JPH064972B2 - Excavator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention reduces the road width by hindering other work during excavation work on a road or the like or hindering the progress of other vehicles passing through the road. TECHNICAL FIELD The present invention relates to an excavator capable of excavating work without having a large occupation, and in particular, to allow a swivel base, an excavating mechanism, and a direction correcting mechanism to rotate or swing freely, and to drive and control them in a predetermined order. By doing so, when the excavation mechanism is turned backward, the protrusion of the arm can be reduced and the arm can be turned within the vehicle width, and the operator's visibility during work can be improved and the operation amount of the operator can be improved. The present invention relates to an excavator, which is characterized in that

[Conventional technology]

In conventional excavation, an arm is projected from a vehicle body, and a bucket for excavating earth and sand is attached to the end of the arm, and earth and sand are excavated by turning the arm and the bucket.

With this configuration, when the dug soil is transported by rotating the arm to the rear of the car body, there is a risk that the bucket will jump out from the side of the car body and contact a person standing nearby, and the work range must be wide. There was a drawback I couldn't get. Therefore, for example, when excavating work on one lane side of a two-lane road, the arm jumps out to another lane that is not working for turning the arm. It was extremely inconvenient because I had to cut off traffic temporarily.

In order to eliminate this drawback, a swivel base and a work platform are provided on the vehicle body with their rotation axes eccentric, so that the bucket passes above the vehicle body and the arm and bucket do not jump out from the side surface of the vehicle body. An excavator configured as above has also been proposed. However, in this newly proposed excavator, the worker has to ride on a rotating workbench, and it is impossible to provide a cabin for protecting the worker from wind and rain on a narrow workbench, Moreover, the operation was complicated.

[Problems to be solved by the invention]

In view of the above-mentioned drawbacks, the present invention has an excavation mechanism and a cabin mounted on a swivel base provided on a vehicle body, and both are arranged in parallel, and the excavation mechanism is provided on a swivel base displaced to one side of the vehicle body. In addition, the cabin protects the worker from wind and rain, and follows the rotation of the swivel base to follow the line of sight of the operator to improve the field of view of the work and significantly reduce the amount of operation by the operator. It is one that provides an excavator capable of.

[Means for solving problems]

The present invention relates to a movable vehicle body, a revolving base that can rotate in the horizontal direction on the vehicle body, and a support mechanism that is provided on the revolving base and is displaced in one direction of the vehicle body and that can rotate in the horizontal direction. The excavation mechanism, which is supported by this support mechanism and has a boom connected to a bucket at its tip and which can be bent, and a boom, is provided on the swivel base and displaced in the other direction of the vehicle body, and can be rotated in the horizontal direction. A steering mechanism having an operation panel for operating each part and a seat on which a worker sits, a direction correcting mechanism for horizontally rotating the steering mechanism, a vehicle body and a swivel base, a swivel base and a support mechanism, and a swivel base. Detectors that detect the relative positions of the steering mechanism, the bucket and arm, the arm and boom, the boom and the support mechanism, and the swivel base, the support mechanism, and the direction correction mechanism based on the signals from these detectors in a fixed order. Drive the drilling mechanism Become more a hydraulic control mechanism for controlling,
In excavation work, the swivel base is displaced with respect to the vehicle body and the excavation mechanism is displaced in the opposite direction with respect to the swivel base, and at the same time, the steering mechanism is displaced by the direction correction mechanism so as to be parallel to the excavation mechanism. The direction of the operator sitting on the mechanism is followed by the same angle as the displacement of the excavation mechanism, and in the turning work, the swivel base, the support mechanism, the control mechanism, and the excavation mechanism are returned to their initial positions, and the excavation mechanism is initialized. It is characterized in that the hydraulic control mechanism can judge from the signals from the respective detectors that it has returned to the position, and thereafter the swivel can be rotated.

[Action]

In the present invention, the excavation mechanism supported by the support mechanism is provided on one side of the front surface of the swivel base, and the cabin on which the worker is mounted is provided on the other front surface of the swivel base. Taking the excavation mechanism into the side of the cabin,
It is possible to hold the bucket, arm, etc. so that they do not protrude from the vehicle body, and when performing excavation work, position the swivel base at a slight angle and direct the excavation mechanism toward the center front of the vehicle body to perform excavation work. It is possible.

In addition, when excavating earth and sand after excavation work and transferring it to another place,
When the excavation mechanism reaches a certain position or more, the swivel base, the support mechanism, and the control mechanism are returned to the initial positions, and then the swivel base can be swung by a predetermined angle. Therefore, the operation amount of the operator can be significantly reduced.

