JPH0718707A - Mechanism for detecting attitude change of working equipment - Google Patents

Abstract

PURPOSE:To make the structure compact for attachment of a detecting sensor that detects the position of a bucket. CONSTITUTION:Arrangement is made coaxially with a detecting shaft 47 connected to one end of a link mechanism 52 extending from a fixed part of an opposite member that makes relative rotation, and an input shaft 38A of a detecting sensor 38 that detects the amount of relative rotation of an arm 5 is fitted into an elastic coupling 49 inserted into the inside of the detecting shaft 47. The input shaft 38A is fitted into and fixed to the detecting shaft 47 at a fixed phase and is made rotatable together with the detecting shaft.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects a relative rotation amount of a first member and a second member on a first member of a support bracket as a first member and an arm as a second member that rotate relative to each other. The detection shaft for rotation is rotatably supported, and a detection sensor that measures the relative rotation amount in a coaxial state with the detection shaft is attached, and the detection shaft and the input shaft of the detection sensor are elastically coupled. The present invention relates to a posture change detection mechanism of a working device that is interlocked.

[0002]

2. Description of the Related Art In the above structure, an elastic coupling mechanism is used as a means for connecting the detection shaft and the input shaft of the detection sensor even if there is a misalignment between them.
Conventionally, general Oldham couplings and flexible couplings have been applied as those used as the elastic coupling mechanism.

[0003]

The basic structure of these devices is such that the detection shaft and the input shaft are externally fitted to each other. When such a structure is adopted, the coupling becomes large in size. However, there was a possibility that it would lead to an increase in the size of the entire structure. An object of the present invention is to provide a posture change detection mechanism for a work device that can achieve a compact structure of the entire posture change mechanism while satisfying the function as an elastic coupling mechanism.

[0004]

According to the characterizing feature of the present invention, in the elastic coupling mechanism, a fitting hole is formed in the shaft of the detection shaft along the axial direction thereof, and the fitting hole is formed. An elastic body provided with a fitting hole that allows the input shaft to be fitted inside the fitting hole is provided, and the detection is performed on the outer peripheral surface of the elastic body and the inner peripheral surface of the fitting hole. The shaft, the elastic body, and the input shaft are provided with a fitting / engaging mechanism that fits and connects the three members at a fixed phase and integrally rotates, and the effects thereof are as follows.

[0005]

First, since the three members are assembled in a constant phase by the fitting and engaging mechanism, the reference for detecting the relative rotation amount may not change. Moreover, since the elastic coupling mechanism has a structure in which the elastic body is inserted into the shaft of the detection shaft, the outer diameter of the elastic body does not become larger than the shaft diameter of the detection shaft, and the elastic body is detected. As long as it is in the axis,
It is possible to make the occupied length substantially shorter than the axial length of the elastic body.

[0006]

Therefore, it is possible to propose a posture changing mechanism of a working device having an elastic coupling mechanism which can achieve compactness.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows the entire side surface of a backhoe, in which a swivel base 2 is supported by a traveling device 1 of a rubber crawler type, and a backhoe device 3 is provided in front of the swivel base 2. The backhoe device 3 is provided with a boom 4 which is rocked up and down by a hydraulic cylinder 11, an arm 5 which is rocked back and forth by a hydraulic cylinder 12, and a bucket 6 which is scraped and rocked by a hydraulic cylinder 13. Is configured. Then, as shown in FIG. 6, a hydraulic motor 30 is provided for driving the swivel base 2 to swivel. As shown in FIGS. 1 and 2, the boom 4 of the backhoe device 3 is swingably connected to a first boom portion 4a which is swingably driven up and down, and an axis P1 at the front end of the first boom portion 4a. The second boom portion 4b and a support bracket 4c swingably connected to the front end of the second boom portion 4b around the axis P2. The arm 5 is connected to the support bracket 4c. ing. The linkage links 8 are laid across the first boom portion 4a and the support bracket 4c to form a parallel four-link structure. By swinging the second boom portion 4b by the hydraulic cylinder 7, the arms 5 and The bucket 6 is configured so that it can be moved left and right in parallel.

