JPH0288824A - Operational structure of back-hoe device - Google Patents

Abstract

PURPOSE:To simplify an operation of a back-hoe by providing a sensor to detect an oscillating angle of the back-hoe and providing a housing control means to be automatically operated to a housing posture located within the limits of a swivel from a plane view and its starting operational means. CONSTITUTION:A boom angle sensor S1 to detect an oscillating angle against a swivel of a boom, an off-set sensor S2 to detect a transverse moving stroke, an arm angle sensor S3 to detect an oscillating angle of an arm and a bucket angle sensor S4 to detect an oscillating angle of a bucket are respectively provided. From detection result of each sensor, a position against the swivel of the back-hoe device is detected and, at the same time, a back-hoe device housing control means 20 to be automatically operated is provided to a housing posture located within the limits of the swivel from a plane view. In addition, an operational means 24a to start the control means 20 is provided. According to the constitution, automation and simplification of an operation can be achieved.

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 provided with an off-cent mechanism for moving a side boom portion in the direction of the swivel platform relative to the proximal boom portion connected to the swivel platform.

[Conventional technology]

In the above-mentioned backhoe, by the attachment of the boom and the action of the offset mechanism, the backhoe device can be placed in a retracted position located within the rotation range of the swivel base in plan view, and the space required for turning the backhoe device in plan view can be reduced. This was taken into consideration.

Conventionally, in this type of backhoe, various operations have been performed, including operating a ladle operating tool to raise the boom, operating an operating tool to move the tip side boom sideways, and operating an operating tool to move the arm to the raking side. The backhoe device has been brought into the retracted position by a separate and artificial process.

[Problem to be solved by the invention]

Conventionally, when storing a backhoe device from a usage position protruding from the swivel range of the swivel base into the swivel range, the boom operating tool was operated to raise the boom, and the offset operating tool was operated to offset the tip side boom portion. let me do it,
Furthermore, it is necessary to operate an arm operating tool to swing the arm toward the raking side, which adds to the required operating effort.

An object of the present invention is to enable easy storage of a backhoe device.

[Means to solve the problem]

The present invention provides a backhoe device operating structure for a backhoe, in which a boom angle sensor detects a swing angle of a boom with respect to the swivel base, a lateral direction of the distal end boom portion with respect to the proximal boom portion. An offset sensor that detects a movement stroke and an arm angle sensor that detects a swing angle of the arm with respect to the boom are provided, and the backhoe apparatus is adjusted based on the detection results of the boom angle sensor, the offset sensor, and the arm angle sensor. A backhoe device storage control means that detects a position relative to the swivel base and automatically operates a boom cylinder, the offset mechanism, and an arm cylinder to automatically operate the backhoe device to a retracted position located within a swivel range of the swivel base in plan view. and a storage operating tool for starting the backhoe storage control means.

Furthermore, it would be even more advantageous to add a function to the backhoe storage control means to maintain the bucket in the set posture.

[For production]

When the storage operation tool is operated to start the hackhoe device storage means, the storage means automatically operates the boom cylinder, offset mechanism, and arm cylinder based on the detection results of the boom angle sensor, offset sensor, and arm angle sensor, and the backhoe is operated. The device automatically assumes the retracted position.

When the backhoe device is stored, if a function is added to the backhoe device storage control means to input the detection result by the packet angle sensor and maintain the orientation of the packet relative to the rotating platform at the set orientation, the set orientation can be changed. By setting the backhoe device in a position to hold the object to be scooped, the backhoe device can be stored while preventing the object to be scooped by packets from falling out.

〔Effect of the invention〕

Due to the action of the backhoe device storage control means, the backhoe device can be easily stored by operating only the storage operation tool, and the backhoe device can be conveniently made to make small turns, which is also advantageous in terms of operation.

In addition, by adding a packet attitude maintenance function, when a small radius turn is required to discharge the scooped soil, the backhoe device can be stored for turning while preventing the scooped soil from spilling by simply operating the storage operation tool. Work can now be done more efficiently and easily from an operational standpoint.

〔Example〕

As shown in Fig. 2, a swivel base (4) having a driving unit (2) and a driving cabin (3) is attached to a traveling machine base having a crawler type traveling device (1), and this swivel base ( 4
) is attached with a backhoe device (5) to constitute a backhoe.

