JPH0726578A - Hydraulic bucket excavator with remote actual feeling and operation method applying the remote actual feeling - Google Patents

Abstract

PURPOSE:To allow an operator to undertake an excavating work, while the operator feeling the opening of a bucket and the state of a bucket force for holding an object. CONSTITUTION:When an operator 1 moves an operation lever 3, a bucket open/ close signal is sent to a bucket 5, thereby opening and closing the bucket 5. Also, bucket information regarding the opening of the bucket 5 and the holding force thereof is sent from the bucket 5 to the operation lever 3. The position of the lever 3 is thereby kept corresponding to the opening of the bucket 5. That is, the lever 3 corresponds to 'wide open' at a position A, and 'totally closed' at a position D. The bucket 5 becomes 'wide open' at the position A and 'totally closed' at the position D correspondingly. Furthermore, when the operation lever 3 is at intermediate positions B and C, the bucket 5 comes to have opening corresponding to the B and C positions. Also, the force of the bucket 5 for holding an object is reflected on the operation lever 3, and the operator 1 can understand the holding force of the bucket 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic bucket excavator used for underground wall construction work, excavation work and the like, and a method for operating the same.

[0002]

2. Description of the Related Art Generally, a large hydraulic bucket excavator is used to construct an underground continuous wall or the like. FIG. 7 is a schematic diagram of a control system of this hydraulic bucket excavator. When the operator 101 operates the operation lever 103, a bucket opening / closing signal is sent to the bucket 105 to open / close the bucket 105. The operation lever 103 only instructs “open” or “close”, and the bucket 105 is “open” or “closed” according to the instruction of the operation lever 103.

[0003]

However, when the conventional hydraulic bucket excavator is used for excavation, if the bucket 105 grips an obstacle, the bucket 105 grips the obstacle in a state where it is not fully closed. The operator could not know the opening degree of the bucket 105, and could not know how much force was used to grip the obstacle. When the soil layer to be excavated changes, the bucket 10
Although the excavation force of No. 5 also changed, the operator could not know the change of the excavation force and could not detect the change of the soil layer.

The present invention has been made in view of such a problem, and an object thereof is to perform excavation while the operator feels the opening of the bucket and the force of the state in which the bucket is gripping an object. (EN) Provided is a hydraulic bucket excavator having a remote reality, and an operating method applying the remote reality of the hydraulic bucket excavator.

[0005]

FIG. 1 is a diagram for explaining the principle of the present invention. 1 is an operator, 3 is an operating lever, and 5 is a bucket. When the operator 1 operates the operation lever 3, a bucket open / close signal is sent to the bucket 5 and the bucket 5
Is opened and closed. Bucket information indicating the opening degree of the bucket 5 and the gripping force of the bucket 5 is sent from the bucket 5 to the operation lever 3 side. The position of the operation lever 3 corresponds to the opening degree of the bucket 5. That is, the operation lever 3 is “fully open” at the position A and is “fully closed” at the position D. Accordingly, the bucket 5 is "fully opened" at the position A.
It becomes "fully closed" at the D position. Further operating lever 3
According to the intermediate positions B and C, the bucket 5 is opened at the positions B and C. Further, the force with which the bucket 5 grips the object is reflected on the operation lever 3, and the operator 1 can know the gripping force of the bucket 5.

[0006]

Since the position of the operating lever 3 and the opening of the bucket 5 correspond to each other, the operator 1 can know the opening of the bucket 5 from the position of the operating lever 3. Moreover, since the gripping force of the bucket 5 is reflected on the operation lever 3, the operator 1 can know how much force the bucket 5 is gripping the object.

[0007]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 2 is a schematic diagram of the hydraulic bucket excavator 6. In FIG. 2, 7 is a base machine, 9 is a boom,
Reference numeral 11 indicates a bucket frame.

FIG. 3 is a control system diagram of this hydraulic bucket excavator. Reference numeral 13 denotes a motor, and the motor 13 is a direct drive motor, which moves the position of the operation lever 3 in response to a command from the personal computer 27 or applies a torque T1 in the opposite direction to the operation direction of the operation lever 3 to the operation lever 3. . A bucket opening / closing jack 15 opens / closes the bucket 5 in accordance with the hydraulic pressure sent from the hydraulic unit 23. Reference numeral 17 denotes a jack stroke meter, which measures the stroke of the bucket opening / closing jack 15. A signal indicating the measured stroke is sent to the personal computer 27. 19
Is a hydraulic hose, 21 is a flow meter, 23 is a hydraulic unit, 2
Reference numeral 5 is a pressure gauge, and 27 is a personal computer. The flow meter 21 measures the flow rate and cumulative flow rate sent from the hydraulic unit 23 to the bucket opening / closing jack 15 and sends it to the personal computer 27. The pressure gauge 25 measures the pressure of the hydraulic oil and sends the measured working pressure to the personal computer 27.