Next, the hydraulic circuit structure of the backhoe, the operation structure of the backhoe device 3, the swivel base 2 and the like will be described. As shown in FIG. 6, a control valve 26 for the traveling device 1 on the right side of the first pump 18, a control valve 21 for the hydraulic cylinder 11 of the first boom portion 4a (boom 4), and a hydraulic cylinder of the bucket 6. The control valve 23 for 13 is connected in parallel. A control valve 28 for the traveling device 1 to the left of the second pump 19, an auxiliary control valve 25 for the hydraulic cylinder 11 of the first boom portion 4a (boom 4), a control valve 22 for the hydraulic cylinder 12 of the arm 5, And a control valve 29 for a service port (not shown) is connected in parallel. A control valve 24 for the hydraulic motor 30 of the swivel base 2, a control valve 27 for the hydraulic cylinder 7 of the second boom portion 4b, and a hydraulic cylinder for vertically moving the dozer 31 shown in FIG. A control valve 32 for (not shown) is connected in parallel.

Control valves 21, 22, 23, 24, 26, 2
7, 28, 29, 32 and the auxiliary control valve 25 are of the center bypass type, of which the control valve 2 for the traveling device 1
6, 28, the control valve 29 for the service port, the control valve 27 for the second boom portion 4b, and the control valve 32 for the dozer 31.
Is a mechanically operated neutral return type operated by an operation lever (not shown) and an operation pedal 48. Then, the control valve 21 and the auxiliary control valve 25 for the first boom portion 4a,
The control valve 22 for the arm 5, the control valve 23 for the bucket 6, and the control valve 24 for the swivel base 2 are pilot-operated hydraulically-operated neutral return types.

As shown in FIG. 6, the right operation lever 9 is provided with a pilot valve 41 for generating a pilot pressure by operating the lever 9 forward and backward, and a pilot valve 42 for generating a pilot pressure by operating right and left. Left operating lever 10
On the other hand, a pilot valve 43 that generates a pilot pressure by the forward and backward operations and a pilot valve 44 that generates a pilot pressure by the left and right operations are provided, and the pilot pressure is supplied to each pilot valve 41, 42, 43, 44. A pilot pump 33 is provided. And FIG.
And, as shown in FIG. 6, the pilot oil passage 35 from each pilot valve 41 to 44 has a control valve 21 and an auxiliary control valve 25 for the first boom portion 4a, a control valve 22 for the arm 5,
It is connected to the control valve 23 for the bucket 6 and the control valve 24 for the swivel base 2.

With the above structure, when the right operation lever 9 is operated back and forth, the control valve 21 and the auxiliary control valve 25 are operated by the pilot pressure from the pilot valve 41, and the first boom portion 4a is driven to swing up and down. (The auxiliary control valve 25 operates only when the first boom portion 4a is operated to be raised.) When the right operation lever 9 is operated to the left or right, the control valve 23 is operated by the pilot pressure from the pilot valve 42 and the bucket 6
Is rocked back and forth. When the left operation lever 10 is operated back and forth, the control valve 22 is operated by the pilot pressure from the pilot valve 43, the arm 5 is rocked back and forth, and when the left operation lever 10 is operated left and right, the pilot valve 44 is moved. The control valve 24 is operated by the pilot pressure from and the swivel base 2 is driven to the right and left turning sides. Further, as shown in FIG. 6, an operation pedal 48 is provided on the lower front side of the operating unit 15, and the operation pedal 48 and the control valve 27 for the second boom portion 4b are mechanically interlocked. Accordingly, by depressing the operation pedal 48 to the left or right, the control valve 27 is switched to operate the second boom portion 4b to the right and left swing sides.

In the above structure, the pilot pressure generated in the pilot valves 41 to 44 is increased as the right and left operating levers 9 and 10 are operated from the neutral position. As a result, as the right and left operation levers 9 and 10 are operated from the neutral position, the pilot pressures of the pilot valves 41 to 44 increase and the control valves 21 to 2 increase.
4 and the auxiliary control valve 25 are operated to the high flow rate side. That is, the larger the right and left operation levers 9 and 10 are operated,
The hydraulic cylinders 11 to 13 and the hydraulic motor 30 are configured to operate at high speed. As shown in FIGS. 1 and 4, in the swivel base 2, a backhoe device 3 is arranged on the right side, and a driver's seat and a driver section 15 including right and left operating levers 9 and 10 are arranged on the left side. . Then, the backhoe device 3 and the operating unit 15 are provided at the left and right center of the swivel base 2.
A vertical partition plate 16 with a window for partitioning
A semicircular upper partition plate 17 along the outside of the swivel base 2 is fixed to the upper end of the vertical partition plate 16.

