JPS5931323A - Excavating working vehicle - Google Patents
Excavating working vehicleInfo
- Publication number
- JPS5931323A JPS5931323A JP14002282A JP14002282A JPS5931323A JP S5931323 A JPS5931323 A JP S5931323A JP 14002282 A JP14002282 A JP 14002282A JP 14002282 A JP14002282 A JP 14002282A JP S5931323 A JPS5931323 A JP S5931323A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle body
- swivel base
- vehicle
- rotational position
- turning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、掘削作業装置を備えた旋回台の対車体回転位
置を検出する装置を設けると共に、その検出装置からの
情報に基づいて、前記旋回台を#A削作業すべき対車体
基準回転位置に復帰回転させるように、自動的に旋回台
駆動装置を作動させる制御機構を設けた掘削作業車に関
する0
ヒ記掘削作業車は、例えば、旋回台を、掘削作業すべき
対車体基準回転位置から土砂を放出すべき対車体目標回
転位置に回、伝させ、土砂放出後、対車体基準回転位置
に復帰させるよう、回転操作しながら溝掘削あるいけ穴
掘削を行なう1祭に、旋回台を対車体基準回転位置に復
帰回転させることを自動的に行なえるようにしたもので
あるが、重量大な旋回台を対車体基準回転位置あるいは
対車体目標回転位置に停止させる際に、旋回台の動慣性
力のために車体が不測に地面に対して回動することがあ
り、その結果、対車体基準回転位置を一定位置に維持さ
せたまま作業を続けると、制御機構によって旋回台を対
車体基準回転位置に復帰回転させても、旋回台の地面に
対する回転位置が所望の回転位置から大きくズしてしま
う虞れかあり、そのために、制御機構の作動終了後にお
いて、旋回台を地−面に対する所望の回転位置に大きな
範囲に亘って手動で操作しなければならない煩しさがあ
った。DETAILED DESCRIPTION OF THE INVENTION The present invention provides a device for detecting the rotational position relative to the vehicle body of a swivel base equipped with an excavation work device, and based on information from the detection device, the swivel base is used for #A excavation work. For example, an excavation work vehicle equipped with a control mechanism that automatically operates a swivel base drive device so as to rotate the swivel base back to the standard rotation position with respect to the vehicle body is used for excavation work. Excavating a trench or digging a hole is carried out while rotating so that the earth and sand are rotated and transmitted from the desired rotational position relative to the car body to the target rotational position relative to the car body where the earth and sand should be released, and then returned to the reference rotational position relative to the car body after releasing the earth and sand.1 This system is designed to automatically return the swivel base to the standard rotation position relative to the vehicle body, but it is also possible to stop the heavy swivel base at the standard rotation position relative to the vehicle body or the target rotation position relative to the vehicle body. At times, the vehicle body may unexpectedly rotate relative to the ground due to the dynamic inertia of the swivel base, and as a result, if work is continued with the reference rotational position relative to the vehicle body maintained at a constant position, the control mechanism may Even if the swivel base is rotated back to the standard rotation position with respect to the vehicle body, there is a risk that the rotation position of the swivel base with respect to the ground will deviate significantly from the desired rotation position. It is troublesome that the swivel table must be manually operated over a large range to a desired rotational position relative to the ground.
本発明は、上記実状に鑑みて為されたものであって、そ
の目的は、旋回台の対車体基準位置が旋回台の地面に対
する所望の回転位置から大きく外れることを抑制できる
ようにする点にある。The present invention has been made in view of the above-mentioned circumstances, and its purpose is to prevent the reference position of the swivel base relative to the vehicle body from deviating significantly from the desired rotational position of the swivel base with respect to the ground. be.
本発明の構成は、冒記掘削作業車において、前記掘削作
業装置のバゲット操作用流体uEシリンダの駆動圧を検
出する圧力検出装置を設けると共に、その検出装置が設
定圧以上の駆動圧を検出するに伴って、かつ、検出毎に
、その時の前記旋回台の対車体回転位置を前記対車体基
準回転位置として記憶する記憶装置を設けであることを
特徴とする。The configuration of the present invention is that the above-mentioned excavation work vehicle is provided with a pressure detection device for detecting the driving pressure of the baguette operating fluid uE cylinder of the excavation work device, and that the detection device detects a driving pressure equal to or higher than a set pressure. The present invention is characterized in that a storage device is provided for storing the rotational position of the swivel base relative to the vehicle body at that time as the reference rotational position relative to the vehicle body at each detection.