A boom (6) constituting the backhoe device (5) is mounted on a swivel base (4) at a location located on the lateral side of the operating cabin (3) so as to swing around an axis (Y). The boom (6) has a proximal boom portion (6A) connected to the swivel base (4), and an axis (X) at the tip of the proximal boom (6A).
The intermediate boom section (6B
), and a shaft center (
The arm (7) is connected to swing around the arm (7).
) are connected to each other and each of the distal end side boom portions (6C). Then, the intermediate boom part (6B) is connected to the proximal boom part (6A) by the offset cylinder (C2).
In addition, a swing interlocking rod (8) is attached across the proximal boom portion (6A) and the distal boom portion (6C), as shown by the imaginary line in Fig. 3. The offset mechanism (9) is configured so that the offset cylinder (C2) can move the distal end boom section 6C) in the lateral direction of the swivel base relative to the proximal boom section 6A). i.e. the middle boom section (
6B), interlocking rod (8), proximal boom part (6A)
The interlocking rod pivot portions of the and distal boom portion (6C) form a parallel four-speed link mechanism, so that as the intermediate boom portion (6B) is swung by the offset cylinder (C2), the distal boom portion ( 6C) moves in parallel.

In other words, while raising the boom (6), the arm (7)
) to the raking side, and offset the distal boom section (6C) from the proximal boom section (6A) so that it is located on the opposite side of the operating cabin (3). (10) on the side opposite to the operating cabin (3) with respect to the proximal boom portion (6A), the backhoe device (5) can be viewed from the swivel base ( 4) It is configured so that it can be operated to a retracted position located within the turning range.

To enable operation of the backhoe device (5), as shown in FIG.
2) The control valve (v1) of the boom cylinder (C+), the control valve (V1) of the arm cylinder (C5), and the control valve (V,) of the packet cylinder (C4) are connected to the drive circuit (11) or... ... or (14), and the offset control means (15) detects the operating direction and operating stroke of the offset lever (not shown), such as a potentiometer (P2).
automatically operates the drive circuit (12) based on information from the
The boom control means (16) automatically operates the drive circuit (11) based on information from a potentiometer (P,) that detects the operation direction and operation stroke of the boom lever (not shown), and the arm control means (17) The drive circuit (
13), and the packet control means (18) automatically operates the drive circuit (14) based on information from a potentiometer (P4) that detects the operating direction and operating stroke of the bucket lever (not shown). It is configured to do so.

As shown in Fig. 2, a potentiometer type boom angle sensor (S
l), and the tip side boom part (
A potentiometer-type offset sensor (S2) that detects the direction of lateral movement and stroke of 6C) with respect to the proximal boom portion (6A) is connected to the intermediate boom portion. and the swing angle. A potentiometer type arm angle sensor (S3) detects the swing angle of the arm (7) with respect to the boom (6), and a potentiometer type bucket angle sensor (S3) detects the swing angle of the bucket (10) with respect to the arm (7). S,),
Bucket angle sensors (C) and packets (10) are attached to the arm (7) so as to detect based on the swing angle of the interlocking link (19) with respect to the arm (7), and to prevent soil from coming into contact with the arm (7). It is. Then, as shown in Fig. 1, a boom angle sensor (S1), an offset sensor (S2)
, arm angle sensor (Sff) and bucket angle sensor (Sff)
), all or part of the backhoe device storage control means (2
0), in conjunction with the packet attitude setting means (21) and the target packet angle calculation means (22), and the backhoe device storage control means (20) is connected to the drive circuit (11) or 1.
This is related to 4).

The packet attitude setting means (21) is linked to the packet angle setting switch (23) so that it can be switched by manual operation, and the packet angle setting switch (23)
) is off, when the backhoe device storage control means (20) is started by turning on the storage switch (24), the boom angle sensor (S
1), arm angle sensor (S3) and bucket angle sensor (
The packet attitude setting means (21) detects the attitude of the bucket (10) with respect to the swivel base (4) based on the angle detected by each of the buckets (S, S, ), and automatically sets this detected attitude as the packet attitude to be maintained. It is composed of: When the angle setting switch (23) is turned on, the angles detected by the packet attitude setting means (21), the cuff angle sensor (S1), the arm angle sensor (S3), and the bucket angle sensor (S4) are detected. Regardless of the situation, the configuration is such that the attitude of the bucket (10) relative to the swivel base (4) to be maintained is automatically set so that the scooped earth and sand can be retained.