〔Example〕

 An embodiment of the present invention will be described.

1 is a perspective view of an embodiment of the present invention, FIG. 2 is a plan view of the same embodiment, FIGS. 3 and 4 are side views of the same embodiment, and FIG. 5 is a part of the same embodiment. It is an expansion perspective view.

This excavator is self-propelled, and wheels 11 are rotatably supported at the four corners on the bottom surface of a flat body 10. Crawlers (endless tracks) are provided between each pair of wheels 11 on both sides of the body 10. Twelve wound. A swivel base 13 is rotatably mounted horizontally in the upper center of the vehicle body 10. A support mechanism 14 is provided on the swivel base 13 on one side of the front surface thereof, and a cabin 15 on which an operator rides is fixed on the other side in front of the swivel base 13, and a cabin 15 is provided behind the cabin 15. Is the engine,
A machine unit 16 accommodating a hydraulic pressure generator and the like is attached. That is, the front side of the swivel base 13 has support mechanisms 14
And the cabin 15 are provided in parallel.

Next, the support mechanism 14 will be described. A support pin 17 is vertically fixed on the swivel base 13, and a support body 18 having a U-shape is horizontally rotatable on the support pin 17. It is connected. A lever 19 extending in the horizontal direction is fixed to the lower portion of the support 18, and a cylinder rod of a hydraulic cylinder 20 for swinging is connected to the lever 19, and the base of the hydraulic cylinder 20 is the swivel. It is connected to the table 13.

A boom 21 having a V-shape is swingably connected to the support 18 that is open in a U-shape toward the front, and an arm 22 is swingably attached to the tip of the boom 21. A bucket 23 is connected to the tip of the arm 22. And between the support 18 and the center of the boom 21,
Hydraulic cylinders 24, 25 and 26 are interposed between the center of the boom 21 and the base of the arm 22 and between the arm 22 and the bucket 23, respectively. This boom 21, arm 22, bucket 23
The excavation mechanism 27 is formed by the above.

Next, a direction correcting mechanism for holding the steering mechanism in the cabin 15 rotatably in the horizontal direction will be described mainly with reference to FIG.

A support shaft 31 is rotatably supported on the swivel base 13 in the cabin 15, and a disc-shaped turntable 32 is mounted and fixed on the support shaft 31. A pin 33 is projected on the peripheral edge of the lower surface of the turntable 32, a cylinder rod 35 of a hydraulic cylinder 34 is connected to the pin 33, and a cylinder bottom 36 is connected to the swivel base 13. A seat 37 on which the operator sits is fixed to one of the upper surfaces of the turntable 32, and a foot pedal 38 and a lever 39 are provided on the other upper surface of the turntable 32.

Next, a hydraulic control mechanism for driving and controlling the swivel base 13, the support mechanism 14, the excavation mechanism 27, and the direction correction mechanism will be described with reference to FIGS. 1 to 5 and 6.

The hydraulic control mechanism includes detectors 41 to 46 that detect the respective positions of the swivel 13, the support 18 of the support mechanism 14, the boom 21, the arm 22, the bucket 23 of the excavation mechanism 27, and the turntable 32 of the direction correction mechanism. And an operation panel 50 for inputting an operation command including the foot pedal 38 and the lever 39, and the detectors 41 to 46.
A control device 60 that takes in signals from the operation panel 50 and forms drive control signals based on these signals, and a hydraulic circuit 70 that is controlled by the control signals from the control device 60 are configured.

That is, the detector 41 that detects the rotational positions of the vehicle body 10 and the swivel base 13 is provided near the swivel center X.
The detector 42 for detecting the rotational position between the support 18 and
A detector 43, which is provided near the shaft 17 and detects the rotational positions of the swivel base 13 and the turntable 32, is provided near the support shaft 31 on the swivel base 13. The detector 44 that detects the rotational position between the support 18 and the boom 21 is attached near the boom mounting portion of the support 18, and the detector 45 that detects the rotational position between the boom 21 and the arm 22 is the boom 21 and the arm. The detection detector 46 is attached to the connecting portion between the arm 22 and the bucket 23, and the rotational position between the arm 22 and the bucket 23 is detected.

The operation panel 50 includes the foot pedal 38 and the lever 39 and is provided as shown in the drawing, and the control device 60 is provided behind the turntable 32.