次に、本発明特徴構成による作用効果を述べる。Next, the effects of the characteristic configuration of the present invention will be described.
すなわち、旋回台の対車体基準回転位置を、パケット操
作用流体圧シリンダの駆動圧を検出する圧力検出装置が
設定圧以上の駆動圧を検出するに伴って、かつ、検出毎
に記憶される、その時の旋回台の対車体回転位置に代え
るようにぜんとするものであって、つまり、旋回台の対
車体回転位置が掘削作業すべき回転位置であることを、
パケット操作用流体圧シリンダの駆動圧がパケットが土
砂を掻込むに伴い設定圧以上になったことにより検出さ
せ、そして、その時の旋回台の対車体回転位置を対車体
基準回転位置として記憶させるようにぜんとするもので
あって、旋回台を土砂を放出すべき対車体基準回転位置
や対車体基準回転位置に停止させるに伴って車体が地面
に対して回動するようなことがあっても、それによる旋
回台の対車体基準回転位置と旋回台の地面に対する所望
回転位置とのズレを、旋回台を一往復回転させる毎に補
正(−で、作業を続行しても上記ズレが大にならないよ
うにしであるから、制#機構の作動終了後において、必
要に応じて旋回台を地面に対する所望の回転位置に手W
)で操作するにしても、その回転量が小さい簡単な操作
で済せることができるのである。That is, the reference rotational position of the swivel base with respect to the vehicle body is stored as the pressure detection device detects the drive pressure of the packet operation fluid pressure cylinder detects a drive pressure equal to or higher than the set pressure, and each time it is detected. It is intended to replace the rotational position of the swivel base relative to the vehicle body at that time, that is, the rotation position of the swivel base relative to the vehicle body is the rotation position at which excavation work is to be performed.
It is detected when the driving pressure of the fluid pressure cylinder for packet operation exceeds a set pressure as the packet scrapes up dirt, and the rotational position of the swivel base relative to the vehicle body at that time is stored as the reference rotational position relative to the vehicle body. Even if the vehicle body rotates relative to the ground when the swivel base is stopped at the vehicle body reference rotation position or the vehicle body reference rotation position where earth and sand should be discharged. , the resulting deviation between the reference rotational position of the swivel base with respect to the vehicle body and the desired rotational position of the swivel base with respect to the ground is corrected each time the swivel base is rotated back and forth. Therefore, after the control mechanism has finished operating, manually move the swivel base to the desired rotational position relative to the ground as necessary.
), it is a simple operation with a small amount of rotation.
しかも、本発明によれば、上述の如く、旋回台の対中1
体回転位1mが掘削作業すべき回転位置であることを、
パケット操作用流体圧シリンダの駆り1圧がパケットが
土砂を掻込むに伴い設定圧以」二になったことにより検
出させて、対車体基準回転位置を記憶させるようにしで
あるから、穴掘削作業等のように、パケットの対車体高
さが掘削毎に異なる形態の作業においても、上記利点を
得ることができるものである。Moreover, according to the present invention, as described above,
The body rotation position of 1 m is the rotation position at which excavation work should be performed.
The system detects when the driving pressure of the packet operating fluid pressure cylinder becomes lower than the set pressure as the packet scrapes up earth and sand, and stores the reference rotational position relative to the vehicle body. The above advantages can be obtained even in operations where the height of the packet relative to the vehicle body differs depending on the excavation.
もって、−上記不都合を解消して、一層便利に使用する
ことが可能な掘削作業車を得るに至った。As a result, an excavation work vehicle has been obtained which eliminates the above-mentioned disadvantages and can be used more conveniently.
次に、本発明の実施例を図面に基づいて説明する。Next, embodiments of the present invention will be described based on the drawings.
