JPH0441731B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a boom with an arm provided with a bucket so as to be swingable up and down, and an arm that is swingable up and down.
The boom is provided on a swivel base so as to be able to swing vertically, the swivel base is provided on a traveling vehicle body so as to be freely rotatable for left and right drive, and a control device is provided to automatically stop the swivel base at either the left or right set stop position, and the set stop The present invention relates to a swing type backhoe, in which the control device is provided with a mode setting section that sets a swing automatic stop mode as a function of the speed during deceleration and the swing angle in order to automatically stop the swing base at a certain position.

[Conventional technology]

Conventionally, in the above-mentioned swing type backhoe, only one swing automatic stop mode has been set in the mode setting section.

[Problem that the invention seeks to solve]

However, as the arm swings relative to the boom and the excavator is accommodated in the bucket, the penetration of the backhoe equipment changes, so it always automatically stops in the same swing automatic stop mode. In controlled backhoes, there was a risk that the swivel base would stop in front of the set stop position or overshoot.

The purpose of the present invention is to determine the presence or absence of contents in the bucket,
Another feature is that the swivel base can be stopped at a set stop position regardless of the swing angle of the arm relative to the boom.

[Means for solving problems]

The characteristic configuration of the swing-type backhoe of the present invention includes a first detection means for detecting the swing angle of the boom relative to the ground;
a second detecting angle of the arm with respect to the boom;
A detection means and a third detection means for detecting the angle of the bucket with respect to the arm are provided, and based on information from the first, second and third detection means,
Calculating means for calculating the angle of the bucket to the ground is provided, and the information from the calculating means is compared with the information from the angle setting device, and when the angle of the bucket to the ground is equal to or greater than a set angle, the object stored in the bucket is determined. A determining means is provided for determining that there is an object contained in the bucket and determining that there is no object stored in the bucket at a value less than or equal to the set angle, and information from at least the second detecting means of the first, second, and third detecting means is provided. , and based on the information from the determination means, the boom angle of the arm,
Further, there is provided a mode instruction means for automatically selecting an automatic rotation stop mode according to the presence or absence of the contents in the bucket and instructing the mode setting section, and the operation and effect thereof are as follows. It is.

[Effect]

In other words, even if the arm is swung relative to the boom during excavation work, or objects such as excavators are accommodated or released into the bucket, the mode indicating means changes the angle of the arm relative to the boom. as well as,
Depending on the change in inertia during turning due to the presence or absence of objects stored in the bucket, the automatic turning stop mode is automatically selected and instructed to the mode setting section, and the turning table stops in front of you when turning or overshoots. Stops at the set stop position without any movement.

〔Effect of the invention〕

Therefore, regardless of the presence or absence of objects stored in the bucket and the swinging posture of the arm, it can be stopped at the target stop position accurately and efficiently without any adverse effects due to inertia changes. It is also conceivable to provide a plurality of artificial mode instruction means for individually instructing the automatic rotation stop mode, and to manually select and activate one of these artificial mode instruction means, but in this case, it is possible to prevent operational errors or There is a risk of overshooting and colliding with other objects due to a setting error, but the present invention solves this problem regardless of whether there is anything stored in the bucket or changes in the boom angle of the arm. , so that the appropriate turning automatic stop mode is automatically set.
It is easy to operate, eliminates setting errors, and ultimately improves excavation workability and safety regardless of the working conditions.

Furthermore, in order to detect the presence or absence of objects stored in the bucket, detection means for detecting each swing angle provided on the boom, arm, and bucket are used.
Compared to installing a separate load cell or strain gauge for load detection on the bucket, loads other than weight are not detected and costs are high.
It has become possible to reliably perform swing automatic stop control while reducing the cost of the entire device.

〔Example〕

Next, embodiments of the present invention will be described based on the drawings.