The operation panel 50 includes a boom operation switch 51 for rocking the boom 21 and an arm operation switch 52 for rocking the arm 22.
And a bucket operation switch 53 for controlling swinging of the bucket 23.
A rotation operation switch 54 for controlling the rotation of the support 18, a rotation operation switch 55 for controlling the rotation of the swivel base 18, and a selection switch 56 for selecting manual operation or automatic return operation. Foot pedal 38 and lever 39 as required
Connected to.

Each detector 41 to 46 and each operation switch of the operation panel 50, etc. 51 to
56 is connected to the digital input of the controller 60. The control device 60 is composed of a microcomputer or the like,
An arithmetic processing unit (CPU) 61 for performing various arithmetic processes, a main storage device (RAM) 62 for storing a main program, a read-only storage device (ROM) 63 for storing predetermined programs and data, a backup storage device (B-RAM) ) 64, digital input port (DI) 65 for capturing various digital signals, digital output port (DO) 66 for outputting digital control signals, bus connecting these
(Bus) consists of 67.

The hydraulic circuit 70 has the following structure. That is, the hydraulic pressure generator driven by the engine 71 provided in the mechanical section 16
The oil in the oil tank 73 is sucked by 72 and is supplied to the outward passage 74 as pressure oil. An oil passage is formed by the outward passage 74 and the outward passage 75, and solenoid valves 76 to 81 are connected to the reciprocating pipes 74 and 75. The solenoids of the solenoid valves 76 to 81 are electrically connected to the digital output port 66 of the control device 60, and are individually driven and controlled by digital control signals.

The cylinders 20 and 34 are connected to solenoid valves 76 and 81, respectively, and the cylinders 24 to 25 are connected to solenoid valves 77 to 79 via hydraulic regulators 82 to 84, respectively. A hydraulic motor 85 that rotationally drives the swivel base 13 is connected to a solenoid valve 81 via an inertia absorption brake valve 86. The hydraulic pressure regulator 82
~ 84 is composed of a check valve and a Diltlot valve.

Next, the operation of this embodiment will be described.

First, in FIG. 3, the hydraulic cylinder 24 is extended and the boom 21 is tilted forward, and the hydraulic cylinders 25 and 26 are contracted to move the arm 22.
Also, the bucket 23 is in a raised state, and the excavation mechanism 27 is maximally extended. Further, FIG. 4 shows a state in which the hydraulic cylinder 24 is contracted to raise the boom 21, the hydraulic cylinders 25 and 26 are extended, the arm 22 is brought closer to the boom 21 side, and the bucket 23 is lifted upward. In this state, move the car body 10,
It also shows a state in which the swivel base 13 can be swung.

When the operator operates the operation switches 51, 52, 53 from the state where the excavation mechanism 27 shown in FIG. 3 is fully extended, the control device 60 gives a digital control signal to the solenoid valves 77, 78, 79. , The respective hydraulic cylinders 24, 25, 26 are caused to cooperate with each other to rotate the boom 21 and the arm 22, respectively, thereby freely rotating the bucket 23 in the vertical direction,
This makes it possible to excavate earth and sand. This excavation mechanism 27
The operation and function of is similar to the conventional excavation mechanism. At this time, the selection switch 56 is set to manual (M).

Next, a series of operations for automatically transferring the earth and sand excavated from the excavation work backward will be described with reference to FIG. 7. When the selection switch 56 is set to the (A) side, these operation switches 5
4, 55 are ignored.

In the state of FIG. 7 (a), the bucket 23 is directed toward the front of the vehicle body 10.
It shows a state where the operator is operating to excavate the earth and sand. In this case, first, the switch 56 is operated with respect to the manual (M) by operating the operation switch 54 to control the solenoid valve 81 to drive the hydraulic motor 85, and thereby the swivel base.
Reference numeral 13 denotes a vehicle body 10 that is tilted approximately 45 degrees in the horizontal direction, and at this time, the cabin 15 faces diagonally forward. Similarly, by operating the operation switch 54 to drive and control the solenoid valve 76 via the control device 60, pressure oil is applied to extend the hydraulic cylinder 20, and the support pin 17 is centered via the lever 19 via the lever 19. The support 18 is tilted by approximately 45 degrees in the direction opposite to the direction in which the swivel base 13 is rotated. For this reason, the swivel base
The excavation mechanism 27 is positioned parallel to the vehicle body 10 and the position of the excavation mechanism 27 is located between the crawlers 12 although the vehicle body 13 is located diagonally to the vehicle body 10. Therefore, the bucket 23 of the excavation mechanism 27 is maintained in the center front of the vehicle body 10,
It is possible to excavate the soil in front of the vehicle body 10.