The personal computer 27 converts the operating pressure of the bucket opening / closing jack 15 measured by the pressure gauge 25 into the torque T1 of the motor 13. Here, the torque T1 is, for example, the bucket opening / closing jack 15 at the moment when the object is gripped.
Is a torque corresponding to the operating pressure of. Also, PC 2
Reference numeral 7 converts a stroke signal measured by the jack stroke meter 17 into a position signal of the operating lever 3. PC 2
Reference numeral 7 sends a signal indicating the torque T1 and a position signal of the operating lever 3 to the motor 13.

The personal computer 27 also converts the position signal of the operation lever 3 sent from the operation lever 3 into a jack stroke of the bucket opening / closing jack 15 and sends it to the hydraulic unit 23. The personal computer 27 also sends to the hydraulic unit 23 a signal indicating the force obtained by subtracting the torque T1 from the force T2 applied to the operation lever 3 by the operator.

Based on the jack stroke signal sent from the personal computer 27, the hydraulic unit 23 sends hydraulic oil to the bucket opening / closing jack 15 by the amount of oil necessary for expanding / contracting the bucket opening / closing jack 15 to expand / contract the bucket opening / closing jack 15. Let Further, the hydraulic unit 23 sends the hydraulic pressure corresponding to the torque T1 to the bucket opening / closing jack 15 at the moment when the bucket 5 grips the object. When the operator applies the force T2 to the operation lever 3, the hydraulic unit 23 responds to the signal sent from the personal computer 27, which is the signal indicating the force T2 applied to the operation lever 3 minus the torque T1. Hydraulic pressure is added to the bucket opening / closing jack 15.

Next, the operation of this embodiment will be described with reference to FIGS. 4 and 5 in the case of gripping an obstacle (object) 31 such as rock. FIG. 4 is a flowchart showing the operation when the object 31 is gripped, and FIG. 5 is an explanatory diagram when the object 31 is gripped.

The bucket 5 is driven by the operation of the operating lever 3 by the operator. When the object 31 is gripped by the bucket 5 (step 401), the position of the operation lever 3 and the opening degree of the bucket 5 are associated (step 402). That is, the jack stroke meter 17
Thus, the stroke of the bucket opening / closing jack 15 is measured, and the personal computer 27 calculates the position of the operation lever 3 corresponding to the stroke of the bucket opening / closing jack 15. Then, the motor 13 is driven until the operation lever 3 reaches the calculated position.

That is, as shown in FIG. 5, when the bucket 5 grips an object 31, which is an obstacle such as rock, the bucket opening / closing jack 15 does not contract beyond a certain position.
The stroke at that time is converted into the position of the operation lever 3. For example, the operation lever 3 does not move at the position E,
The operator can know the opening degree of the bucket 5 from the position of the operation lever 3.

At the moment when the object 31 is gripped by the bucket 5, the operator applies a torque T to the operating lever 3.
1 is added, and the object 5 is gripped by the bucket 5 with a force corresponding to the torque T1. At this time, pressure gauge 2
5, the jack operating pressure at the moment when the bucket 5 grips the object 31 is measured.

Next, the operator applies a force T2 to the operation lever 3.
Is applied (the position of the operating lever 3 remains E at this time), a force corresponding to the force obtained by subtracting the force T1 applied to the operating lever 3 at the moment of gripping the object 31 from this force T2. 5 are added to the opening / closing jack (step 403).

That is, at this time, torque T1 in the opposite direction to the operating direction is applied to the operating lever 3, and when the operator operates the operating lever 3 with the force T2, the personal computer 27
Converts the force obtained by subtracting the force T1 applied to the operation lever 3 at the moment when the object 31 is gripped from the force T2 into hydraulic pressure and transmits it to the hydraulic unit 23.

In the hydraulic unit 23, the force T2 applied from the personal computer 27 to the operation lever 3 is applied to the torque T1.
The oil pressure corresponding to the signal indicating the force obtained by subtracting is applied to the bucket opening / closing jack 15. The force T applied by the operator
If the force obtained by subtracting the torque T1 from 2 is "0", the operating pressure at that time is held. Then, the bucket opening / closing jack 15 is driven.

