JPS5952031A - Excavating working vehicle - Google Patents

Abstract

PURPOSE:To exactly stop an excavating working vehicle at a desired position by a method in which a control mechanism to automatically operate a flow regulating valve to a flow-reducing side when the excavating working device comes near to a set position while the excavating device is keeping a horizontal slewing action with respect to a target point. CONSTITUTION:An oscillating circuit 21 is automatically operated by a discriminating circuit 23 on the basis of information from a turning position sensor 16 for a slewing base 1, the first setter 17 to set a reference turning position with respect to the vehicle, the second setter 18 to set a target turning position with respect to the vehicle, an operation condition sensor 19 for a switch valve 10, and a timing setter 20 for beginning operation. When the base 1 comes near a set position, the flow regulating valve 15 is controlled by the circuit 21 and the amount of oil to be supplied to the oil-pressure motor 3 from the valve 10 is reduced. The slewing speed of the base 1 can thus be automatically reduced and the base 1 can be exactly stopped at a desired position.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an excavation work vehicle that is provided with a fluid pressure drive device for operating the excavation work device to the left and right of the vehicle body, and is provided with a control valve for the drive device that can be manually operated.

In such an excavation work vehicle, when performing excavation work such as trench digging or hole digging, the excavation work device is moved from the left and right front positions relative to the vehicle body where the excavation work is to be performed to the right and left front positions relative to the vehicle body where earth and sand are to be discharged. After releasing the earth and sand, a movement operation is required to return it to the standard left and right front position.
Work efficiency should be improved (Since the moving speed of the excavation work equipment is set to be quite high, it is necessary to use a hydraulic drive device to ensure that the excavation work equipment stops at the standard front left and right position or the target left and right movement position. There is an inconvenience that stopping the excavation equipment is a difficult operation, and there is also an inconvenience that unpleasant large vibrations are applied to the vehicle body when the excavation work equipment is stopped.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to stop the swivel base at a desired position relative to the vehicle body by adding a simple structure. The object is to be able to perform the operation reliably and in a state where unpleasant vibrations are suppressed.

The configuration of the present invention includes, in the above excavation work vehicle, a device for detecting the lateral movement position of the excavation work device relative to the vehicle body, a device for setting a lateral movement position relative to the vehicle body to which the excavation work device should be moved;
and a flow control valve that reduces the amount of fluid supplied to the excitation device #1 so as to reduce the moving speed of the excavation work device, and an output to the position detection device and the horizontal movement position setting device. Based on the respective information, when the excavation work equipment is swinging toward the set lateral movement position of the vehicle body and reaches near the set lateral movement position of the vehicle body, the flow rate control valve is automatically set to the flow rate decreasing side. It is characterized in that it is provided with a control mechanism for operating.

Next, the effects of the characteristic configuration of the present invention will be described.

In other words, if the lateral movement position relative to the vehicle body to which the excavation work equipment should be moved is set in the setting device, when the excavation work equipment reaches near the set lateral movement position relative to the vehicle body, the flow rate control valve is automatically operated to the flow rate reduction side. The moving speed of the excavation equipment is
Since it is a pressurizing mechanism, it is possible to accurately recognize the lateral movement position of the excavation work equipment relative to the vehicle body when the moving speed has been slowed, so that the excavation work equipment can be stopped at the desired lateral movement position relative to the vehicle body. Furthermore, since the excavating equipment moves at a low speed during the stopping operation, it is possible to suppress vibrations caused by stopping. ,
An excavation work vehicle that can be used even better has been obtained.

Next, embodiments of the present invention will be described based on the drawings.

As shown in FIG. 1, a swivel base fi+ is attached to a vehicle body equipped with a crawler traveling device (2) so as to be rotatably operated by a hydraulic motor (3), and one engine (4) and a control section (5) are attached to the vehicle body equipped with a crawler traveling device (2). A swivel base (1) K is mounted, and a pack hoe working device (9) consisting of a boom (6), an arm (7), and a foot (8) is mounted on the swivel base il+,
A backhoe working vehicle is constructed by attaching the hydraulic cylinder (25) to the circumference 9 of the vertical axis tXI so as to be able to swing left and right.

As shown in FIG.
3) and a manually operated pulp (+01) that switches the operating state of its motor (3).

(Relief valves fill and fill are provided between 11 and 11 to have a buffering effect on the hydraulic motor (3),
The pair of flow paths 1rl and (rl are each provided with a brake valve including a pilot type flow path opening/closing valve +121, a check valve (13), and a throttle valve (141) in parallel. Due to the action, the swivel table (1
) rotation can be stopped with low shock (), and
The structure is such that the action of the brake valve can prevent the swivel base (1) from unexpectedly rotating at high speed regardless of the supply of pressure oil.