第1図に示すように、旋回台(1)を、クローク走行装
置(2)を備えた車体に、油圧モータ(31によって回
転操作自在に取付けると共に、エンジン(4)及び操縦
部(5)を前記旋回台(11K搭載し、そして、対旋回
台−E丁動自在なブーム(6)、対プーム揺動自、在な
アーム(7)、及び、対アーム揺動自在なパケット(8
)の夫々を流体圧シリンダ(6a)、(7a)。As shown in Fig. 1, a swivel table (1) is rotatably attached to a vehicle body equipped with a cloak traveling device (2) by a hydraulic motor (31), and an engine (4) and a control section (5) are attached to the vehicle body. The above-mentioned swivel base (11K is mounted, and a boom (6) that can freely pivot against the swivel base-E, an arm (7) that can freely swing against the boom, and a packet that can freely swing against the arm (8)
) respectively as fluid pressure cylinders (6a) and (7a).
(8a)にて揺動操作するバツクホク作業装置(9)を
、゛前記旋回台(1)に連結して、パツクホク作業車を
構成しである。A back-hook work device (9) that is operated by swinging at (8a) is connected to the swivel base (1) to constitute a back-hook work vehicle.
第1図及び第2図に示すように、前記旋回台tnの対車
体回転位置をボヂンションメータヲ用いて検出する装置
叫、及び、旋回台(1)の掘削作業すべく対車体基準回
転位置を後述の如く記憶する装置(111を夫々設ける
と共に、旋回台(1)を前記対車体回転位置に復帰回転
させるよう、前記回転位置検出装置f101の信号及び
前記記憶装置(11)の信号を比較判別しながら前記油
圧モータ(3)の操作用パルプ(121を通電操作する
判別回路1131を設けて、前記旋回台(1)を対車体
基準位置に復帰回゛転させるように、自動的に旋回台操
作用油圧モータ(3)を作動させる制御機構を構成しで
ある。As shown in FIGS. 1 and 2, a device detects the rotational position of the swivel base (tn) with respect to the vehicle body using a position meter, and a reference rotation position of the swivel base (1) with respect to the vehicle body for excavation work. A device (111) for storing the position as described later is provided, and a signal from the rotational position detecting device f101 and a signal from the storage device (11) are transmitted so as to rotate the swivel base (1) back to the rotational position relative to the vehicle body. A discrimination circuit 1131 is provided which energizes the operating pulp (121) of the hydraulic motor (3) while comparing and discriminating, and automatically rotates the swivel base (1) to return to the reference position relative to the vehicle body. It constitutes a control mechanism that operates the hydraulic motor (3) for operating the swivel table.
つて直接的にスプールを移動操作可能に構成すると共に
、前記回転位@検出装置f101の信号を微分して旋回
台(1)の復帰回転状態における回転速度を検出する装
置t151 、及び、その検出装置(151の信号と設
定器叫にて予め設定した信号とを比較して、旋回台回転
速度が設定速度以上の時にのみ前記’l’lJ別回路(
13を作動さセるよう、判別回路(13を作動状態と非
作動状態と自動切換する比較器W!laηを設けて、前
記制御機構を、旋回台(1)が対車体基準回転位置がわ
へ設定速度以上で回転される状態がもたらされると、自
動的に作動させるように構成しである。a device t151 configured to be able to directly move the spool, and detect the rotational speed of the swivel base (1) in the return rotation state by differentiating the signal from the rotational position @ detection device f101; (Comparing the signal of 151 with the signal preset in the setting device, the 'l' lJ separate circuit (
13, a discrimination circuit (a comparator W!laη that automatically switches 13 between an activated state and a non-actuated state) is provided, and the control mechanism is controlled when the swivel base (1) is at the reference rotational position relative to the vehicle body. The device is configured to automatically operate when a condition is brought about in which the device is rotated at a speed higher than a set speed.
