JPH02252826A - Safety device for back-hoe - Google Patents

Abstract

PURPOSE:To improve safety by detecting a position of a bucket relative to a running part and comparing the position with a preset border region to disable automatically the drive of a boom or the like when the detected position coincides with the border region. CONSTITUTION:A potentiometer P1 as boom angle sensor, potentiometer P2 as off-set sensor and potentiometer P3 as arm angle sensor are respectively provided on the swing shaft Y of a boom 10, the axis X and the axis Z to input the data to a bucket position detecting means 11. The border region N of a bucket 8 relative to a running cabin is preset by a setter 13. The coincidence of the border region N with the position detected by the means 11 is detected in a comparator 28 and control valves 19, 20, 21 for respective hydraulic cylinders C1, C2, C3 are forcibly changed over through a safety means 12 so that safety can be improved.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a method for attaching a boom of a backhoe device to a lateral side of an operating section of a swivel base so as to be able to swing vertically. The present invention relates to a backhoe device operation structure for a backhoe that is provided with an offset mechanism for moving an upper portion of a side pulley in a lateral direction of the swivel base with respect to a proximal boom portion connected to the swivel base.

[Conventional technology]

The above-mentioned backhoe device has the advantage of being able to reduce the turning radius of the turning platform as a whole by storing the arm equipped with the bucket on the side of the boom. However, the operation of the arm, tip end boom, and base end boom was performed solely by hand.

[Problem to be solved by the invention]

According to the prior art, the distal end boom to which the arms are connected can be offset in the lateral direction, so the distal boom portion (10C) can be offset and stored toward the non-operating section (4) side, as shown in FIG. Then, the backhoe device (6) can fit within the turning radius of the turning table (7), and the turning radius can be reduced.

However, as shown in Figure 4, the tip side boom part (10C
) is offset to the driving part (4) side and the proximal end pool part (10A) is driven upward and swinging, the bucket (8) at the tip of the arm (9) may move to the driving part (4) depending on the case.
It is possible that it may enter. In a backhoe with a cabin (3), the bucket (8) and the cabin (3) will interfere.

Of course, such a situation should be avoided through manual operation by the driver, but if the bucket (8)
If we were to rely solely on avoiding human operations to avoid the risk of the robot entering the operating section (4), we would inevitably be anxious about it.

SUMMARY OF THE INVENTION In view of the above-mentioned circumstances, it is an object of the present invention to automatically prevent the bucket from entering the driving section.

[Means to solve the problem]

In order to achieve the above object, the present invention provides a safety device structure for a backhoe as described above, including a boom angle sensor that detects a swing angle of the boom with respect to the swivel base, and a boom portion on the proximal end side of the boom portion on the distal end side. an offset sensor for detecting a lateral movement stroke relative to the boom; and an arm angle sensor detecting a swing angle of the arm relative to the boom; A bucket position detection means is provided for detecting the position of the bucket of the backhoe apparatus relative to the driving section based on a detection angle by a sensor, and a boundary closest to the driving section within a permissible range in which the bucket does not interfere with the driving section. furthermore, a comparing means is provided for comparing the detected position by the bucket position detecting means and the set boundary area, and based on information that the detected position by the comparing means and the set boundary area match, A safety means is provided for automatically disabling each of the upward swinging drive of the boom, the lateral movement drive of the tip side boom portion toward the operating section, and the swinging drive of the arm toward the boom side. This is a characteristic configuration.

[For production]

According to the above configuration, when the bucket reaches a preset boundary area while driving the backhoe device by manual operation, the bucket is prevented from moving from that position toward the driving section regardless of the manual operation. automatically controlled.

In addition, by considering the state in which the bucket is closest to the driving part in the entire swing range of the bucket relative to the arm, it is possible to detect a state in which a part of the bucket enters the preset boundary area toward the driving part. You can stop the bucket without any problems.

〔Effect of the invention〕

Therefore, due to the action of (a), it is possible to automatically and reliably avoid the possibility that the bucket will enter the operating section during manual operation of the backhoe apparatus, thereby increasing safety.

In addition, the boundary area can be set closer to the operating section due to the action of the opening, so the permissible range can be increased and the effective working area can be expanded.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIG. 3, for a traveling aircraft (2) equipped with a crawler traveling device (1), a boarding and driving section (4) with a driving cabin (3), a driving section (5), and a backhoe device. (6) and a full-swivel type swivel base (7) is attached to form a backhoe work vehicle.