The target packet angle calculation means (22) is a boom angle sensor (S
l) and to maintain a state in which the attitude of the bucket (10) with respect to the swivel base (4) is equal to the attitude set by the packet attitude setting means (21) regardless of changes in the angle detected by the arm angle sensor (S3). The angle of the packet (10) to appear with respect to the arm (7), that is, the control (automatically calculated based on the angle detected by the wholesale target packet angle sensor (S3) and the orientation set by the packet orientation setting device 1i (21)) It is configured as follows.

The backhoe device storage control means (20) is a storage switch.
When the storage switch (24) is in the OFF position, the bunkhoe storage control means (20) is in an inactive state and the drive circuit (
11) or 14) is the control means (15) or (16)
) or (17) or (18).

When the storage switch (24) is turned on, the backhoe device storage control means (20) is switched to the operating state and starts, and the control means (15), (16)
), (17) and (18), and the detection results and target packet angle by the boom angle sensor (S1), offset angle sensor (S2), arm angle sensor (S3), and bucket angle sensor (S4), respectively. The boom cylinder (CI), offset cylinder (C2), arm cylinder (C3), and packet are automatically operated based on the control target packet angle calculated by the calculation means (22). The cylinder (C2) is automatically operated, and the backhoe device (5) is automatically operated to the retracted attitude while the attitude of the packet (10) relative to the rotating platform is set to the attitude set by the packet attitude setting means (21). .

The backhoe device storage means (20) is configured to be able to be switched between an automatic storage mode and a packet angle control mode by a control mode switching means (25), and the control mode switching means (25) is configured to be able to switch between a packet angle control switch (25).
6) It is configured to be operated by human operation. When the packet angle control switch (26) is turned on, the backhoe device storage means (20) enters the automatic storage mode, and all of the cylinders (C3) or C3) are configured to be automatically operated as described above. It is. Then, when the packet angle control switch (26) is turned off, the backhoe device storage means (2) enters the packet angle control mode, and the detected angle by the packet angle sensor (S4) and the target packet angle calculation means (22) are controlled. By automatically operating only the drive circuit (14) with priority over the packet control means (18) based on the target packet angle, only the packet cylinder (C1) is automatically operated, and the bucket
The drive circuit (11) automatically operates the attitude of the rotating table (10) to one that can scoop and hold the earth and sand;
(12) and (13) are control means (15) or (1
6) or (17).

In other words, the packet angle control switch (26) is turned on, and the storage switch (24) is moved to the operating section (24a).
When operated, the backhoe storage means (20)
is started, and the backhoe device (5) is automatically operated to the retracted position. At this time, if the packet angle setting switch (26) is turned off, the packet attitude will be automatically maintained at the attitude relative to the swivel base that was present when the retraction switch (24) was turned on. When the packet angle setting switch (23) is turned on, the packet (10) is automatically maintained in a horizontal position and the scooped soil can be automatically held.

Also, if the packet angle control switch (26) is turned off, the boom (6) and arm (7) can be manually operated to swing while the bucket (10) is automatically maintained in a horizontal position. , tip side boom part 6C)
can be offset manually.

As shown in FIG. 1, packet position detection means (27) are installed in the boom angle sensor (S1), offset sensor (S2), arm angle sensor (S3), and packet angle sensor (S).
The packet position detecting means (27) is linked with the control stopping means (28). The packet position detection means (27) determines whether the packet (10) is located in the driving cabin (3) based on the detection result by the sensor (S,) or S,).
) is configured to detect whether or not the vehicle is located within a set distance from the vehicle. When the packet position detection means (27) detects the approach of the bucket (10), the control stop means (28) causes the control means (15) or (16) or (14) to
7) or (1B), control valve (vl) or (
V, ) or (V, ) or (V, ) to a neutral position.

That is, when the bucket (10) reaches the approach position,
Beyond that, the boom (6), arm (7) and bucket (10) must be swung to the side where the bucket (10) approaches the operating cabin (3), and the boom section (6C) on the tip side must be offset). is disabled and the risk of the packet (10) coming into contact with the driver's cabin (3) is avoided.

The backhoe device storage control means (20), the packet attitude setting means (21), the packet position detection means (27), the control stop means (28), etc. are composed of a microcomputer,
It is configured to operate based on the flowcharts shown in FIGS. 4, 5, and 6.

