JPS5955924A - Excavating working vehicle - Google Patents

Abstract

PURPOSE:To exactly confirm the depth of excavation by a method in which the tip of a bucket is contacted with a sloped ground to obtain the inclination angle, and from the inclination angle and the length and angle of each boom, the penetration depth of the bucket is calculated in an arithmetical unit. CONSTITUTION:The tip of a bucket 9 is contacted with a sloped ground to be excavated at different points A(x1, y1) and B(x2, y2) in the inclinded direction. From the angle and lengths L1-L3 of each boom, the inclination angle 4 is determined in arithmetical unit. The penetration depth of the tip of the bucket 9 is orderly calculated from the formula D=H'-L1cos(alpha-phi)+L2cos(alpha-phi+beta)-L3cos (alpha-phi+beta+gamma) in arithmetical unit 16 and then displayed on a displayer 17. Operators can confirm exact depth of excavation and therefore, the excavating operation can be performed excellently and safely.

Description

Detailed Description of the Invention Inventively, a boom is pivotally connected to a traveling aircraft fully equipped with traveling equipment so as to be able to swing up and down about a first pivot axis, and a second pivot axis is attached to the boom. This invention relates to an excavation work vehicle in which an arm is pivotally connected to be swingable around a center, and a packet Th is pivotally connected to the arm to be swingable about an eighth pivot axis.

When excavating to a predetermined depth with the above-mentioned excavation work vehicle, conventionally, generally, the excavation 1" A:i location is monitored from the top of the excavation vehicle and the entire excavation depth is visually measured and confirmed. However, when the excavation depth is large, it is difficult to see the excavated spot, and even if it is visible, it is inaccurate because it is based on visual estimation, and the excavation is performed by the farmer relying on his intuition based on experience. This is the actual situation, and the groove depth tends to be inconsistent, resulting in low work accuracy.
When excavating in places where water, gas, etc. piping is buried at a certain depth underground, there is a risk of accidentally damaging the piping, especially when excavating on sloped land. However, it was different from the case of flat land, and it was extremely difficult to excavate to a certain depth.

In view of the above points, the present invention enables to accurately and easily know the excavation depth of the packet regardless of the force or force of the inclined state of the excavation location, and to perform excavation work safely and efficiently. The purpose is to

Uninventively, in order to achieve the above object, in the excavation work vehicle described above, the swing angle of the boom with respect to the traveling body is determined.
A first detecting device vertically detecting, a swinging angle of the arm relative to the boom, and a second and third detecting device vertically detecting the swing angle of each of the packets relative to the arm are provided, respectively, and the first to eighth detecting devices are respectively provided. Based on the detection angle from
The following formula (%) calculates the plunge depth of the tip of the packet in the normal direction from the slope on a slope.) However, LI: Boom length from the first axis to the second axis L PA Second axis Arm length from the core to the third axis: , 48Packet length from the axis to the tip of the claw α, β, γ: At the time when the packet is pressed into the slope, each of the first to third detection devices Detected angle
1 (α8+β, -2)2 -l-Lacrs (α1+β, +r!-2]y, -H
−L, deposit α, +L2 fish (α, ten β1) −Llcas (
α, +A-t-r+,)Xl ”=I4duckα,-÷)-
ri, sail α, +β8-÷)+L, sound (α1+βfujur proverb-
-) 3's -H-L, Fish α, Jurikyo (α1+β,)-IA
Range (α, +β, +γ,) H: ml in the normal direction from the ground plane of the traveling device
Length to pivot axis α5. β1. γ,: Any point A (x,,
'i1) The detection angle α3 of the first to third detectors with the tip of the packet grounded. β Snow, γ: The detection angles of each of the first to third detection devices were programmed with the tip of the packet touching the ground at an arbitrary point B (Xs, y□) different from the point A on the slope. An arithmetic processing device is provided, configured to input information from the first to third detection devices, and a display device is attached to display the penetration depth 'kff of the packet determined by the arithmetic processing device. It is characterized by being

In other words, the tip of the packet is grounded at two different points in the slope direction of the slope to be excavated, and the first
The inclination angle of the slope is calculated by the arithmetic processing unit based on the detected angles by the to eighth detection devices, and when excavating the slope, the first to third detected angles are input to the arithmetic processing unit head and the above-mentioned The depth of penetration of the tip of the kerato is calculated from the calculated inclination angle, and the calculation result is notified to the operator on a display device. Therefore, regardless of the inclination of the excavated site, the depth of penetration of the tip of the kerat is calculated. The depth of penetration of the tip of the packet, which changes every moment as the kerato moves up and down, i.e., the depth of excavation into the slope, can be easily and accurately determined at a glance by the full display device, and it is possible to easily and accurately determine the depth of penetration of the tip of the packet into the slope. 12 Even if the trench is deep, as long as the depth of the distribution is known, the excavation work can be carried out safely without being accidentally damaged by packets, and it is also possible to excavate trenches of a specified depth accurately and well. This made it possible to improve work accuracy.

Hereinafter, embodiments of the invention will be described in detail based on illustrative drawings.q Crawler traveling device! (1) A swivel base (2) is provided on the traveling vehicle body prepared for `` to be able to rotate freely around the vertical axis (PI), and a steering rIf section (3) is provided on the swivel base (2) and in front of it.
f! A is provided with a swing bracket (4) that is rotatable around the vertical axis (Pg), and the excavator (5) is attached to the swing bracket (4).
) is fully installed, and on the other hand, the earth removal device (6) is installed on the traveling rocky body so that it can swing freely up and down, and the excavation work vehicle is configured so that it can perform both ground excavation and earth removal work with one machine. .

To configure the excavation equipment (5), a boom (7) is pivotally connected to the swing bracket (4) so as to be able to swing vertically around a first pivot axis (Ql), and a 2
Arm (8) swings freely around the pivot axis (Q,), and arm (8) K eighth pivot axis (bucket swings freely around Q) (9) 'Th, A first to three hydraulic cylinders are pivotally connected to each other, and between the swing bracket (4) and the boom (7), the boom (7) and the arm (8), and the arm (8) and the packet (9), respectively. On,
(11), (2) Fully equipped, boom (7), arm (
8) and the packet (9) are respectively driven and moved to perform ground excavation work.

A volume-type first detection device 03 for detecting the ground swing angle ((1'l) of the traveling device (1) by a voltage change is attached to the first pivot axis (Q,), and the second and an eighth pivot axis (Q,), (Q,), respectively, a second pivot axis (Q8) of the arm (8) with respect to the first virtual straight line of the boom (7).
) and the eighth pivot axis (Q, ), and the swing angle (b) of the second imaginary straight line connecting the eighth pivot axis (Q, ), and the eighth pivot axis of the packet (9) with respect to the second imaginary straight line of the arm (8). Kabuto 8 temporary rest surface working angle (r) connecting the core (Q,) and the tip of the nail of the bucket (9)
Second and third detection devices (14), a5, are attached to each detect the total voltage change.

The control ViIls (3) is provided with an arithmetic processing unit (16+) and a display device α, and the first to third detection devices a
, i , (14), (Inputs the signal from 151 to the arithmetic processing unit αQ, calculates the penetration depth of the tip of the tip from the ground surface, that is, the excavation depth?, and displays the W output result. The device is configured to display on aη, and then the processor 00 is programmed to display the bucket (
9) The calculation formula for calculating the tip penetration depth σ]) will be explained.

As shown in Fig. 2, if we consider the x-y coordinate system with the ground plane of the traveling device (1) as the reference line, then at the position (x, y) of the tip of the packet (9), x-==L4rm( (1-')-Ltcos(cl+
β-2)-)-L, cos (α+β2 1γ-1)-(1) y=H-l4asct-1-L, cas (a+β)
−L, fm (cl+β+r)−(2).

Here, 1 Boom (7) from the first axis (Qθ to the second axis (Q,)) Length L2: Arm from the second axis (Q,) to the third axis (Q,) (8) Length: i From the 3rd axis (Q, ) to the packet (9) at the tip 1 of the claw (9a) Length H: From the ground plane of the traveling device (1) to the 1st axis in its normal direction (Length up to Qθ) Based on the above formulas (1) and (2), cut the slope on the slope where you are going to excavate, and cut two points A (X+, 3) that are different in the slope direction.
't), B (Xl, y) If the tip of the packet (9) is in contact with the ground, the detection swing angle of the boom (7), +s), (9) in each grounded state is A(α1.β1, γ+), B(α?, β*, rx
), X H=L 1 bunch (α−
1) -L2 house (α□+β□-2) 2 +L house (α1+β1+γ1-2)---(3)yl w
H-L1aysα, -4-IAcos (α□+β1)
−L, part (α1+β1+γ1) --
-(4)
, - sorrow) + L bunch (α wealth + β2 + γ, -2)
-(5)yx-H-I4 wide α snow +L(・μs(α, +β
3) −I4μs (α, +βi+ rt )
A numerical value is specified as (+3) fL.

Then, the above two points A(x,, yυ* B (Xl, y
s) The inclination angle (ψ) of the excavated area is determined from [, J:], and the inclination angle (ψ) is determined from equations (3) to (6).

Next, it is converted to an x/y/coordinate system with the slope of the excavated area as the reference line, and the penetration depth D) of the tip of the packet (9) is considered in terms of the y' component.

If we calculate the angle 0 between the y-axis and the straight line connecting the first pivot axis (Qθ and the point A(xl, yl)) and the elevation angle (b) of the boom (7) with respect to the y'-axis, α' −α−ψ
□(9).

Then, the length of the perpendicular line drawn from the first pivot axis (Q, ) above the X' wheel axis (F) is given by H' =
0°−e−cp )−−μr”+ (yx−H)”・μ
By substituting equations (7) and (8), we obtain s(θ+α)−01. Then, the penetration depth 0 of the tip of the packet (9) is D=H'-L, cosa'-1-I-ccs(a'+
β) -L@as (α'+β0r), (9
) By substituting and rearranging the equation, we get ri -H' -L, cO!
+ ((Z -9+) +Lz area (a -9++β)
-1, acos (α-ψ+β+r), and from equations (7) and 0]), the depth O) is α, β
and γ, and are calculated every moment by the arithmetic processing unit a. Then, the depth D) calculated in this way is displayed moment by moment using the display % Wt Q7).

To display the depth, set the depth to be excavated as appropriate, subtract the above depth υ) from the set depth, and display the remaining depth until the set depth is reached. Additionally, on the screen of the display device waη, the cross-sectional shape of the excavated area, the excavation work vehicle, and the operations of the boom (7), arm (8), and packet (9) are displayed on the screen of the display device waη. It is also possible to display the excavation situation in a way that makes it easy to visually understand the excavation situation.

The first to eighth detection devices α:1, Q4),
<15, respectively, the first to third cylinders Q, 0
In addition to detecting the amount of expansion and contraction of each of υ and (2), the configuration may be such that the entire swing angle of each of the boom (7), arm (8), and packet (9) is detected.

According to the invention, the tip of the claw of the packet (9) is connected to two points A (X
l, yI), B (X mushroom, yl) VC, thereby reducing the angle of inclination of the excavated ground with respect to the traveling machine (q)), as shown in (b) of Figure 3, the contact of the traveling machine When excavating a sloped surface with the same slope that is connected to the ground, the slope angle determined by 'f'l becomes zero at any time fL, and it can be applied practically without any problem. As shown in Fig. 2, it can be used well even when the traveling device (1) runs aground on a bump or stone, and the traveling body side is inclined with respect to the excavated ground. It can be applied well regardless of the situation.

[Brief explanation of drawings]

The drawings show an embodiment of the excavation work vehicle according to the invention, and FIG. 1 is an overall side view, and FIG. 2 is a diagram showing the principle of an excavation depth calculation method. (A), (B), and (J in FIG. 8) are explanatory diagrams showing the usage forms of each weight, respectively. (1)... Traveling device, (7)... Boom, (8)...arm, (9)...bucket), (13...first detection device, 04)...
...Second detection device, aQ...Eighth detection device, aQ...Arithmetic processing unit, α...Display device, (Q,)... ...first pivot axis, (Q,)
...Second pivot axis, (Q,)...Third
Pivot axis.

Claims (1)

[Claims] A first pivot axis (Q
A boom (7) is fully pivotally connected to the boom (7) so as to be able to swing up and down around the second pivot axis (Q, ), and an arm (8) is fully pivotally connected to the boom (7) so as to be able to swing freely around the second pivot axis (Q, ). and an excavation work vehicle in which a packet (9) Th is pivotally connected to the arm (8) so as to be swingable around an eighth pivot axis (Q,),
A first detection device @ detects the entire swing angle of the boom (7) with respect to the traveling aircraft, the swing of the arm (8) with respect to the boom (7) K, and the packet (9) with respect to the arm (8). 2nd and 3rd for detecting the angle
Detection device α4), Or9? The first to third detection devices α3. (Detection angle # from l brown and a time respectively
Based on π, calculate the penetration depth of the tip of the packet (9) in the normal direction from the slope on a slope using the following formula (%)) However, LI: From the first axis (Q, ) to the second axis Core (Q,)! Boom (7) length Ll: from 2nd, '1jllll core (Q,) to 3rd axis (
Q,) Arm (8) at the cutting edge: Packet (9) length from f8 axis (Qs) 71) to the tip of the claw α, β, γ: Drill the packet (9) ' into the slope At the time when
2) -L...(α, +A-2) 2 +Lμ (False 1μ + 11-2) yt-H-Li Fish Fake + L Fuji 4 (Appetizer 1β) - Risumi μs (False +β+γ□) Tame-RiYu ( Q -' ) -L, cos (false 10 μm2) 2 -) -L 5txs (%+A+ 1m-2) 2 yx=f(-L Icos α, +L, C05 (α ma+
β Proverb) -L, Can (α2+β, +γ,) H: Length α1. from the ground plane of the traveling device (1) to the first pivot axis (Q, ) in the normal direction thereof. β+, it:
The detection angle of each of the first to third detection devices (埒, α4), (iF1) with the entire tip of the packet (9) grounded at any point A (planes XI, yl) on the lt, fi diagonal α8.
βs, r Any point B on the slope surface that is different from the point A
(Xl, 3't) Tip of vc packet (9)? An arithmetic processing unit αQ is provided in which all the detection angles of the full 1 to 3 detection units α3, (14), and 09 are programmed in the grounded state, and the first
It is configured to input information from the third detection equipment U, En, 051, and the arithmetic processing unit ft QQ.
An excavation work vehicle characterized in that it is equipped with the above-mentioned kerato (9) penetration depth determined by f.