要するに、旋回台(1)を、掘削作業すべき対車体基準
回転位置から土砂を放出すべき対車体目標回転位置に回
転させ、土砂放出後、対車体基準回転位置に復帰回転さ
せるよう、回転操作しながら溝掘削あるいけ穴掘削を行
なう際において、旋回台(1)を対車体基準回転位置に
復帰回転させることを、予め、手動レバー(14)によ
って旋回台(1)を設定速度以上で回転させるようにす
れば、そののちは、制御機構によって自動的に行なわせ
ることができるのであり、しかも、対車体基準位置の近
くあるいは対車体目標回転位置の近くにおいて、旋回台
(1)の回転位置を微調節するために、手動レバー(1
41を往復移動操作しながら旋回台(1)を緩速で回転
させることができるようにしである。In short, the swivel table (1) is rotated from the standard rotational position relative to the car body where excavation work is to be performed to the target rotational position relative to the car body where the earth and sand should be discharged, and after the earth and sand is discharged, it is rotated back to the reference rotational position relative to the car body. When excavating a trench or drilling a hole, the manual lever (14) is used to rotate the swivel base (1) at a set speed or higher in order to return the swivel base (1) to the standard rotation position relative to the vehicle body. After that, the rotation position of the swivel base (1) can be automatically controlled by the control mechanism, and the rotation position of the swivel base (1) can be adjusted near the reference position relative to the vehicle body or near the target rotation position relative to the vehicle body. For fine adjustment, use the manual lever (1
The swivel base (1) can be rotated at a slow speed while reciprocating the swivel 41.
前記パケット操作用流体圧シリンダ(8a)の駆動圧を
検出する圧力検出装置(18)を、前記流体圧シリンダ
(8a)に取付けると共に、その検出装置(181の信
号とパケット(8)が土砂を掻込む際に生ずるシリンダ
駆動圧を設定する設定器+191の信号に基づいてシリ
ンダ駆動圧になったことを判別する比較器(■を設けで
ある。 そして、その比較器(201がシリンダ駆動圧
が設定圧以Eになったこ七を判別するに伴って、且つ、
判別する毎に、前記記憶装置(111がその時の旋回台
(1)の対車体回転位置を前記対車体基準回転位置とし
て記憶するよう、前記比較器■が前記記憶装置(11)
に動作指令を与えるように構成しである。A pressure detection device (18) for detecting the driving pressure of the packet operating fluid pressure cylinder (8a) is attached to the fluid pressure cylinder (8a), and the signal of the detection device (181) and the packet (8) detect soil and sand. A comparator (marked with ■) is provided to determine whether the cylinder drive pressure has been reached based on the signal from the setting device +191 that sets the cylinder drive pressure generated during scraping. Along with determining the pressure that has exceeded the set pressure, and
The comparator (1) stores the rotational position of the swivel base (1) relative to the vehicle body as the reference rotational position relative to the vehicle body each time the storage device (111) makes a determination.
It is configured to give operation commands to the controller.
要するに、バツクホク作業装置(9)が掘削作業を行な
う毎に、対車体基準位置がその時の旋回台(1)の対車
体回転位置となるように記憶されて、車体が不測に地面
に対して回動することがあっても、対車体基準位置が旋
回台(1)の対車体所望回転位置から大きく外れないよ
うにしである。In short, every time the back-hook work device (9) performs excavation work, the reference position relative to the vehicle body is memorized to be the rotational position relative to the vehicle body of the swivel base (1) at that time, and the vehicle body is unexpectedly rotated relative to the ground. This is to prevent the reference position relative to the vehicle body from deviating significantly from the desired rotation position of the swivel base (1) relative to the vehicle body.
本発明は、パツクホク作業装置(9)に代えて、フェイ
スショベル作業装置等の各種掘削装置を装備した掘削作
業東に適用できる。The present invention can be applied to an excavation work east equipped with various excavation equipment such as a face shovel work device instead of the pack-hook work device (9).
又、本発明を実施するに、旋回台(1)を掘削作業すべ
き対車体基準回転位置から土砂を放出すべく対車体目標
回転位置に回転させることを、対車体回転位置検出装置
f101の情報に基づいて自動的に旋回台駆動装置(3
)を作動させながら自動的に行なわせる制御機構を設け
ると一層便利である。Further, in carrying out the present invention, information from the vehicle body rotation position detection device f101 is used to determine that the swivel table (1) is rotated from the vehicle body reference rotation position where excavation work is to be performed to the vehicle body target rotation position in order to release earth and sand. automatically based on the swivel base drive (3
) It would be more convenient to provide a control mechanism that automatically performs this while operating.