At this time, the control device 60 takes in signals from the detectors 41 to 43, and based on this, drives and controls the solenoid valve 80 to supply pressure oil to the hydraulic cylinder 34, so that the hydraulic cylinder 34 performs an extension operation. The turntable 32 is rotated about the support shaft 31 by the cylinder rod 35 and the pin 33, and the turntable 32 is swung clockwise in FIG. 7 by substantially the same angle as the turning angle of the excavation mechanism 27. That is, the turntable 32 is the detector 41-
The control device 60 which takes in the signal from 43 synchronizes with the excavation mechanism 27 so that it is always parallel to the excavation mechanism 27. Because of this, the seat
37 is parallel to the excavation mechanism 27, and the cabin 15 is
Workers sitting in the seat, even if deviated from 10, are
You can work by looking ahead. Note that the above operation is different only in that the operation is performed in accordance with a command in the control device 60 even in the automatic return operation. Select switch here 56
Is automatically reset (A) (step S100). This allows
After that, the automatic return operation is performed.

Next, when the earth and sand excavated by the bucket 23 is moved to the rear, the excavation mechanism 27 is driven (step S101), and the bucket 2
Detector 4 whether 3 is above a certain level from the excavation surface
The control device 60, which has received the signals from 4 to 46, makes a judgment, and when it is judged that the height reaches a certain level or more (step S10).
2), the control device 60 controls the solenoid valve 81 to control the hydraulic motor 85.
Operate. The swivel base 13 is returned clockwise around the swivel center X, swung clockwise in the direction of arrow A, and swivels until the vehicle body 10 and the swivel base 13 are positioned in parallel. At the same time, the control device 60 drives the solenoid valve 81 to operate the hydraulic motor 85 by the signal from the detector 41 (step S
103-step S104).

Almost at the same time as this operation, the control device 60 controls the solenoid valve 76 based on the signal from the detector 42 to reduce the hydraulic cylinder 20, and pivots the support 18 around the support pin 17 in the B direction in the figure. Then, the solenoid valve 76 is controlled to return to the original position until the excavation mechanism 27 and the swivel base 13 are in parallel positions (step S10).
5 to step S106).

When shifting from step S105 to step S106, the turntable 32 is also operated synchronously. That is, in step S107, the hydraulic cylinder 34 is supplied with pressure oil whose flow rate is controlled by the solenoid valve 80 driven by the digital control signal generated by the controller 60 based on the signals from the detectors 41 to 43. There is. As a result, the hydraulic cylinder 34 is contracted and the cylinder rod 35 is retracted to rotate the turntable 32 counterclockwise through the pin 33 in FIG. 7 (A), and the seat 37 is moved forward of the vehicle body 10. It is directed (step S107). For this reason, the line of sight of the operator sitting in the seat 37 is directed toward the front of the excavated vehicle body 10. This state is the state shown in FIG. 7 (b) excluding the operating state of the excavation mechanism. The center of rotation of the swivel base 13 is indicated by X. In this state, the bucket 23 is positioned on the swivel base 13, and the excavation mechanism 27 is positioned so as to fit snugly on the side surface of the cabin 15.

Further, only the swivel base 13, the excavation mechanism 27 and the seat 37 are shown in FIG.
When the state of (b) is reached (step S105), the excavation mechanism 27 is driven so that the excavation mechanism 27 is brought into the folded state as shown in FIG. 4, and when the state of FIG. 7 (b) is reached. (Step S109), the process proceeds to step S110. Making each mechanism into the state shown in FIG. 7B is called initial return.

When it is confirmed by the control device 60 by the signals from the detectors 41 to 43 that the position shown in FIG. 7 (b) is reached (step S10).
9), the control device 60 drives and controls the solenoid valve 81 to operate the hydraulic motor 85, and swivels the swivel base 13 clockwise around the swivel center X (step S110). At this time, the excavation mechanism 27 and the hydraulic cylinder 20 are not operated, and the excavation mechanism 27 is left on the side surface of the cabin 15 as it is.

The state of FIG. 7 (c) shows a state in which the bucket 23 is positioned on the swivel base 13 and is swiveling while being held on the side surface of the cabin 15.

Then, the swivel base 13 is further rotated with respect to the vehicle body 10, and FIG.
Based on the signal from the detector 41, the control device 60 determines whether or not the state (2) has occurred (step S111). Step S1
When it is determined at 11 that the state of FIG. 7 (d) has been reached, the control device 60 stops the drive control of the solenoid valve 81 and stops the operation of the hydraulic motor 85 (step S112). This allows swivel 1
3 is rotated 180 degrees about the turning center X with respect to the vehicle body 10, and the cabin 15 and the excavation mechanism 27 are
Will turn to the rear.