As shown in FIG. 3, the supporting arm 2a of the earth removal plate 2 is attached to a traveling machine base equipped with a crawler traveling device 1 so that it can be raised and lowered by a hydraulic cylinder 3, and the swivel base 4 is moved by a hydraulic motor (not shown). The boom support bracket 5 is mounted on the swivel base ₄ so as to be rotatable around the vertical axis X ₂ by means of a hydraulic cylinder 6, and the bracket is 5, a boom 7 is attached to the boom 7 so that it can be moved up and down by a hydraulic cylinder 8, an arm 9 is attached to the boom 7 so that it can be moved up and down by a hydraulic cylinder 10, and a bucket 1 is attached to the arm 9.
1 is mounted so as to be able to swing up and down by a hydraulic cylinder 12, thereby constructing a backhoe work vehicle that can also be used as a dozer and is capable of performing excavation work and ground excavation work.

The boom 7, the arm 9, and the bucket 11
A first sensor 16A that detects the rocking angle θ ₁ of the boom 7 relative to the ground, a second sensor 16B that detects the boom angle θ ₂ of the arm 9, and a pair of A third sensor 16C for detecting the arm angle θ ₃ is attached to each of them.

To configure the swing operation structure, as shown in FIG. A rotary encoder type detector 19 is attached to detect the rotation angle θ of the swivel base 4 with respect to the direction reference line l.

When the manual switching device 20 that selectively switches between the manual turning operation state and the automatic turning operation state is in the manual turning operation state, the operation direction of the lever 17 is determined based on the information from the operation state detection device 18. A command is given to the valve controller 22 of the swing operation electromagnetic proportional control valve 21 to turn the swing table 4 in a direction corresponding to the amount of operation of the lever 17 and at a speed corresponding to the operation amount of the lever 17. When the is in automatic turning operation state,
Operation state detection device 18 and vehicle body angle detector 1
Based on the information from 9, the swivel base 4 is rotated in a direction corresponding to the operating direction of the lever 17 and in a preset speed change state with the lever operation as a start command, and furthermore, the two setting devices 23A, 2
3B, the valve controller 22 is configured to stop the swivel base 4 at the set stop position θa when turning left or the set stop position θb when turning right, which are each manually set by 3B.
A control device 24 composed of a microcomputer is provided to automatically give commands to the controller.

In other words, by using the automatic turning operation state, as shown in FIG. 2, the repeated turning operation over a fixed excavation position A and a fixed earth removal position B can be performed with the initial setting operation for both setting devices 23A and 23B.
This can be easily done by simply issuing a start command to the lever 17.

A push-button left setting switch a and right setting switch b are provided for individually instructing setting values to both the left and right setting devices 23A and 23B.

In the control device 24, the left and right setting device 23
A mode setting unit that sets a swing automatic stop mode as a function of the speed θ during deceleration and the remaining swing angle θe in order to automatically stop the swing base 4 at both set stop positions θa and θb indicated by A and 23B. 25 is provided in the control device 24, and the first, second, and third sensors 1
Based on the information from 6A, 16B, and 16C, as shown in FIG.
A first calculation means 31 is provided for calculating the ground angle θf of the bucket 11, and a second calculation means 32 is provided for calculating the ground angle θf of the bucket 11, and the information from the second calculation means 32 and the information from the angle setting device 33 are compared. When the ground angle θf of the bucket 11 is equal to or greater than the set angle, the bucket 1
A determination means 34 is provided for determining that there is an object contained in the bucket 11 and that there is no object contained in the bucket 11 when the angle is less than or equal to a set angle, and information from the first calculation means 31;
Based on the information from the determining means 34, the boom 7,
The moment of inertia _I1 of the backhoe device 27 itself consisting of the arm 9 and the bucket 11, and the bucket 11
Determine the moment of inertia I ₂ due to the contents in the bucket 11 and the moment of inertia I 0 of the swivel base ₄ itself from the internal load, the horizontal distance Lf, and the distance L ₀ from the center of the swivel base 4 to the fulcrum of the boom 7. After that, a third calculation means 35 is provided to calculate the overall moment of inertia (I=I ₀ +I ₁ +I ₂ ), and based on the information from the third calculation means 35, the values of the boom 7, arm 9, and bucket 11 are calculated. a mode instructing means 26 for automatically selecting an automatic swing stop mode from the graph shown in FIG. It is provided.