The backhoe device (6) includes an arm (9) having a bucket (8) pivotably supported at its tip so as to be able to bend and swing around a horizontal axis;
This arm (9) is composed of a boom (10) which is pivoted at its tip so that it can be bent and swung around a horizontal axis.
) is pivotally supported on the lateral side of the boarding/driving section (4) so as to be able to swing up and down.

In Figure 3, (Cυ is a hydraulic cylinder that swings the boom (10) up and down, and (C3) is the hydraulic cylinder that moves the arm (9) to the boom (1).
It is a hydraulic cylinder that bends and oscillates with respect to (C
4) is a hydraulic cylinder that bends and swings the bucket (8) with respect to the arm (9).

Next, as shown in FIGS. 3 and 4, the bucket (
8) connected to the swivel base (7) against the attachment end (10a) of the boom (10) to the swivel base (7).
) will be explained about the offset mechanism (14) that causes parallel translation in the lateral direction. A proximal boom portion (10A) including an attachment end (10a) for attaching the boom (10) to the swivel base (7).
), an intermediate portion (10B) connected to the tip of the proximal boom portion (10A) so as to be relatively swingable around an axis (X) orthogonal to the boom swing axis; ) is connected to the tip of the boom part (10C) so as to be relatively swingable around an axis parallel to the axis (X),
An arm (9) is connected to this tip side boom portion (10c) so as to be bendable and swingable. Therefore, the boom (1
0) to the proximal boom part (10A) of the intermediate part (1
0B) is swingable in the lateral direction of the swivel base (7). With respect to such a bending structure of the boom (lO), a proximal boom portion (10
A) A boom bending cylinder <CZ> is installed to exhibit relative rocking relative to A).

Then, between the proximal boom part (10A) and the distal boom part (10C), there are both (10A) and (10G).
A connecting rod (15) is installed that allows relative rocking of the
An intermediate part (10B) and a connecting rod (15) that are pivotally supported with respect to the proximal boom part Cl0A), and a distal boom that connects the distal ends of the intermediate part (LOB> and the connecting rod (15)). The portion (10C) constitutes a parallel quadruple link.

Also, on the swing axis (Y) of the proximal boom portion (10A), there is a potentiometer (p,) as a boom angle sensor that detects the relative swing angle between the boom (10) and the swivel base (7).
, both of them (10A) on the axis (X) which is the connection point of the proximal boom part (10A) and the intermediate part (10B),
A potentiometer (P2) as an offset sensor that detects the relative offset rotation angle of (10B),
A potentiometer (P, ) as an arm angle sensor for detecting the relative swing angle of these two parts is installed on the axis (Z) which is the connection point of the tip side boom part CIDC) and the arm (9). be.

And the potentiometer (P1), (h).

A bucket position detection means (11) is provided which is a controller that calculates the position of the bucket (8) with respect to the operation cabin (3) based on the detected value of the bucket (8). ) and the allowable range (S
) is set as the boundary area (N) that is closest to the driving cabin (3), and furthermore, the position detected by the bucket position detection means (11) and the set boundary area (N) are set as the boundary area (N).
A comparator (2 days) is provided to compare N) with
Based on the information that the detected position coincides with the set boundary area (N) according to 28), the driving unit (4) of the boom (10) is driven to rise and oscillate, and the driving unit (4) of the tip side boom portion (10C) is driven. A safety means (12) is provided which automatically disables each sideward lateral movement drive and swinging drive of said arm (9) towards the boom (10) side.

The bucket position detecting means (11) detects the operating cabin (3
) By calculating the position relative to ) in advance and creating a data table, the combination of detected values of each potentiometer (P1), (h), and (h) when the bucket (8) is at a certain position can be paired with the data table. It is constructed in a data table type that detects the position of the bucket (8) by making it correspond to one, and the microcomputer into which these values are input can be made small in capacity.

The boundary area (N) is set in advance by the setting device (13), and at this time, the bucket (8) is
), considering the position closest to the cabin (3) in the entire swing range.
Regardless of the attitude of bucket (8), it is possible to avoid the bucket (8) protruding from the set boundary area toward the operating cabin (3) and stopping, so the set boundary area can be moved closer to the operating cabin (3). can be approached.

