JPS59141011A - Measuring device for dug depth with hydraulic shovel - Google Patents

Abstract

PURPOSE:To eliminate the need of measuring a dug depth by some worker other than an operator by a device wherein distance detecting means is provided between two locations with a distance therebetween variable upon rotation of a main boom, and the dug depth is determined based on the detected distance. CONSTITUTION:A foreend of a shaft 42 is fixed in a position locating on a line perpendicular to the axial direction of a piston rod 1b and passing the center line of a connection pin 5a, by means of two shaft fixing members 44, 44 which are fitted to the outer periphery of the circular foreend of the piston rod 1b. As to a main boom 1, therefore, it becomes possible to detect an advance amount of the piston rod 1b relative to a cylinder 1c and to calculate a rotated amount of the main boom 1, i.e., a dug depth based on the detected result. With this method, there is no need of measuring a dug depth by some worker other than an operator and labor is saved.

Description

[Detailed Description of the Invention] The invention relates to an excavation depth measuring device for a hydraulic excavator.When excavating with a hydraulic excavator, it is impossible for the operator to judge the excavation depth by himself while operating the hydraulic excavator. Therefore, whether the required excavation depth has been obtained must be measured each time by the operator himself or by another worker, which is a type of and dangerous work that cannot be recorded. There were problems such as excessive excavation and backfilling. The present invention was made in view of these circumstances, and automatically excavates by detecting the distance between two parts that change as the main boom of the hydraulic excavator rotates in the vertical direction. Excavation depth 61 of a hydraulic excavator that can measure the depth and notify the operator
It provides an 11-legged device.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the drawings showing embodiments thereof.

FIG. 1 is an external left side view of a hydraulic excavator equipped with the device of the present invention. A chassis (not shown) is equipped with a crawler 61 and a revolving body 62 as moving devices.
A revolving body 62 has a t-go excavator 63, a cockpit 64, and a prime mover 6.
Equipped with 5th grade. The excavation device 63 is pivotally supported by the main boom support bracket 4 fixed to an appropriate part of the revolving body so as to be able to freely rotate in the vertical direction at the 0 point at its base end, and its front side is bent downward from approximately the central portion thereof. The main boom 1, which is shaped like an "E", is supported by a trunnion at two points at the bottom of the main boom support bracket 4, and its piston rod 1b is pivoted at a point A on the bent lower surface of the EE boom 1, approximately in the center of the main boom 1. The main boom cylinder 1a rotates the boom 1 in the vertical direction; a stick boom 2 pivotally supported at the tip C point of the main boom 1;
A trunnion is supported on the upper surface slightly forward of the bending part of the king poom 1, and its piston rod 2b is pivotally supported on the upper surface of the base end of the stick boom 2 to move the stick boom 2 upward and downward r'.
The stick boom cylinder 2a1 is used to rotate the stick boom 2 to 1 lil.The packet 3 is pivotally supported at the point D at the tip of the stick boom 2.The packet 3 is supported by a trunnion on the upper surface near the base end of the stick boom 2, and the packet 3 is rotated in the vertical direction. Packet cylinder 3a to be moved and each hydraulic cylinder la, 2a
, 3a, and each of the king poop 1, stick poop 2, and packet 3 can be operated independently or in a fixed position by supplying pressure oil to each hydraulic cylinder la, 2a, and 3a. They are configured to work together to perform excavation work.

In actual excavation work, the stick boom cylinder 2a and the packet cylinder 3a are retracted to the maximum extent as shown by the solid line and two-dot chain line in Fig. 1, that is, the main boom 1
The front side of the bending part and stick poom 2 and packet 3
A common method is to perform finishing work after excavating to a predetermined depth by rotating the king poom 1 in a state in which both are substantially straight. Therefore, if the state at the start of the excavation work shown by the solid line is used as a reference, the depth from the reference plane (ground surface) of the cutting edge B of packet 3 during work shown by the two-dot chain line is
Figure 2 shows the amount of advance and retraction of the piston rod 1b of the main boom cylinder 1a from the cylinder tube IC, that is, the piston rod. FIG. 3 is a left side view showing how the distance detecting section is attached to the cylinder tube at the pivot point of the tip of piston rod lb, and FIG. 3 is a partially enlarged view showing the vicinity of the tip of piston rod lb.