In other words, as the boom 7, arm 9, and bucket 11 are respectively swung, the center position of the bucket 11 moves away from the vehicle body, and if there is excavated soil or other material stored in the bucket 11, the bucket hoe device 27 Since the inertia during turning becomes large, the mode instruction means 26 automatically instructs the mode setting section 25 to a mode in which the deceleration is gentle.
Set stop position θa, θb without overshooting
Furthermore, when the center position of the bucket 11 approaches the vehicle body and the excavated soil in the bucket 11 is discharged, the inertia of the bucket hoe device 27 when turning becomes small. Accordingly, the mode setting unit 25 is automatically instructed to a mode with a steep deceleration, so that the vehicle is automatically stopped accurately at the set stop positions θa and θb without stopping at the near position.

[Another example]

The first, second, and third sensors 16A, 16
B and 16C are respectively referred to as detection means 16. Among the boom 7, arm 9, and bucket 11, the inertia change due to the swinging change of the arm 9 is the largest. Based on the information from the sensor 16B, the mode setting section 25
It is good to be able to give instructions.

[Brief explanation of drawings]

The drawings show an embodiment of the swing-type backhoe according to the present invention, FIG. 1 is a schematic diagram showing the swing operation structure, FIG. 2 is an explanatory diagram showing the swing operation range in plan view, and FIG. 3 is an overall side view of the backhoe. 4 are graphs showing each automatic stop mode, and FIG. 5 is an explanatory diagram for calculating the position of the bucket. 4...Swivel base, 7...Boom, 9...Arm,
11...bucket, 16A...first detection means, 1
6B...second detection means, 16C...third detection means, 24...control device, 25...mode setting section,
26...Mode instruction means, 32...Calculation means, 3
3... Angle setting device, 34... Judgment means, θ ₁ , θ ₂ ,
θ ₃ ... Angle, θa, θb ... Set stop position, θ ... Speed, θe ... Turning angle, ... Set angle, θf ... Ground angle.

Claims (1)

[Claims] 1. An arm 9 on which a bucket 11 is installed so as to be swingable up and down is provided on the boom 7 so as to be swingable up and down, and
The boom 7 is installed on the swivel base 4 so as to be able to swing up and down,
The swivel base 4 is provided on the traveling vehicle body so as to be rotatable left and right, and a control device 24 is provided for automatically stopping the swivel base 4 at a set stop position θa or θb on either the left or right side.
In order to automatically stop the swivel base 4 at the set stop positions θa and θb, the speed θ and the rotation angle θe during deceleration are
The swing-type backhoe is equipped with a mode setting section 25 in the control device 24 for setting a swing automatic stop mode as a function of the rotation speed, and a first detection means 16A for detecting the ground swing angle θ ₁ of the boom 7; A second detection means 16B for detecting the angle θ ₂ of the arm 9 with respect to the boom 7, and a third detection means 16C for detecting the angle θ ₃ of the bucket 11 with respect to the arm 9 are provided, and the first, 2nd, 3rd
Calculating means 32 is provided for calculating the ground angle θf of the bucket 11 based on the information from the detecting means 16A, 16B, and 16C, and the information from the calculating means 32 and the information from the angle setting device 33 are compared. If the ground angle θf of the bucket 11 is equal to or greater than the set angle, it is determined that there is something stored in the bucket 11, and if the bucket 11 is equal to or less than the set angle, the bucket 11 is
A determination means 34 is provided to determine if there is no object contained therein, and the first, second and third detection means 16A, 16B, 16C are provided.
Based on at least the information from the second detection means 16B and the information from the determination means 34, the boom angle θ ₂ of the arm 9 and the presence or absence of the contents in the bucket 11 are determined. A swing type backhoe is provided with a mode instruction means 26 for automatically selecting a corresponding swing automatic stop mode and instructing the mode setting section 25.