With such a configuration, as shown in FIGS. 1 and 2, the backhoe device (6) can be connected to the boom/bucket cross operation lever (16), the arm/swivel cross operation lever (
18) and the offset mechanism operation lever (17), when the bucket (8) reaches the boundary area (N) from the tolerance range (S), the potentiometer (PI),
The comparator (2nd day) confirms that the calculation result of the position of the bucket (8) relative to the operating cabin (3) based on the detected value from (pg) and (P3) matches the set boundary area (N).
outputs an output, and depending on the output, each hydraulic cylinder (C,),
(C2), (CI) control valve (19
), (20), (21) as its operating circuit (22)
).

(23) and (24), the safety means (12) forcibly switching the bucket (8) into the boundary area (
It stops at N). (25), (2) in Figure 1
6), (27) are each operation lever (16), (
17), (18) side potentiometer (16a)
, (17a), (18a) operating circuit (22) for each control valve (19), (20), (21).

(23) and (24).

For example, move the arm (9) with the operating lever (18) so that the bucket (8) at the tip approaches the driving cabin (3).
When the bucket (8) reaches the boundary area (N) while manually operating the arm, the hydraulic cylinder for the arm (C8
) safety measure (12) so that only the extension operation of the
is activated, and the bucket (8) stops.

In other words, the control valve (21) set to extend the arm hydraulic cylinder (C3) is forcibly switched to the neutral position, and if the bucket (8) has not returned to the allowable range (S), This maintains the control valve (21) so that it cannot be switched to the side that extends the hydraulic cylinder (C3).

Also, in this state, the arm hydraulic cylinder (C8)
Further, in the stopped state, for example, when operating the boom (10), the bucket (8) approaches the operating cabin (3) from the boundary area (N). The upward swinging drive of the boom (10) is disabled by the safety means (12), and the downward swinging drive is manually operated by the operating lever (16), since the bucket (8) will move away from the operating cabin (3). possible, and the safety means (12) will be inoperative.

In other words, even in the stopped state, each hydraulic cylinder (c1
), (c,), and (C*) can be operated in the direction in which the bucket moves away from the boundary area (N) and the driving cabin (3).

Further, it goes without saying that the bucket cylinder (C4) can be expanded and contracted at any time.

[Another example]

The bucket position detection means (11) may be configured as a functional type, such as a program type or an analog type.

Since the detected value is expressed as a function, it has the advantage of being easily compatible with a wide variety of models.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the backhoe safety device structure according to the present invention, FIG. 1 is an operating circuit diagram, FIG. 2 is a block diagram showing a flowchart of the safety device, FIG. 3 is a side view of the backhoe, and FIG. 4 is a plan view of the backhoe. (4)......operating section, (6)...backhoe device, (7)...swivel base, (8)...
...Bucket, (9) ...Arm, (10
)...Boom, (11)...Bucket position detection means, (12)...Safety means, (14)
)...Offset mechanism, (28)...
Comparison means, (10A)...proximal boom part,
(10C)...Tip side boom part, (p1),
(pg), (P3)...Sensor.

Claims (1)

[Claims] The boom (10) of the backhoe device (6) is rotated to the swivel platform (7).
The operating part (4) is attached to the lateral side part so as to be able to swing vertically, and the tip side boom part (10C) to which the arm (9) of the boom (10) is connected is connected to the swivel base (7). A backhoe safety device structure is provided with an offset mechanism (14) for moving and operating a swivel base (7) in a lateral direction with respect to a proximal boom portion (10A), the swivel base (7) of the boom (10) ), an offset sensor (P_2) for detecting a lateral movement stroke of the distal side boom portion (10C) with respect to the proximal side boom portion (10A), and
An arm angle sensor (P_3) is provided to detect the swing angle of the arm (9) with respect to the boom (10), and the arm angle sensor (P_3) detects the angle detected by the boom angle sensor (P_1), the stroke detected by the offset sensor (P_2), and the arm. A bucket position detection means (11) is provided for detecting the position of the bucket (8) of the backhoe device (6) with respect to the driving section (4) based on the angle detected by the angle sensor (P_3), and the bucket (8) The bucket position detecting means (
Comparing means (28) is provided for comparing the detected position by 11) and the set boundary area, and based on the information that the detected position by the comparing means (28) and the set boundary area match, the boom (10), the lateral movement drive of the distal end boom portion (10C) toward the operating section (4), and the oscillation drive of the arm (9) toward the boom (10). safety device structure of a backhoe provided with a safety means (12) to disable it;