the bucket can be offset parallel to the cabin, when the bucket is stored in a safe position on the side of the cabin, it is extended to the working position, and then retracted to the stored position. When returning to the stowed position, the bucket must be returned to the specified position or else the bucket may collide with the cabin, creating a dangerous situation.

In the present invention, when the operation of protruding and storing is repeated many times, it is troublesome to check the offset position of the bucket each time. Based on the operation of the arm operating lever and the boom operating lever, the teaching position is automatically offset to the position once taught by the operator.

(d) Means for Solving the Problems The objects of the present invention are as described above. Next, the configuration for achieving the objects will be explained.

An arm 4 is supported via an offset arm 22 at the tip of a boom 6 which is pivotably supported on a swivel base 12 so as to be movable up and down.
In a configuration in which the bucket 1 is rotatably attached to the tip of the arm 4, and the bucket 1 can be stored in the side of the cabin 2 by folding the boom 6 and the arm 4 when turning, the arm operating lever 9a - By manual operation of the boom operation lever 9b and offset pedal 29, the boom angle αa, arm angle βa, offset start angle Θa, and offset end angle θO are taught to the controller 21, and the offset operation is automatically performed at the teaching position. This is what it is designed to do.

(E) Embodiment The object and structure of the present invention are as described above. Next, the structure of the embodiment shown in the attached drawings will be explained.

Fig. 1 is a plan view of the small swing type hack hoe of the present invention, Fig. 2 is a side view of the same in the working state, Fig. 3 is a block diagram showing the control mechanism, and Fig. 4 is a flow chart of the offset control mechanism of the present invention. It is a diagram.

The backhoe is a crawler with a soil removal plate 10 arranged at the rear.
A swivel base bearing 13 is disposed on the type traveling device 11, and a swivel base 12 is disposed on the swivel base bearing 13. The swivel base 12 is capable of horizontal rotation of 360 degrees.

In addition, the cabin 2 is arranged in the left half above the swivel base 12, the engine and balance weight are placed in the rear part, and the swivel base 1
The base of the boom 6 is pivotably supported at a position substantially in the middle of the boom 6 so as to be movable up and down.

A boom cylinder 5 is disposed between the boom 6 and the swivel base 12, and the boom 6 is configured to be able to rotate up and down by expanding and contracting the boom cylinder 5.

An offset arm 22 and a parallel link 23 are arranged at the tip of the boom 6, and an offset cylinder 3 is interposed between the offset arm 22 and the boom 6.

As the offset cylinder 3 expands and contracts, the offset arm 22 and the parallel link 23 rotate left and right, and the arm 4 supported at the tip thereof is offset in parallel to the left and right.

An arm 4 is pivotally supported at the tip of the offset arm 22, and an arm cylinder 24 is disposed within a cover that is integrated with the offset arm 22, and the arm 4 is rotated up and down by the arm cylinder 24. It will be done.

Further, a bucket 1 is pivotally supported at the tip of the arm 4, and the bucket 1 can be rotated for scooping by a bucket cylinder 7.

In the overall configuration as described above, as shown in FIG. 3, a boom sensor 15 composed of a potentiometer or the like is arranged at the base of the boom 6 to detect the boom angle α of the boom 6.

Further, an offset sensor 16 for detecting the offset angle θ of the offset arm 22 is located at the base of the parallel link 23.
It is constructed and arranged by a potentiometer.

Also, arm sensor 1 detects arm angle β of arm 4.
7 is arranged at the pivot point of the arm 4 at the tip of the offset arm 22.

Further, a lever sensor 14 is arranged at the base of the operating lever 9, which is composed of an arm operating lever 9a and a boom operating lever 9b, to detect when the operating lever 9 is operated to rotate the boom 6 or the arm 4. . Further, an offset pedal 29 is disposed below the operating lever 9, through which the operator directly operates the offset of the arm 4, and an offset pedal sensor 28 is disposed at the base of the offset pedal 29.

The electromagnetic proportional valve 20 is interposed in the oil supply path of the boom cylinder 5, the arm cylinder 24, and the offset cylinder 3.

Further, a controller 21 is arranged below the seat 8.

Inside the controller 21, there is an analog/digital conversion circuit A/D shown at the bottom of FIG. 3, a central processing circuit CPU, an interface I10, a buffer circuit, a driver circuit, a discrete circuit, a power cutoff circuit, etc. A power supply circuit is arranged to memorize the taught position by manual operation, which is the essential part of the present invention.

In addition, in Fig. 3, an ultrasonic sensor 19 and a touch sensor 18 are installed at the front and side of the cabin 2, and the automatic control goes out of control and becomes ineffective until the bucket 1 comes into contact with the cabin 2. A double safety device is constructed so that if the bucket 1 is approached, the bucket 1 is stopped from being drawn to the storage position and an alarm is issued.

Also, a solenoid valve case 20 houses a boom solenoid proportional valve 37, an arm solenoid proportional valve 38, and an offset solenoid proportional valve 39.
is arranged at the bottom of the swivel base 12.

(F) Function of the Invention The structure of the automatic offset mechanism of the small swing type hack hoe of the present invention is as described above, and the present invention will now be described in detail with reference to the control flowchart of FIG. 4.

In the teaching offset mechanism of the present invention, when the bucket 1 is pulled back from the working position to the storage position, it can be automatically pulled back by simply operating the arm operating lever 9a and the boom operating lever 9b without operating the offset pedal 29. The offset cylinder 3 is expanded and retracted to control the bucket 1 to a safe position near the storage reference position 1''.