Then, as shown in FIGS. 3 and 4, in the range above the predetermined position D at a predetermined height from the ground G, the front restraint which is separated from the vertical partition plate 16 by a predetermined distance in front (outward). The surface A1 and the lateral restraint surface A2 that is separated from the side surface of the vertical partition plate 16 on the backhoe device 3 side to the right (outward) by a predetermined distance are set in the control device 34. In this case, as shown in FIG. 3, when the bucket pin 6a connecting the bucket 6 to the tip of the arm 5 is on the front restraining surface A1, the bucket 6 is operated so as to come closest to the driving unit 15 side. Even so, the tip of the bucket 6 is located on the locus C1 that is away from the vertical partition plate 16 by a predetermined distance.
The front restraint surface A1 is set. As shown in FIG. 4, when the bucket pin 6a is on the lateral restraint surface A2,
The lateral restraint surface A2 is set so that the lateral side surface of the bucket 6 is located on the locus C2 that is separated from the vertical partition plate 16 by a predetermined distance. Further, a front surface or a front surface is separated from the front and side restraint surfaces A1 and A2 by a predetermined distance, and the front restraint area B1 is provided between the surface of this space and the front and side restraint surfaces A1 and A2.
And a lateral restraint area B2 is set in the control device 34. When excavating the ground G with the backhoe device 3, the mechanical operation limit of the backhoe device 3 itself, which is the extent to which the backhoe device 3 can perform excavation, can be obtained in advance. Then, it is calculated which trajectory the bucket pin 6a passes through when the operation is performed to the operating limit, and a trajectory having a margin (outer side) from the trajectory of the bucket pin 6a corresponding to the operating limit is defined as the boundary surface E. As shown in FIG. 3, the boundary surface E is set in the control device 34 in a range below the predetermined position D. The boundary surface E is set so as to be smoothly connected to the front restraining surface A1, and when the bucket pin 6a is located on the boundary surface E, when the bucket 6 is operated so as to come closest to the traveling device 1, The tip passes on the locus C3. The front and side restraint surfaces A1 and A2, the front and side restraint areas B1 and B2, and the boundary surface E as described above are set for the swivel base 2, and as the swivel base 2 turns,
It moves with the swivel base 2. The bucket pin 6a is passed over the front and side restraint surfaces A1 and A2, and the driving unit 15
When operated to the side, this operation is configured to be restrained from being restrained. Next, this restraint will be described. As shown in FIG. 6, an angle sensor 36 as a detection sensor for detecting a vertical angle of the first boom portion 4a with respect to the swivel base 2 is provided at a connecting portion between the swivel base 2 and the first boom portion 4a. An angle sensor 37 for detecting the left-right angle of the second boom portion 4b with respect to the first boom portion 4a is provided at the connecting portion between the second boom portions 4a and 4b. Then, at the connecting portion between the support bracket 4c and the arm 5, the second
An angle sensor 38 for detecting the longitudinal angle of the arm 5 with respect to the boom portion 4b is provided, and each angle sensor 3 is provided.
The detection signals from 6 to 38 are input to the control device 34.

As shown in FIGS. 2 and 3, the pilot oil passage 35a for operating the control valve 21 and the auxiliary control valve 25 for the first boom portion 4a to the upward side and the control valve 22 for the arm 5 are scraped. To the pilot oil passage 35b that is operated to the side, a solenoid valve 39 that is a two-position switching type of an unload position and an unload stop position and that is biased to the unload position side by a spring is connected. As shown in FIG. 6, the hydraulic cylinder 7 of the second boom portion 4b is moved to the left swing side (driving section 15 side).
A solenoid valve 40, which is a two-position switchable type of an unload position and an unload stop position, and which is urged to the unload position side by a spring is provided in the oil passage 49 to be operated.