[Another example]

It may be implemented without providing an operating cabin, and this is referred to as an operating section.

Except for the packet attitude setting means, etc., the backhoe device may be configured and implemented so that automatic storage is performed without maintaining control of the packet attitude.

The storage switch (24) may be configured to be operated by a pedal or a manual lever. Therefore, the operation section (2
4a) is referred to as a storage operating tool (24a).

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 the drawing]

The drawings show an embodiment of the backhoe device operation structure of the backhoe according to the present invention, in which FIG. 1 is a block diagram of the control system, FIG. 2 is a side view of the entire backhoe, FIG. 3 is a plan view of the entire backhoe, and FIG. 6 through 6 are flowcharts. (4)...Swivel base, (5)...Backhoe device, (6)...Boom, (6A)...
...Proximal boom part, (6C)...Distal boom part, (7)...Arm, (9)...
... offset mechanism, (10) ... packet, (20) ... backhoe device storage control means,
(24a)... Storage operation tool, (C1)...
...Boom cylinder, (C,) ...Arm cylinder, (C',) ...Packet cylinder, (
SL)...Boom angle sensor, (S2)...
...Offset sensor, (S3) ...Arm angle sensor, (S4) ...Packet angle sensor.

Claims (1)

[Claims] 1. The boom (6) of the backhoe device (5) is
) is attached so as to be able to swing vertically on the lateral side of the operating section of the boom (6), and the distal end boom portion (6C) to which the arm (7) is connected to the base end of the boom (6) is connected to the swivel base (4). A backhoe device operation structure for a backhoe is provided with an offset mechanism (9) for moving and operating the swivel base in the lateral direction with respect to the side boom portion (6A), wherein the swivel base (4) of the boom (6)
) Boom angle sensor (S_1) that detects the swing angle with respect to
, an offset sensor (S_2) that detects a lateral movement stroke of the distal end boom portion (6C) with respect to the proximal boom portion (6A), and an offset sensor (S_2) that detects a swing angle of the arm (7) with respect to the boom (6). Arm angle sensor (S_
3), the boom angle sensor (S_1), the offset sensor (S_2) and the arm angle sensor (S_
3) Based on each detection result, the backhoe device (5
) with respect to the swivel base (4), and automatically operates the boom cylinder (C_1), the offset mechanism (9), and the arm cylinder (C_3) to move the backhoe device (5) to the swivel base in a plan view. A backhoe device storage control means (20) that automatically operates to a storage position located within the turning range is provided, and this backhoe device storage control means (20)
0) A backhoe device operation structure for a backhoe provided with a storage operation tool (24a) for starting the backhoe. 2. Place the boom (6) of the backhoe device (5) on the swivel platform (4).
) is attached so as to be able to swing vertically on the lateral side of the operating section of the boom (6), and the distal end boom portion (6C) to which the arm (7) is connected to the base end of the boom (6) is connected to the swivel base (4). A backhoe device operation structure for a backhoe is provided with an offset mechanism (9) for moving and operating the swivel base in the lateral direction with respect to the side boom portion (6A), wherein the swivel base (4) of the boom (6)
) Boom angle sensor (S_1) that detects the swing angle with respect to
, an offset sensor (S_2) that detects a lateral movement stroke of the distal end boom portion (6C) with respect to the proximal boom portion (6A), and an offset sensor (S_2) that detects a swing angle of the arm (7) with respect to the boom (6). Arm angle sensor (S_
3), a bucket angle sensor (S_4) is provided to detect the swing angle of the bucket (10) of the backhoe device (5) with respect to the arm (7), and the boom angle sensor (S_1
), the position of the backhoe device (5) with respect to the swivel base (4) based on the detection results of the offset sensor (S_2), the arm angle sensor (S_3), and the bucket angle sensor (S_4), and Bucket (1
0) with respect to the swivel base (4), the boom cylinder (C_1), and the offset mechanism (9)
, arm cylinder (C_3) and bucket cylinder (C
_4) is automatically operated to maintain the attitude of the bucket (10) relative to the swivel base at the set attitude, while automatically operating the backhoe device (5) to a retracted attitude located within the swivel range of the swivel base in plan view. Backhoe equipment storage control means (20
) and a storage operating tool (24a) for starting the backhoe storage control means (20).