JPS63277325A - Full-slewing type back hoe working vehicle - Google Patents

Abstract

PURPOSE:To reduce maloperation of a full-slewing type back hoe working vehicle by a method in which a boom is provided to the side of an operation control section, a sideward deviating mechanism is provided for a back hoe, a bucket is switched to a deviating attitude and positioned on the side of the slewing center, and the deviating attitude is controlled by a sequential operation control means. CONSTITUTION:A boom 10 is set on the side of an operation control section 4, and a sideward deviating mechanism 14 is provided to a back hoe device 6 for the fitting end 10a of a bucket 8 to the slewing base 7 of the boom 10. After the sideward deviation of the bucket 8 is detected by the action, the bucket 8 of non-deviated attitude is switched to deviation attitude, an arm 9 is put to a folded rocking action in relation to the boom 10, and the bucket 8 is switched to the deviated attitude on the side of the slewing base 7. A sequential operation control means A is provided which detects the movement of the bucket 8 to the forward position of the boom 10 due to the rocking toward the direction separating away from the boom 10 of the arm 9, thereby actuating the mechanism 14 and finally restore to a non-deviated attitude. The operation of the back hoe working vehicle can thus be relieved in operation steps.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a swivel platform provided with a backhoe device including a boarding and driving section, a driving section, and a bucket, an arm, and a boom that can be bent and swung relative to each other. This relates to a full-swing type backhoe work vehicle that is attached to the traveling body.

[Conventional technology]

Conventionally, in this type of fully rotating backhoe work vehicle,
The bucket, arm, and boom that make up the backhoe device were simply connected to each other so that they could fold and swing.

[Problem that the invention seeks to solve]

Therefore, when turning, the arm is folded and swung in a direction approaching the boom to place the bucket close to the front of the boom, and the boom is swung up to the upper limit position to allow the backhoe device to take the turning position. However, in this case, since the bucket cannot be positioned behind the boom, it may protrude beyond the swivel base when viewed from above, and the swivel radius may inevitably become larger. Therefore, in order to position the bucket throat within the plane of the swivel table, it is possible to raise the boom further than the upper limit position and increase the backward tilting position, but in this case, the backward tilting position will become larger. As a result, the space for placing the equipment behind the boom 1 is limited, and the equipment behind the boom protrudes outward from the plane of the swivel base, resulting in the problem that the turning radius cannot be reduced. was there.

By adding a new mechanism to the backhoe device, the present invention can make the turning radius during turning smaller, and eliminates the negative effects of providing this new mechanism by utilizing automatic control, The aim is to fully utilize this new mechanism.

[Means for solving problems]

Characteristic configurations according to the present invention include: (1) locating the boom laterally to the boarding and operating section; and (2) moving the bucket in parallel in the lateral direction of the swivel base with respect to the attachment end of the boom to the swivel base. A lateral displacement mechanism is provided in the hackhow device, and ■ When switching a bucket located in front of the boom and in a non-deflected position to an deviated position, the lateral displacement mechanism is activated to cause the bucket to laterally deviate. Then, the arm is folded in and swung relative to the boom, and the bucket is positioned on the opposite side of the boom's boarding and operating section, which is at the upper limit position, to the side of the center of rotation on the swivel base, and the bucket is deflected. ■ When switching from a deflected posture to a non-biased posture, it is detected that the bucket has moved in front of the boom due to swinging of the arm away from the boom, and then the bucket is moved sideways. The present invention has the following features: a sequential operation control means for activating the deflection mechanism and returning it to the non-deviation position; and its effects are as follows.

[For production]

■ By operating the lateral displacement mechanism, the bucket (8) is displaced laterally with respect to the boom (10) as shown in Fig. 4, and the displaced bucket (8) is then moved to the arm (9). ) by folding and swinging the boom (10
) on the side opposite to the boarding and operating section (4). Therefore, the bucket (8
) can be located further to the rear, the more the bucket (8) can be located in the plane of the swivel base (7). Moreover, since the deflection attitude of the bucket (8) is lateral to the turning center (y) of the turning table, it is possible to position the bucket (8) at the widest point of the turning table (7). Once again, the swivel base of the bucket (8) (
7) Protrusion from the plane can be suppressed.

◎ Furthermore, as described in feature configurations ■ and ■, when the lateral deflection mechanism (14) is operated, the bucket (8) is located on the lateral side of the boom (10). ,
When the bucket (8) is in the deflection position, the lateral deflection mechanism (
The position of the bucket (8) was confirmed to be the point where the bucket (8) would collide with the boom (10) if the lateral deflection mechanism (14) was activated (i.e., the point where the bucket (8) would collide with the boom (10) even if the lateral deflection mechanism (14) was activated). After confirming that the bucket (8) has moved to a point where collision can be avoided, the sequential operation side '4 moves on to the next operation.
1) By providing a means, the problem can be solved and the bucket can be smoothly reversibly switched from the non-deviated attitude to the deflected attitude.

〔Effect of the invention〕

According to the function (2), by providing a lateral deflection mechanism, it is easy to keep the bucket position within the plane of the swivel base without the boom tilting too much backwards, which makes it easier to place equipment located behind the boom. It has the advantage that it does not require any changes.

Moreover, by positioning this bucket not only on the side of the boom (but also on the side and side of the center of rotation), the bucket can be positioned in the widest space from the orientation of the bucket and the position of the rotation base. This made it possible to contribute to a smaller turning radius.

In addition, due to the effect ◎, by introducing the sequential operation control means, compared to the case where the driver changes the position to the deflected position while visually checking the bucket position, there are fewer operational errors, and the work burden on the driver can be reduced accordingly. At the same time, the bucket does not enter the boarding/driving section, which contributes to the safety of the driver's work.

〔Example〕

As shown in Fig. 2, for a traveling aircraft (2) equipped with a crawler type traveling device (1) and a dozer device (3), a boarding operation section (4), a driving section (5), and a backhoe device are provided. A full-swivel type swivel base (7) is attached to form a backhoe work vehicle that can also perform earth removal work.

The backhoe device (6) includes an arm (9) having a bucket (8) pivotably supported at its tip so as to be able to bend and swing around a horizontal axis;
This arm (9) is composed of a boom (10) which is pivoted at its tip so that it can be bent and swung around a horizontal axis.
) is pivotally supported on the lateral side of the boarding/driving section (4) so as to be able to swing up and down.

In Figure 2, (C1) is a hydraulic cylinder that swings the boom (10) up and down, and (C2) is a hydraulic cylinder that moves the arm (9) to the boom (
10) is a hydraulic cylinder that bends and oscillates with respect to (
C3) is a hydraulic cylinder that bends and swings the bucket (8) with respect to the arm (10).

Next, as shown in Figures 1 and 2, the bucket (8) is attached to the attachment end (7) of the boom (10) to the swivel base (7).
The lateral displacement mechanism (14) that causes the swivel table (7) to move in parallel in the lateral direction with respect to 10a) will be explained.

The boom (10) is attached to the mounting end (1) to the swivel base (7).
The proximal end (10^) containing 0a) and this proximal end (IOA
) is connected to the tip of the boom swing axis so as to be relatively swingable around the axis (X) perpendicular to the boom swing axis, and the tip of this intermediate part (IOB) is connected to the boom swing axis parallel to the axis (X). The arm (9) is connected to the tip (IOC) so as to be bendable and swingable. Therefore, the boom (10)
The intermediate part (IOB) is swingable in the lateral direction of the swivel base (7) with respect to the base end part (IOA).

With respect to such a bent structure of the boom (10), there is a possibility that the intermediate part (IOB) swings relative to the base end (IOA) between the base end (IOA) and the intermediate part (IOB). A boom bending cylinder (C4) is installed to expose the boom. A connecting rod (15) is installed between the proximal end (IOA) and the distal end (IOC) to allow relative rocking of both (10^) and (IOC), and the proximal end (10^) Intermediate section (IOB) and connecting rondo (15
), and these intermediate parts (IOB) and connecting rondos (15
) and the tip (IOC) that connects the tips of the two parallel 4
Continuous links are configured.

Therefore, when the boom bending cylinder (C4) is set to the standard length, the boom (10) and arm (9) are in the normal posture along the front and back direction of the swivel base (7), and in this state, the bucket ( 8) is in an undeflected position located in front of the boom (10). When the boom bending cylinder (C4) is expanded or contracted in this state, the intermediate part (IOB) bends and swings in the lateral direction of the swivel table, and the bucket (8) moves into the boom (
10) and at the same time the arm (9)
When the bucket (8) is folded in and swung, the boom (10
) on the side opposite to the boarding control section (4) and switches to the deflected attitude. In this case, the lateral displacement mechanism (14) is parallel 4
Since it is a linked link type, the tip end (IOC) is maintained parallel to the base end (IOA), and the bucket (8) is kept parallel to the attachment end (10a) of the boom (10). It is moving parallel to the lateral direction of the swivel table (7).

Next, the sequential operation control means (A) employed when switching the bucket (8) from the unbiased attitude to the deflected attitude, or vice versa, will be explained with reference to a flow chart. First, to explain the sensor relationship necessary for control, the bucket (8
), a gravity-type horizontal sensor (
11), an arm swing angle detection sensor (12) and a boom (1
o) A boom swing angle detection sensor (13) is located at the swing axis position of the mounting end (10a) relative to the swivel base (7), and a connecting swing between the intermediate part (10B) and the base end (IOA) of the boom. A lateral deviation angle detection sensor (16) that detects the bending angle of the intermediate part (IOB) with respect to the base end (IOA) at the dynamic fulcrum position and indicates the amount of lateral deviation of the bucket (8), and arm swing angle setting Vessel (17
), a boom swing angle setter (18), a boom upper limit limit (19) that detects the upper limit position of the boom (1o), and an arm folding swing that detects the folding swing end of the arm (9) relative to the boom (10). moving end limit l-(20), respectively.
It is provided. A control device built into a computer f! receives signals from these sensors and controls the operation of each hydraulic cylinder.
(21) is provided. Above, sensor, control device (2
1), and means (A) for sequential operation control of hydraulic cylinders, etc.
It is called.

As shown in the main flow diagram in Fig. 6, when the swing switch is operated, swing control is performed, and the status return control automatically returns the flaps 7) and (8) to their pre-swing positions. . On the other hand, during the excavation work, the lateral deflection mechanism (14) operates, and it
), that is, if the bucket (8) exceeds the second set angle of lateral deviation toward the boarding operation part (4), the boarding operation of the bucket (8) Part (4)
It is configured to perform intrusion avoidance control.

First, turning control will be explained. First, Figure 8 (a)
As shown, boom (10) to upper limit mint (19)
At the same time, raise the arm (9) until it operates.
) fold in and swing. Arm (9) is bucket (8)
The boom (10) is folded and swung to a first set angle within a range that does not collide with the boom (10). ``When the arm (9) reaches the first setting angle, it stops swinging and the lateral displacement mechanism (14) is activated.The bucket (8) is laterally displaced with respect to the boom (10), causing the lateral displacement. When the detection angle reaches the first set angle, the lateral displacement mechanism (14) is stopped, the arm (9) is folded and swung again, and when the arm detection angle reaches the second set angle, the arm (9) is stopped, and the bucket/7 (8) can be set in a deflected position (the second setting angle for this arm may be the same angle as the arm folding swing end).

In the case of this swing control, as shown in Fig. 8 (b), the bucket (8) is always controlled based on the detection result of the horizontal sensor (11), and the bucket (8) is maintained in a horizontal position to prevent leakage of earth and sand. The structure is designed to suppress

In the case of the status return control shown in FIG. 9, the swivel table (7) is returned to the pre-swing position, and then the boom (10), which is at a position corresponding to the deflected attitude of the bucket (8), is lowered. At the same time, first, the arm (9) is swung forward to the first set angle in a direction away from the boom (1o) and then stopped once.

Therefore, the lateral deflection mechanism (14) is activated and the boom (9)
When it returns to its current position before the rotation control, its operation is stopped. Then, the arm (9) is swung forward again to return to the original swiveling angle position stored in the computer. Now the bucket (8), arm (9), boom (10)
has returned to its current position before the turn.

Next, the lateral deflection mechanism (14) is actuated to make the bucket (
When excavating ditches by horizontally deflecting the boom mounting end (10a) by an arbitrary amount to the left or right, the bucket (8) may be damaged due to operator error. 4) Earth and sand may enter the boarding and operating section (4). In such a case, the lateral deviation detection angle is
If the set angle is exceeded, the bucket (8) is assumed to be intruding into the boarding/driving part (4), and control is performed to avoid the bucket from entering the boarding/driving part (4). First, in this control, if both the boom (10) and the arm (9) exceed the set angle in Figure 3, the bucket (8) is
), the boom (10) and arm (9) are raised and the lateral deflection mechanism (14) is operated. If at least one of the boom (10) and the arm (9) does not correspond to the set angle or the third set angle, the bucket boarding operation unit intrusion avoidance control is not performed.

The control mode described above is configured to be performed according to the main flow diagram of FIG. 6.

[Another Example] ■ Here, the non-deviated attitude means that the bucket (8) is at the upper limit position of the boom (10) on the opposite side of the boarding and operating section (4), and is positioned next to the center of rotation (Y) on the rotating base. This includes all postures other than the lateral deviation posture.

◎ As a mechanism for laterally deflecting the bucket (8), the entire boom (10) may be bent and swung from the end (10a) attached to the swivel base (7), or the arm (9) may be It may be possible to bend and swing only the part.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the full swing type backhoe work vehicle according to the present invention, FIG. 1 is a plan view showing a bucket laterally displaced by the operation of the lateral displacement mechanism, FIG. 2 is an overall side view, and FIG. 4 is a plan view corresponding to FIG. 3, FIG. 5 is a control block diagram, and FIG.
The figure is a main flow diagram of the overall control, Figure 7 is a subroutine diagram for the control to avoid intrusion into the bucket boarding operation section, and Figure 8
Figure (A) is a flowchart showing the transition of the bucket deflection attitude during turning, Figure 8 (4) is an interrupt flow diagram in horizontal control of the bucket, and Figure 9 is a flowchart showing the transition from the bucket deflection attitude to the original unbiased attitude. It is a flowchart when returning to the normal posture. 6)・・・・・・
・Backhoe device, (7)...Swivel stand, (8)
...Bucket, (9) ...Arm, (
10)...Boom, (10a)...Mounting end, (14)...Lateral deflection mechanism, (A)...
...Sequential operation control means.

Claims (1)

[Claims] A swinging device equipped with a backhoe device (6) that includes a boarding and driving section (4), a driving section (5), and a bucket (8), an arm (9), and a boom (10) that can be bent and swung relative to each other. A fully rotating backhoe work vehicle in which a platform (7) is mounted on a traveling body (2), wherein the boom (10)
is located on the lateral side of the boarding operation section (4), and the bucket (8) is positioned on the swivel base (7) against the attachment end (10a) of the boom (10) to the swivel base (7). A lateral displacement mechanism (14) for transverse translation is provided in the backhoe device (6), and when the bucket (8) located in front of the boom (10) and in the non-deflected position is switched to the deviated position. detects that the bucket (8) is laterally displaced by operating the lateral displacement mechanism (14), and then moves the arm (9) to the boom (
10) and swing it to position the bucket (8) on the opposite side of the boom boarding and operating section (4) which is at the upper limit position, to the side of the center of rotation on the swivel base, and switch to the deflected position. At the same time, when switching from the biased attitude to the non-biased attitude, the bucket (8) is moved away from the boom (10) by swinging the arm (9) in the direction away from the boom (10).
The lateral displacement mechanism (14
) to return to the non-deviated posture (A
) Full swing type backhoe work vehicle.