As a result, the control device 34 switches the solenoid valve 39 shown in FIG. 5 to the two positions at high speed to change the duty ratio of the solenoid valve 39.
The pilot pressure of 5b is decompressed (the maximum pressure is the value set by the right or left operating lever 9, 10), and the control valve 21 and the auxiliary control are performed regardless of the operating position of the right or left operating lever 9, 10. The opening degree of the valve 25 on the rising side (the first boom portion 4a
The extension speed of the hydraulic cylinder 11 for the control) and the opening degree of the control valve 22 on the scraping side (the extension speed of the hydraulic cylinder 12 for the arm 5) can be arbitrarily changed to the closed side (low speed side). There is. Further, the control device 34 switches the solenoid valve 40 shown in FIG. 3 to the two positions at high speed to change the flow rate of the working oil to the hydraulic cylinder 7 (the maximum flow rate is the operation pedal 4
8)), regardless of the operation position of the operation pedal 48, the speed at which the hydraulic cylinder 7 drives the second boom portion 4b to the left swing side can be arbitrarily changed to the low speed side. ing.

As shown in FIG. 1, in the control unit 34, the first signal based on the detection signals from the angle sensors 36 to 38 is used.
The vertical angle of the boom portion 4a, the horizontal angle of the second boom portion 4b, and the longitudinal angle of the arm 5, and the first boom portion 4a,
The position of the bucket pin 6a is constantly calculated from the lengths of the second boom portion 4b and the arm 5. As a result, when the bucket pin 6a enters the front or lateral restraint regions B1 and B2 shown in FIGS. 3 and 4, the solenoid valves 39 and 40 are switched at high speed as described above, and the right and left operating levers 9 and 40 are operated. 10, regardless of the operating position of the operating pedal 48, the first
The operating speed of the boom portion 4a to the rising side, the operating speed of the arm 5 to the scraping side, and the operating speed of the second boom portion 4b to the left swing side are decelerated. In this case, as the bucket pin 6a enters into the front and side restraint areas B1 and B2, that is, the bucket pin 6a moves toward the front and side restraint surfaces A1 and B1.
The configuration is such that the closer to A2, the greater the deceleration operation.

Next, of the potentiometers 36, 37, 38 serving as detection sensors for detecting the swing angle of the boom 4, etc., the potentiometer 38 will be described as a representative example of its mounting structure. As shown in FIGS. 7 and 8,
The support boss 45 extends upward from the upper surface of the support bracket 4c on the support bracket 4c near the connecting axis P3 between the support bracket 4c and the arm 5. This support boss 4
5, an installation space is formed in the installation space 5, and the potentiometer 38 is attached and fixed in the installation space so that the input shaft 38A faces the upward opening portion, and the potentiometer 38 belongs to the support bracket 4c. Further, a detection shaft 47 is pivotally supported via bearings 46, 46 toward the opening side of the potentiometer 37 in the installation space, and the shaft center of the detection shaft 47 is the shaft center P3.
Parallel to. A fitting hole is formed from the inner end surface of the detection shaft 47 along the axis of the detection shaft 47, and the input shaft 38A of the potentiometer 38 is inserted and fitted into the fitting hole so that the detection shaft 47 and the input shaft 38A can be integrally rotated. To configure. Next, a connection structure between the detection shaft 47 and the input shaft 38A will be described. As shown in FIGS. 6 and 8, a fitting hole 47A is formed at one end of the detection shaft 47 in the axial direction, and the elastic body is fitted into the fitting hole 47A. The rubber coupling 49 is internally fitted. Protrusions 49A are formed at three places on the outer peripheral surface of the rubber coupling 49, and fitting holes 47 corresponding to the protrusions 49A are formed.
Recessed portions 47a are formed at three positions on the inner peripheral surface of A, and the detection shaft 47 and the rubber coupling 49 are integrally rotatably connected at a fixed phase. On the other hand, a fitting hole 49B having a D-shaped cross section is formed at the axial center position within the thickness of the rubber coupling 49, and the input shaft 38A having the same D-shaped cross section can be fitted in the fitting hole 49B. And, due to its D-shaped cross-sectional structure, the input shaft 38A and the rubber coupling 49
It is possible to internally fit the and so as to be integrally rotatable at a constant phase. As described above, the elastic body 49 or the like that connects the detection shaft 47 and the input shaft 38A so as to be integrally rotatable at a constant phase is referred to as an elastic coupling mechanism. Then, the projection 49A formed on the outer peripheral surface of the elastic body 49, the recessed portion 47A on the inner peripheral surface of the detection shaft 47, and the fitting hole 4 of the D-shaped cross section formed on the inner peripheral surface of the elastic body 49.
9B and the outer peripheral surface of the D-shaped cross section of the input shaft 38A are referred to as a fitting engagement mechanism. The structure of the support boss 45 will be described. Figure 8
And, as shown in FIG. 9, a pair of mounting bases 50, 50 is provided at the installation site of the support boss 45 on the side surface of the support bracket 4c.
And the ear portions 45a and 45a are provided at 180 ° diagonal positions in the base end portion 45A of the support boss 45,
The ears 45a, 45a are placed on the mounting bases 50, 50, and the support bosses 45 are fixed with a certain distance from the surface of the support bracket 4c. The base end portion 45A is provided with an internal space having the potentiometer 38 therein, and is provided with notches 45B communicating with the internal space at a plurality of positions in the circumferential direction. The wire harness 51 is taken out. The structure that connects the detection shaft 47 and the arm 5 will be described. As shown in FIG. 7, one end boss 52A of the refraction link 52 is attached to the projecting end of the detection shaft 47 projecting from the support boss 45.
Is externally fitted and fixed, and the other end of the bending link 52 is connected and fixed to a mounting portion formed on the arm 5. The bending link 52 constitutes a quadruple link mechanism with a connection point P3 between the support bracket 4c and the arm 5 as a virtual connection point.
A structure is adopted which corresponds to relative swing between the support bracket 4c and the arm 5.

Another Embodiment The elastic body 49 may have the following shape. As shown in FIGS. 11A and 11B, two protrusions 49A may be provided, or one protrusion 49A may be provided. The fit-engagement mechanism formed on the inner and outer peripheral surfaces of the detection shaft 47 may have a polygonal shape, and in this case, a key structure may be used together so as to connect at a constant phase. As the elastic body 49, a soft resin other than rubber may be used.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

1] Overall side view of backhoe

FIG. 2 is a plan view of a backhoe device.

FIG. 3 is a schematic side view of a backhoe showing a front restraint surface, a front restraint area, and a boundary surface.

FIG. 4 is a schematic plan view of a backhoe showing front and side restraint surfaces and front and side restraint areas.

FIG. 5 is a schematic circuit diagram of each hydraulic cylinder, control valve, pilot valve, right and left operation levers of the backhoe device.

FIG. 6 is a schematic circuit diagram of each hydraulic cylinder, control valve, pilot valve, right and left operation levers, etc. of the backhoe device.

FIG. 7 is a side view showing an attached state of the detection shaft and the refraction link.

FIG. 8 is a vertical sectional side view showing a mounting state of a detection shaft and a detection sensor.

FIG. 9 is a cross-sectional plan view showing a base end structure of a support boss.

FIG. 10 is a cross-sectional plan view showing a fitted state of an elastic body.

FIG. 11 is a cross-sectional plan view showing a fitted state of an elastic body according to another structure.

[Explanation of symbols]

 4c 1st member 5 2nd member 38 Detection sensor 38A Input shaft 47 Detection shaft 47A Fitting hole 49 Elastic body 49B Fitting hole

Claims (1)

[Claims] 1. A first member (4c) of a first member (4c) and a second member (5) which rotate relative to each other,
A detection shaft (47) for detecting the relative rotation amount of the second members (4c), (5) is rotatably supported, and the relative rotation amount is measured coaxially with the detection shaft (47). A posture change detection mechanism for a working device, wherein a detection sensor (38) is attached, and the detection shaft (47) and the input shaft (38A) of the detection sensor (38) are interlocked by an elastic coupling mechanism. To form the elastic coupling mechanism, a fitting hole (47) is formed in the detection shaft (47) along the axial direction thereof.
A) and an elastic body (49) provided with a fitting hole (49B) that allows the input shaft (38A) to be fitted inside the fitting hole (47A). Then, on the outer peripheral surface of the elastic body (49) and the inner peripheral surface of the fitting hole (47A), the detection shaft (47), the elastic body (49), and the input shaft (38A) Posture detection mechanism for a work device, in which a fitting and engaging mechanism for mating and connecting and rotating integrally with each other is formed.