The lower surface of the king boom cylinder la, whose piston rod lb tip is pivotally supported by a connecting pin 5a to the piston rod support member 5 attached to the centrally bent lower surface of the main boom 1 (
On the front), a linear sliding potentiometer 40 has ring-shaped fittings 43, 43 at both ends of its nose 41.
The direction in which the shaft 42 moves in and out is set by the piston rod 1b.
As shown in FIG. 3, the tip of the shaft 42, which is fixed in the same direction as the advancing and retracting direction, is connected to two shaft fixed legs 44 fitted outwardly to the tip of the circular piston rod 1b. .44, it is fixed at a position on a line that is perpendicular to the axial direction of the piston rod 1b and passes through the center line of the connecting pin 5a. Therefore, the main boom 1 rotates in the vertical direction as the piston rod 1b advances and retreats, and the shaft of the potentiometer 40 advances and retreats by 42% accordingly, so the amount of advancement of the piston rod 1b relative to the tube IC is detected. From this detection result, the main pool 1. It is possible to calculate the amount of rotation, that is, the excavation depth.

FIG. 4 is a block diagram of the electrical circuit of the device of the present invention. The amount of advance of the piston rod 1b detected as a potential signal by the potentiometer 40 is converted into a digital electric signal by the A/D converter 34 and input to the arithmetic circuit 30. In this embodiment, the arithmetic circuit 30 uses a microcomputer, and performs the arithmetic operation described below based on the detection result by the potentiometer 40 inputted via the A/Df converter 34, and displays the result on the display device 31. indicate. The measurement switch 33 is a switch that instructs the arithmetic circuit 30 to perform the required calculation.

Next, the calculation numbering of the calculation circuit 30 will be explained with reference to FIG. 5 showing the coordinate position of the hydraulic excavator.

In Fig. 5, during rotation of the main boom 1, in the X-Y coordinate system where lbo is the origin, the X axis is a horizontal line passing through the origin 0, and the Y axis is a vertical line passing through the origin 0, the ground surface is the 61st boom cylinder 1a. If the pivot point of the base of the piston rod 1b is P, the pivot point of the tip of the piston rod 1b to the main boom 1 is A1, the packet tip is B1, and the tip of the tube 1c is Q, then the length of the line segment, that is, the center of one rotation of the main boom 1 The distance between and the tip of packet 3 is ll,
The length of line segment 3, that is, the distance between the center of rotation of main boom 1 and the pivot point of piston rod 1b, is 11%. J 71-1 Distance from the base pivot point of a! ! 3. The length of the line segment &, that is, the distance between the base pivot point of the king boom cylinder 1a and the tip of the tube 1c is i4, 1AoB is α, and the intersection angle between the X axis and the line segment is β. It is a known value from the beginning. Then, the length of the line member is determined as the detected distance, that is, the piston rod 1b.
Assuming that the amount of advance is X, the distance of the tip B of the packet from the ground surface G during excavation work, that is, the excavation depth D, is determined by the following equation (1).

[) = j', −5inlθ−α−βl−h
...(1) However, h: Height from the ground surface of rotation center 0 of King Poom 1 = Otsu AOP 2・l! 2@/3 ” (x + 14)”” 12 + 13212el
s・ct+sθ Therefore, when the measurement switch 33 is operated during excavation work, the protrusion of the potentiometer 40 is read via the 30-piece A/Di converter 34 and converted to the protrusion amount X of the piston rod 1b, and the above ( 1) The excavation depth D is calculated using the formula and displayed on the display device 31. In this embodiment, the potentiometer 40 is connected to the hydraulic cylinder IaKI.
Instead of the configuration in which the piston rod 1b is mounted, a hydraulic cylinder may be used in which a variable resistance is built into the cylinder tube IC so that the amount of advance of the piston rod 1b can be detected.

FIG. 6 shows a second embodiment of the invention. That is, the king boom cylinder 1 rotates as the main boom 1 rotates.
A left side view showing the installation state of the distance detecting section that measures the excavation depth by detecting the distance between a and appropriate parts of the support bracket 4 that supports the main boom 1 and the king boom cylinder 1a. This is a diagram showing an electric signal converter. One end of the cord 51 is fixed to one side of a ring-shaped cord fixing member 52 that is pressed into the middle part of the main boom cylinder 1a, and the front upper part of the main boom support bracket 4 is fixed. One end of the sleeve 51a through which the cord 51 is inserted is fixed to the upper part of the sleeve fixing member 53 whose lower part is fixed to the sleeve fixing member 53. Fixed retail connected to the electrical signal converter. The other end of the cord 51 extending from the other end of the sleeve 51a fixed at an appropriate position on the operating column etc. is wound around a cord reel 54. The cord reel 54 is rotated clockwise in FIG. The rotary shaft 54 of the rotary encoder 54 is connected to the detection shaft of the atri rotary encoder 55.