As shown in FIG. 5, when the bucket 5 grips an object 31, which is an obstacle such as rock, the bucket opening / closing jack 15 does not contract beyond a certain position, and the stroke and operating pressure at that time are controlled by the operating lever. 3 and the torque T1 of the motor 13 are converted. Operating lever 3
For example, it becomes immobile at the position of E, and the operator can know the opening degree of the bucket 5 from the position of the operation lever 3 and the gripping force of the bucket 5 from the torque T1. Therefore, by grasping the obstacle 31 while changing the depth of the bucket 5, it is possible to grasp the outline of the shape of the obstacle 31.

Excavation when the soil layer changes will be described next. FIG. 6A shows a state in which a soft soil layer is being excavated, and FIG. 6B shows a state in which a hard soil layer is being excavated. As shown in FIG. 6, when the soil layer changes, the operating pressure of the bucket opening / closing jack 15 changes according to the change of the soil layer, so the torque T1 of the motor 13 changes, and the operator changes the torque T1. You can know the change of layers. Therefore, when the excavation hole wall is likely to collapse, such as a soft soil layer, the excavation can be performed by adjusting the force for excavating the natural ground (the force for closing the bucket 5).

As described above, in this embodiment, the position of the operation lever 3 and the opening degree of the bucket 5 correspond to each other, so that the operator can know the opening degree of the bucket 5 from the position of the operation lever 3. Further, since the gripping force of the bucket 5 is reflected on the operating lever 3, the operator can know how much force the bucket 5 is gripping the object.

Although the opening of the bucket 5 is detected by the stroke signal of the jack stroke meter 17 in the above-described embodiment, it can be substituted by the integrated flow rate of the flow meter 21. That is, since the integrated flow rate of the flow meter 21 is an integrated value of the amount of hydraulic oil sent to the bucket opening / closing jack 15, this integrated value corresponds to the stroke value of the bucket opening / closing jack 15. Therefore, by sending the integrated flow rate value to the personal computer 27, the personal computer 27 can know the opening degree of the bucket 5.

[0023]

As described above in detail, according to the present invention, the hydraulic type having a remote reality that enables the operator to excavate while feeling the opening of the bucket and the force with which the bucket is gripping the object. It is possible to provide an operating method that applies remote reality to the bucket excavator and the hydraulic bucket excavator.

[Brief description of drawings]

FIG. 1 is an explanatory view of the principle of the present invention.

FIG. 2 is a schematic diagram showing a configuration of a hydraulic bucket excavator.

[Fig. 3] Control system diagram of hydraulic bucket excavator

FIG. 4 is a flowchart showing the operation of the embodiment.

FIG. 5 is an explanatory diagram when an obstacle is gripped.

FIG. 6 is an explanatory diagram when the soil layer changes.

FIG. 7 is a diagram showing a control system of a conventional hydraulic bucket excavator.

[Explanation of symbols]

 1 ………… Operator 3 ………… Operating lever 5 ………… Bucket 13 ………… Motor 15 ………… Bucket opening / closing jack 17 ………… Jack stroke gauge 23 ………… Hydraulic unit 25 ………… Pressure gauge 27 …… …computer

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshikazu Inoue 1-2-7 Motoakakasaka, Minato-ku, Tokyo Kashima Construction Co., Ltd.

Claims (2)

[Claims] 1. A bucket, a control lever, a means for associating an opening of the bucket with a position of the control lever, and a bucket according to a force T1 applied to the control lever at the moment of gripping an object by the bucket. When driving and when the operator applies a force T2 to the operation lever, a means for driving the bucket by adding a force corresponding to a force obtained by subtracting the force T1 first applied by the operator from the force T2 to drive the bucket. Hydraulic bucket excavator with remote reality. 2. A method of operating a hydraulic bucket excavator equipped with an operating lever and a bucket, wherein the step of associating the opening of the bucket with the position of the lever comprises the step of gripping an object with the bucket. When the bucket grips an object according to the force T1 applied to the operation lever and the operator applies a force T2 to the operation lever, a force corresponding to a force obtained by subtracting the force T1 first applied by the operator from the force T2 is applied to the bucket. In addition to the above, a method of gripping an object with a bucket, and an operation method applying remote reality of a hydraulic bucket excavator comprising: