JPS61146930A - Backhoe working vehicle - Google Patents

Abstract

PURPOSE:To simply determine an overload and to perform rectilinear excavation, by a method wherein, when an arm is not moved by a specified angle or more during a specified time or more, it is judged to be an overload state, alarm is sounded or automatic rake-in of a bucket is performed. CONSTITUTION:Angles theta1, theta2, and theta3 of an boom 7, an arm 8, and a bucket 9 are detected by means of sensors, S1, S2, and S3, and after the detecting values theta1-theta3 are inputted to a computer 16, a preset set excavating condition is compared with a present excavating state to determine a deviation. The deviation is inputted to a control device 15, and actuators 3, 6, 10, and 11 are controlled so that the deviation is decreased to 0. When the sensor S2 detects that the arm 8 is not moved by a set angle or more during a set time, a deciding circuit 20, judging that it is an overload, operates an alarming device 22 or causes the bucket 9 to automatically rake-in for rectilinear excavation.

Description

Detailed Description of the Invention [Industrial Application Field] The present invention provides a first sensor for detecting the vertical angle of a boom with respect to a vehicle body, and a second sensor that detects a boom angle of an arm relative to a vehicle body.
and a computing unit that calculates the position of the tip of the arm or bucket relative to the vehicle body based on the information from the first and second sensors, and compares the information from the computing unit with the information from the setting device. The present invention relates to a work vehicle that is equipped with an output device that emits a signal that activates each actuator so that the tip of the arm or bucket follows a predetermined trajectory.

Conventionally, the L-type work vehicle has been equipped with a pressure sensor dedicated to overload detection in order to detect overload caused when the tip of the bucket comes into contact with an obstacle in the soil during excavation.

[Problem that the invention seeks to solve]

However, when a dedicated pressure sensor is provided to detect overload, the overall structure becomes complicated.

An object of the present invention is to enable overload detection with a simple structure.

[Means for solving problems]

The characteristic structure of the back-up work vehicle of the present invention is an overload #4J constant device that determines overload if the tip of the arm does not move by one set angle plate within a set time based on information from the second sensor. The functions and effects are as follows.

[For production]

In other words, if an overload occurs when the tip of the bucket comes into contact with a button such as a large rock or obstacle in the soil during excavation, the position of the tip of the arm or bucket will not change much even if the boom is working; An overload is determined by the overload constant, which is originally determined using information from a second sensor provided in the aircraft.

[Effects of the Invention] Therefore, the configuration can be simplified and the information from the second sensor provided on the original aircraft body can be used for overload and J-setting without providing a pressure sensor exclusively for overload detection. K became available so that metal bars could be manufactured at low cost.

〔Example〕

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

As shown in Fig. 3, one swivel base (2) is attached to a machine base equipped with a pair of left and right crawler traveling devices, and is driven by a hydraulic motor F31K around the vertical axis (P) for self-swing operation. The boarding unit (4) and the driving unit (5) are mounted on the stand (2).
), and a boom (71
K s arm (8), bucket (9) on that arm +8), large hydraulic cylinders (10), (11)
The arm for excavation work (
12I, which constitutes a puncture work vehicle.

Potentiometer-type first to third detectors (14
a to d), and these first to d detectors (14
Based on the information from a-d), each hydraulic cylinder of the excavation work arm α +61, flol, (+1)K
Operations for /< /L/P(Vs, Vto, V
u), and h) A control device t f for automatically operating the operating pulp (control valve) for the swing motor (3) K in a state that corresponds to the front-back and left-right swinging operations of both levers (13a) and (13b) respectively.
i+ is provided, and these levers (13a) and (13
The construction is such that excavation work is performed by the cross-swing operation of b).

On the other hand, the first sensor (SL) detects the vertical angle (θρ) of the boom (7) with respect to the vehicle body, the second sensor (SL) detects the boom angle of the arm (8) with respect to the vehicle body, and the arm angle with respect to the bucket + 101. A J sensor (♀) that detects the
), (Sri, (based on the information from
) is provided with a computing unit 06) that computes the position of the excavation edge relative to the vehicle body.

Then, the control device compares the information from the computer end with the information from the setting device αη where the trajectory is set for horizontal excavation, and makes the tip of the bucket (9) follow the predetermined horizontal excavation trajectory. (15) K each hydraulic shilling +61, +1
01, (an output device that emits a signal to activate the river) is provided, and the structure is such that horizontal excavation can be performed by automatic control.

Furthermore, as shown in the flowchart of Fig. 2 and Fig. 1, based on the information from the % second sensor (time), the arm (8) has moved more than the set angle (EuO) within the set time (work 0). If there is no overload, an overload detector is installed to determine that there is an overload, and based on the overload detection by the overload detector, the bucket (9) is automatically raked at a certain angle to eliminate the overload. The system is equipped with a transmitter (21) that emits a signal to the control device (1) and activates an alarm.

In addition, the output device (l@), the control device (+5) and the transmitter (2υ
A switch (SW) that is manually operated intermittently is interposed between #'i' and the control device (Illi), and automatic horizontal excavation and manual excavation operation are controlled by the switch (SW)
The configuration can be switched freely by the operation of .

[Another embodiment] For the bucket (9), the Jth sensor f-(mi) may not be provided, and the excavation of the bucket (9) is calculated by the calculator Q@. Instead of the position of the edge relative to the vehicle body, the tip of the arm (8) may be located relative to the vehicle body.

The hydraulic cylinders (6), IO), (11) are referred to more or less simply as actuators.

[Brief explanation of drawings]

The drawings show an embodiment of a backbone work vehicle according to the present invention,
FIG. 1 is a schematic system diagram showing the excavation operation structure, FIG. 2 is a flowchart for overload determination, and FIG. 3 is an overall side view showing the horizontal excavation state. tel, Do), (river...actuator, (7)...boom, (8)...
Arm, +91...bucket), (+6)...
...Arithmetic unit, (Iη...Setting device, bet...
...Determiner, H...Output device, 4...Overload judge, (Euo)...Setting angle, (IO
)...-...Set time, (Sl, courtesy♀...Sensor (θρ, (θρ...Angle.

Claims (1)

[Claims] The first one detects the vertical angle (θ_1) of the boom (7) relative to the vehicle body.
A sensor (S_1) and a second sensor (S_2) for detecting the boom angle (θ_2) of the arm (8) are provided, and the first and second sensors (S_1), (S
A computing unit (16) is provided that calculates the position of the tip of the arm (8) or bucket (9) relative to the vehicle body based on information from the computing unit (16) and the setting unit (17).
an output device that emits a signal to operate each actuator (6), (10), (11) so that the tip of the arm (8) or bucket (9) follows a predetermined trajectory by comparing the information from the (19) in which the arm (8) does not move more than a set angle (EuO) within a set time (IO) based on information from the second sensor (S_2). The backhoe work vehicle is equipped with an overload determination device (20) that determines that the vehicle is overloaded.