Therefore, as the main boom 1 rotates downward (or upward), the main boom cylinder 1a also rotates downward (or upward), the cord 51 is pulled (or relaxed), and the cord reel 54 is pulled by the cord 51. The code 51 is rotated counterclockwise (or clockwise) by the force (or the rotational force of the code reel 54 itself urged in the clockwise direction), and the detection axis of the rotary encoder 55 is rotated in the same direction. The amount of extension from the sleeve fixing member 53, that is, the fixing portion of the cord 51 of the main boom cylinder 1a and the sleeve 51f of the support bracket 4.
The rotational encoder 55 outputs a Norculus signal corresponding to the distance to the L fixed part. The embodiment is the same as the first embodiment shown in FIG. 4 except that the output of the rotary encoder is given to the arithmetic circuit 30 instead of the rotary encoder. As in the embodiment described with reference to the drawings, the center of rotation O of the king poom 1 is
In an X-Y coordinate system with the origin as the horizontal line and the Y axis as the vertical line, the ground surface is G, points A, B, P, and the length of the line segment I! l, 12, I! 3. The angles α and β are the same as in the first embodiment, and the fixing point of the cord 51 is S, and the sleeve 51 is
The fixed point of a is R, and the length of the line segment is 1, that is, the main boom cylinder 1.
The distance between the base pivot point of a and the fixed point of the sleeve 51a is 1
! 5, the length of the line segment B, that is, the amount of extension of the cord 51 is the detected distance X.

First, in ΔPR5, tSPR=ε is determined by the following equation (2).

% X2=1!4 + Z5 24 ” 15 ” ”
``''1 Next, calculate PAO=γ using the following equation (3) 〇−S stone γ 8 stones (ε 1 δ) However, δ=? OPR Here, δ=1OPRH This is a value known from the specifications of the hydraulic excavator. Next, if zAoP=θ, θ= l A
Since Q p = 180° - (γ + δ + ε), the excavation depth D is as described above (
1) It is determined by the formula.

D = f, 110-α-βI-h (1)
However, h: Height of the center of rotation 0 of the main boom 1 from the ground surface G θ = 180° - (γ + δ + ε). ,-:L I! 3・sin (ε10δ)=180
−(s+n □1δ I!2 In this case, the procedure for measuring the excavation depth D can be carried out in the same manner as in the first embodiment.〇Figure 8 is a diagram showing the third embodiment of the present invention. In other words, it is a left side view showing a state in which a detection part for detecting the distance between the king boom cylinder 1a and a suitable part of the king boom 1 is attached.