又、本発明を実施するに、制御機構を起動させる構造は
、専用の起動スイッチを設けるようにする等、各種変更
可能である。Further, in carrying out the present invention, the structure for starting the control mechanism can be modified in various ways, such as by providing a dedicated starting switch.
第1図はバツクホワ作業申、の側面図、第2図は制御機
構の構成を示すブロック線図である。
(旧・・・・・旋回台、(31・・・・・・旋回台駆動
装置、(9)・・・・・・掘削作業装置、flO)・・
・・・・回転位置検出装置、flll・・・・・・記憶
装置、tllD・・・・・・圧力検出装置。FIG. 1 is a side view of the backhoe working mechanism, and FIG. 2 is a block diagram showing the configuration of the control mechanism. (Old...swivel base, (31...swivel base drive device, (9)...excavation work equipment, flO)...
...Rotational position detection device, flll...Storage device, tllD...Pressure detection device.
Claims (1)
位置を検出する装置Ot1を設けると共に、その検出装
[110)からの情報に基づいて、前記旋回台(1)を
掘削作業すべき対車体基準回転位置に復帰回転させるよ
うに、自動的に旋回台駆動装置(31を作動させる制御
機構を設けた掘削作業車であって、前記掘削作業装置(
9)のパケット操作用流体圧シリンダ(8a)の駆動圧
を検出する圧力検出装置(旧を設けると共に、その検出
装置(刑が設定圧以上の駆動圧を検出するに伴って、か
つ、検出毎に、その時の前記旋回台(1)の対中0体回
転位置を前記対車体基準回転位置として記憶する記憶装
置(11)を設けであることを#F徹とする掘削作業車
。A device Ot1 for detecting the rotational position relative to the vehicle body of a swivel base (1) equipped with an excavation work device (9) is provided, and based on information from the detection device [110], the swivel base (1) is used for excavation work. An excavation work vehicle is provided with a control mechanism that automatically operates a swivel base drive device (31) so as to return and rotate the excavation work device (31) to the desired rotational position relative to the vehicle body.
9) A pressure detection device (old) is installed to detect the driving pressure of the packet operation fluid pressure cylinder (8a), and when the detection device (penalty detects a driving pressure higher than the set pressure), The excavating vehicle is further provided with a storage device (11) for storing the rotational position of the swivel base (1) relative to the vehicle body at that time as the reference rotational position relative to the vehicle body.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14002282A JPS5931323A (en) | 1982-08-11 | 1982-08-11 | Excavating working vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14002282A JPS5931323A (en) | 1982-08-11 | 1982-08-11 | Excavating working vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS5931323A true JPS5931323A (en) | 1984-02-20 |
Family
ID=15259117
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP14002282A Pending JPS5931323A (en) | 1982-08-11 | 1982-08-11 | Excavating working vehicle |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS5931323A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61279245A (en) * | 1985-06-01 | 1986-12-10 | 田淵 和久 | Gynecological diagnostic table |
WO2017221904A1 (en) * | 2016-06-21 | 2017-12-28 | 株式会社小松製作所 | Work vehicle, work management system, and work vehicle control method |
-
1982
- 1982-08-11 JP JP14002282A patent/JPS5931323A/en active Pending
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61279245A (en) * | 1985-06-01 | 1986-12-10 | 田淵 和久 | Gynecological diagnostic table |
JPH0566140B2 (en) * | 1985-06-01 | 1993-09-21 | Tabuchi Kazuhisa | |
WO2017221904A1 (en) * | 2016-06-21 | 2017-12-28 | 株式会社小松製作所 | Work vehicle, work management system, and work vehicle control method |
JP2017227012A (en) * | 2016-06-21 | 2017-12-28 | 株式会社小松製作所 | Work vehicle, work management system and control method for work vehicle |
US11359349B2 (en) | 2016-06-21 | 2022-06-14 | Komatsu Ltd. | Work vehicle, work management system, and work vehicle control method |
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