Then, the hydraulic cylinders 24, 25, 26 of the excavation mechanism 27 are operated by operating the operation switches 51, 52, 53 to drive and control the solenoid valves 77, 78, 79 via the control device 60, and cooperate with each other. Sediment can be transferred to the loading platform of the truck 29 waiting behind the vehicle body 10 (step S11).
3).

In order to return to the excavation work from the state of FIG. 7 (d), the position of the excavation work described above can be obtained by operating in the order of FIG. 7 (d), (c), (b) and (a) in reverse to the above. Can be returned to. Since the signals from the detectors 41 to 43 are stored in the RAM 62 of the control device 60, these operations can be achieved by giving a command from the control device 60 to the solenoid valves 76, 80, 81 so as to match them.

When excavating the side surface of the vehicle body 10 with a bucket, set the mode selection switch 56 to manual (M) to rotate the turntable 13
The excavation work can be performed in the entire width range of the vehicle body 10 by adjusting the turning angle, the angle correction of the support mechanism 14 by the hydraulic cylinder 20, and the position correction of the table 32 by the hydraulic cylinder 34.

〔The invention's effect〕

The present invention is configured as described above, and the excavation mechanism can be housed on the side surface of the bucket and rotated, and the excavation mechanism can be swung within the range of the width of the vehicle body without projecting outward much more than the vehicle body. Therefore, it is possible to reduce the work load of the operator because it does not hinder the passing people and other vehicles, the safety is extremely high, and the turning can be automated.

In addition, since the excavation mechanism can be stored on the side surface of the cabin, the operator in the cabin has a good visibility in the front, and has features that the safety confirmation during movement and turning is extremely easy.

Further, during the excavation work, the control mechanism is oriented in the same direction as the direction of the excavation mechanism, so the work is performed accurately and the operator is not fatigued.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is a plan view of the same embodiment, FIG. 3 is a side view showing a case where the excavation mechanism of the same embodiment is extended, and FIG. FIG. 5 is a side view showing a state in which the excavation mechanism of the embodiment is reduced and stored in the side surface of the cabin, FIG. 5 is a perspective view showing the internal structure of the cabin, and FIG. 6 is a system diagram showing a control system of the embodiment. FIG. 7 is an explanatory view showing the operation at the time of turning, and FIG. 8 is a flow chart shown for explaining the operation of the same embodiment. 10 ... vehicle body, 13 ... swivel base, 14 ... support mechanism, 15 ... cabin,
16 ... Machine part, 18 ... Support, 27 ... Excavation mechanism, 32 ... Turntable, 41-46 ... Detector, 50 ... Operation panel, 56 ... Selection switch, 60 ... Control device, 70 ... Hydraulic circuit, 76-81 …solenoid valve.

Claims (1)

[Claims] 1. A movable vehicle body, a revolving base that can rotate in a horizontal direction on the vehicle body, and a support mechanism that is provided on the revolving base and is displaced in one direction of the vehicle body and that can rotate in a horizontal direction. And an excavation mechanism, which is supported by this support mechanism and is composed of a bendable arm with a bucket connected to the tip and a boom, and is provided on the swivel base and displaced in the other direction of the vehicle body to rotate in the horizontal direction. A control mechanism having an operation panel for operating each part and a seat on which a worker sits, a direction correcting mechanism for horizontally rotating the control mechanism, a vehicle body and a swivel base, a swivel base and a support mechanism, and a swivel base. And a steering mechanism, a bucket and an arm, an arm and a boom, a detector that detects each relative position of the boom and a support mechanism, and a swivel base, a support mechanism, and a direction correction mechanism based on signals from these detectors in a fixed order. , Drilling mechanism In excavation work, the swivel base is displaced with respect to the vehicle body and the excavation mechanism is displaced in the opposite direction with respect to the swivel base. The excursion is made parallel so that the direction of the operator sitting in the steering mechanism is followed by the same angle as the displacement of the excavation mechanism, and in swiveling work, the swivel base, support mechanism, steering mechanism, and excavation mechanism are moved. The excavator is characterized in that the hydraulic control mechanism determines that the excavation mechanism has returned to the initial position and that the excavation mechanism has returned to the initial position, and the hydraulic control mechanism can then rotate the swivel base.