Similar to the second embodiment shown in FIG. 6, a ring-shaped cord fixing member 52 is provided in the middle of the main boom cylinder 1a.
One end of the cord 51 is fixed to one side, and the one end extends toward the side of the king boom 1 at the lower surface (@ surface) intermediate between the base end of the main boom 1 and the central bending section. The cord 51 is attached to the extending portion of the sleeve fixing member 53 fixed to the
One end of the sleeve 51a into which is inserted is fixed, and the other end of the sleeve 51a is connected and fixed to an electric signal converter installed in an operation column or the like in the driver's seat.
The electric signal converter and the electric circuit are the same as in the second embodiment. Therefore, when the king boom 1 rotates up and down, the main boom cylinder 1a also rotates up and down, and the cord of the king boom cylinder 1a is fixed. Since the distance between this part and the sleeve fixing part of the main boom 1 changes, it is possible to measure the excavation depth by detecting this distance as the extension amount of the cord 51 using a rotary encoder, etc. In the embodiment, the relationship between the amount of extension of the cord 51, that is, the distance between the fixed part of the sleeve 51a of the main boom 1 and the fixed part of the cord 51 of the king boom cylinder 1a, and the excavation depth is measured in advance, and the corresponding relationship is calculated. It shall be stored in the arithmetic circuit. Therefore, when the foot switch is fully operated during excavation work, the arithmetic circuit reads the output of the rotary encoder via the interface, and calculates the extension amount of the cord 51, that is, the cord' between the sleeve 51a fixed part of the main boom 1 and the cord' of the main boom cylinder 1a. 51
The embodiments of the present invention are not limited to the above-mentioned embodiments, and other distance detection means may also be used. Of course, this is a good thing, and in the first and second embodiments, as in the third embodiment, the relationship between the detected distance and the excavation depth is measured in advance and stored in the arithmetic circuit. Alternatively, it goes without saying that the third embodiment may be configured to calculate the excavation depth each time using a mathematical method based on the detected distance, as in the first and second embodiments. Yes 0 As detailed above, the present invention includes a king boom that is pivotably supported at a suitable position on the aircraft so that it can freely rotate in the vertical direction, a stick boom that is pivotably supported on the main boom so that it can freely rotate in the vertical direction, and a stick boom. It is equipped with a packet that is pivotally supported for vertical rotation, and performs excavation work by rotating the king boom, stick poom, and packet individually or in cooperation with each other using a hydraulic sill that rotates each of them. In a well-designed hydraulic excavator, a distance detection means is installed between two parts whose distance changes as the main boom rotates, and the excavation depth is determined based on the detected distance, so expensive optics are not required. Since the operator can perform work while checking the excavation depth himself without using any equipment or distance measuring device, there is no need for workers other than the operator to measure the excavation depth, which saves labor. The present invention has excellent effects such as improved safety, economical efficiency, etc.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is an external left side view of a hydraulic excavator equipped with an excavation depth ranging device for a hydraulic excavator according to the present invention, and FIG. FIG. 3 is a partially enlarged view of the distance detection section of the embodiment 1, FIG. 4 is a block diagram of the electric circuit of the device of the present invention, and FIG.
The figure is an explanatory diagram showing the coordinate position for calculating the excavation depth,
FIG. 6 is a left side view of the distance detecting section and a schematic diagram of the electric signal converting section of the second embodiment of the present invention, FIG. 7 is an explanatory diagram showing the coordinate position of the point for calculating the excavation depth, FIG. 8 is a left side view of a distance detecting section according to a third embodiment of the present invention. 1...King boom 1a...King boom cylinder 1b
...Main boom silling piston rod 1c...
Same tube 2...Stick boom 3...Packet 4...King boom support bracket 5...Piston rod support bracket 30...Arithmetic circuit 33.
...Measurement switch 40... Potentiometer 51
...Co)' 51a...Sleeve 54...
Code reel 55...Rotary encoder 63...
Drilling equipment A... Piston rod of main boom cylinder is rotating 4> B... Packet tip (excavation point) C.
...Stick boom rotation center O...King boom rotation center P...Main boom cylinder rotation center Patent applicant Seirei Kogyo Co., Ltd. agent Patent attorney Kawa, No Noboru 4? P, 2 Zuki 3 Sugar 4 Fertility 5 Figure 9.6 Mouth

Claims (1)

[Scope of Claims] 1. A king boom pivotably supported at an appropriate position on the aircraft so that it can freely rotate in the vertical direction, a stick boom that is pivotably supported on the main boom so that it can freely rotate in the vertical direction, and a stick boom that is pivotably supported in the vertical direction on the main boom. Excavation work is to be carried out by rotating the king boom, stick boom, and packet individually or in cooperation with a hydraulic cylinder that rotates each of the king boom, stick boom, and packet. The excavation depth of a hydraulic excavator is characterized in that a distance detection means is provided between two parts whose distance changes as the king boom rotates, and the excavation depth is determined based on the detected distance. Measuring device. 2. The excavation depth measuring device for a hydraulic excavator according to claim 1, wherein the distance to be detected by the distance detecting means is a distance related to the advancement of the piston rod of the hydraulic cylinder that rotates the king boom. 3. The hydraulic excavator according to claim 1, wherein the distance to be detected by the distance detection means is the distance between the hydraulic cylinder that rotates the king boom and the support member of the main boom fixed to the machine body. Excavation depth measuring device 04, @The distance to be detected by the distance detection means is the distance between the hydraulic cylinder that rotates the king boom and the main boom.Claim 1(d) Excavation of self-mounted hydraulic excavator Depth measuring device 0