Said working state switching pulp (IO) to hydraulic motor (3)
An electromagnetic on-off valve 051 is provided to reduce the amount of oil supplied to the vehicle by repeating opening and closing, and is biased back to the open side, and a sensor [ 161, swivel table (
A first setting device (1) sets the reference rotational position relative to the vehicle body at which the swivel base should be stopped for excavation work;
Pulp operation state detection device (1) that detects the operation state of the switching valve f101 using the position detection switch of the pulp operation assist lever
91 respectively, and furthermore, the opening/closing operation start timing of the opening/closing valve (151) is set to the target rotational position relative to the vehicle body or to the target rotational position relative to the vehicle body while the swivel base +11 is rotating toward the target rotational position relative to the vehicle body or the reference rotational position relative to the vehicle body. There is a device that is set when the vehicle body is close to the lateral movement position.

Then, based on information from each of the rotational position detection sensor 11B+, the first degree second setting device aη, (11G, the pulp operation state detection device 09, and the operation start timing setting device ■), the swivel base +11 is Automatically activates the opening/closing valve (oscillation circuit for repeatedly opening and closing 151) before reaching the set rotational position relative to the vehicle body when the vehicle is rotating toward the set rotational position relative to the vehicle body or the target rotational position relative to the vehicle body. A discriminating circuit (to) is provided to operate the system.

In short, when excavating a trench or digging a hole, the backhoe working device (9) is repeatedly moved between the left and right support positions for the vehicle body where excavation work is to be performed and the left and right support positions for the vehicle body where earth and sand is to be discharged. When rotating the swivel base fil to the vehicle body reference rotation position or the vehicle body target rotation position for the vehicle body left and right 1 of the working device (9), the swivel base fl+ is rotated to the vehicle body reference rotation position or the vehicle body reference rotation position. When the rotation speed of the swivel base (1) is reached, the rotational speed of the swivel base (1) is automatically reduced, allowing the swivel base +1+ to be stopped at the desired position accurately and with less unpleasant vibrations.
I want you to do it □.

The timing setting device (2) is configured such that the operation start timing is set by the swivel base (1) in accordance with the predicted rotational speed of the swivel base fi+ in the normal state, by a set angle in the direction of rotation from the set rotational position of the vehicle body. In addition to providing a setting device ■ to determine when the rotation is made to the side position, the swivel base fl+
The rotational speed is detected by calculating the signal of the rotational position detection sensor (161). Based on the information of the rotational speed detection device (241), the higher the rotational speed, the more A circuit (c) is provided that automatically corrects the signal from the setting device so that the opening/closing operation start timing is earlier.

In short, due to changes in the slope of the work area, etc., the swivel table f
This is so that even if the rotational speed of i+ becomes faster than normal, the rotational speed of swivel table fi+ can be sufficiently reduced.

FIG. 3 is a graph showing the relationship between the rotational speed (G) and the rotational position relative to the vehicle body (ω; when rotating the swivel base (1) to the set rotational position relative to the vehicle body. The start timing (3) is advanced by 1 as described above, as shown by the dashed line in the figure.

To carry out this method, instead of rotating the swivel base fi+, the working device (9) should be swung relative to the swivel base fil, or a work vehicle not equipped with the swivel base 111 may be used. In this case, the working device (9) may be swung left and right with respect to the vehicle body.

Further, the present invention can be applied to various types of work vehicles such as face shovel work vehicles in addition to backhoe work vehicles.

In addition, as a valve for adjusting the amount of oil supplied, in addition to the on-off valve (151) that repeatedly opens and closes, various types such as a valve that switches between an oil passage without a throttle and an oil passage with a throttle, a variable throttle valve, etc. are applicable. can.

Further, the present invention may be used to move the excavating device (9) to either one of the target left and right positions and the reference left and right forward positions.

[Brief explanation of the drawing]

FIG. 1 is a side view of the backhoe working vehicle, FIG. 2 is a block diagram showing the specific configuration of the control mechanism, and FIG. 3 is a graph showing the relationship between rotational speed and rotational position relative to the vehicle body. (3)...Fluid pressure drive device, (9)...
Excavation work equipment, (lO)... Control pulp, α9
...Flow rate control valve, ullg...Position detection device, 0η or αto...Position setting device. Figure 1 6 Figure 2 Figure 3

Claims (1)

[Claims] An excavation work vehicle is provided with a fluid pressure drive device (3) for operating the excavation work device (91' to the left and right front of the vehicle body), and a control pulp f10+'f for the drive device (3) is provided so as to be manually operable, A device (1611) for detecting the left and right front positions of the excavating device (9) relative to the vehicle body (1611) a device (1611) for setting the horizontal position relative to the vehicle body to which the excavating device (9) should move;
171 or ashl, and a flow rate control valve 05) that reduces the amount of fluid supplied to the drive device (3) so as to reduce the moving speed of the excavation work device (9), the trap and the position detection device. mark and the information of the lateral movement position setting device (171 or (1B+), when the excavation work device (9) is swinging toward the setting lateral position setting device 171 or (1B+), the setting vis-a-vis the vehicle body An excavation work vehicle characterized by being equipped with a control mechanism that automatically operates an IrJ flow rate adjustment valve (151) to the flow rate reduction side when it reaches the vicinity of the lateral movement monument.