In addition to the automatic offset control during storage, the present invention can also be provided with a teaching mechanism that automatically returns to the set position even when projected to the excavation work position.

When the automatic switch 35, which is a push-lock type switch, is turned on at the same time as the engine is started using the key, the teaching control of the small turning backbow of the present invention is started.

At the same time, the circuit power of the controller 21 and the solenoid valve case 20 is turned on.

Next, it is checked whether the potentiometers constituting the angle sensors of each part are operating normally. If the potentiometers are abnormal in the automatic control state, the alarm lamp 30 on the operation panel 27 and the alarm buzzer 31 is ON
This alerts the operator to danger.

Next, it is checked whether the width of bucket 1 is standard. Whether the bucket 1 is standard or wide is input using the bucket width switch 33, which is a non-locking push switch, and is set to the wide bucket 1 in the normal automatic start state. When the bucket width switch 33 is pressed when the bucket is a standard bucket, control is started so that the standard storage position 1'' of the bucket 1 is placed at the position closest to the cabin 2, just like a wide bucket. It is.

Furthermore, when projecting a different bucket 1 to a set work position, the projecting position is corrected.

Next, the teaching control of the present invention will be explained.

During teaching, turn on the automatic switch, project the bucket 1 to the digging position, operate the arm operating lever 9a and boom operating lever 9b from this position, pull the bucket 1 back to the desired position, and further offset the offset rotation position. This is determined by operating the pedal 29.

When the offset pedal 29 is operated, the boom angle αa, arm angle βa, and offset start angle Θa at that time are stored in the teaching circuit of the controller 21.

From this state, in order to safely store the bucket 1 on the side of the cabin 2, move to the position of the required offset end angle θO and finish operating the offset pedal 29, and the offset end angle OO will be stored. It is.

In this way, by manually moving the offset pedal 29,
By setting the boom angle αa, arm angle βa, and offset start angle ea, then determining the offset end angle θ0, and teaching this position, you can operate only the arm operation lever 9a and boom operation lever 9b from next time onwards. Even without operating the offset pedal 29, by pressing the automatic switch, the offset starts when the teaching position is reached, and ends at the predetermined position.

That is, in FIG. 4, there is no problem if the bucket 1 repeats the operations of digging, turning, dumping, turning, and digging, but the boom angle α is set by the boom operating lever 9b to be lower than the teaching boom angle αa. When it becomes smaller, the position of the arm angle β is next determined.

If the position of the arm angle β falls within the range of (βa-Δ)≦β≦(βa+Δ) by estimating a slight vertical error of 6 degrees, turn on the offset solenoid valve 39 and set the offset start angle Θa. The offset cylinder 3 is expanded and contracted until the offset end angle OO is reached.

Furthermore, even if the arm angle β is not (βa-Δ)≦β≦(βa+Δ), the attitude of the arm 4 changes arbitrarily, so the angle of the boom angle αa is also corrected accordingly, and the corrected value boom angle αa If the conditions are met, the offset solenoid valve 39 is turned on and the offset cylinder 3 is
The offset start angle Θa becomes the offset end angle θ
It is automatically controlled so that it becomes 0.

The above explanation has been about teaching the path of the bucket 1 from the excavating state to the stowed position, but conversely, by teaching the path from the stowed position to the digging position, the boom operating lever 9b and arm operating lever 9a are Just by operating
It can be operated without operating the offset pedal 29.

(G) Effects of the Invention Since the present invention is configured as described above, it has the following effects.

First, the operation of storing the bucket 1 from the excavation position to the rotatable storage position requires simultaneous operation of the boom operating lever 9b, arm operating lever 9a, and offset pedal 29, but the present invention , the operator manually sets the position of the boom angle αa at which the offset starts, the position of the arm angle βa of the arm 4, and the positions of the offset start angle Θa and the offset end angle θO, and then inputs the tee into the controller 21. Therefore, in the subsequent storage operation, only the boom single operation lever 9b and the arm operation lever 9a are operated, and the offset pedal 29 does not need to be operated.

Second, since the operator can set a route that matches his or her own operating skills, the automatic operating mechanism is safe and does not require movements beyond the level of skill.

[Brief explanation of the drawing]

Fig. 1 is a plan view of the small swing type hack hoe of the present invention, Fig. 2 is a side view of the same in the working state, Fig. 3 is a block diagram showing the control mechanism, and Fig. 4 is a flow chart of the offset control mechanism of the present invention. It is a diagram. 1... Bucket 2... Cabin 3... Offset cylinder 4... Arm 5... Boom cylinder 6... Boom 7... Bucket cylinder 9a... Arm operating lever 9b... Boom Operation lever 29...Offset pedal Applicant Yanmar Diesel Co., Ltd. Yanmar Agricultural Machinery Co., Ltd. Seirei Kogyo Co., Ltd. Agent Patent attorney Toshikazu Yano

Claims (1)

[Claims] An arm 4 is supported via an offset arm 22 at the tip of a boom 6 which is pivotably supported on a swivel base 12 so as to be movable up and down.
In a configuration in which the bucket 1 is rotatably attached to the tip of the arm 4, and when turning, the bucket 1 can be stored in the side of the cabin 2 by folding the boom 6 and arm 4, and the arm operating lever 9a・By manual operation of the boom operation lever 9b and the offset pedal 29, the boom angle αa, arm angle βa, offset start angle Θa, and offset end angle Θ0 are taught to the controller 21, and the offset operation is automatically performed at the teaching position. An automatic offset mechanism for a small swing type backhoe, characterized in that it is configured to perform the following functions.