JPS6329000Y2 - - Google Patents

Description

[Detailed description of the invention] This invention is equipped with a swivel base that can rotate freely relative to the traveling vehicle body, and a swing bracket is attached to this swivel base so that it can swing left and right around the vertical axis and can be fixed. This invention relates to an excavation work vehicle in which an excavation work arm is attached to this swing bracket so that it can be driven vertically, oscillated, and bent.

In this type of excavation work vehicle, as shown in Japanese Patent Publication No. 57-43701, for example, the elevation angle of the boom with respect to the reference surface is determined by using the swivel base mounted on the traveling vehicle body as a reference surface. The angle of elevation of the arm attached to the tip of the boom with respect to the reference plane and the angle of elevation of the bucket attached to the tip of the arm with respect to the reference plane are detected, respectively, and the correlation between each angle of elevation and the length of the boom, arm, and bucket are determined. The position of the tip of the bucket was calculated based on the swivel table, but with a system like this that uses the swivel base as the reference plane, if the vehicle body is tilted back and forth on rough terrain, it is difficult to calculate the position of the tip of the bucket on a specific horizontal plane. Compared to calculating the height of the tip of the bucket based on the horizontal plane, the height of the tip of the bucket may be significantly different based on the horizontal plane.

Therefore, in order to avoid such inconvenience,
It is conceivable to install a tilt detection sensor on the swivel base to detect the tilt of the vehicle body with respect to the horizontal plane.
By simply providing the tilt detection sensor on the swivel table, it is difficult to accurately determine the height of the tip of the bucket of the excavation work arm attached to the swing bracket with respect to the horizontal plane as desired. . That is, as shown in Figure 3,
The arm for excavation work is attached to a swing bracket so that it can swing freely from side to side.
In other words, the swivel table is rotated 90 degrees in the X-X direction in the figure so that the vertical axis of the swing bracket is located on the left and right sides with respect to the traveling direction (arrow) of the traveling vehicle body, and excavation work is carried out in this state. In the case of usage in which the arm is turned 90 degrees in the Y-Y direction in the figure so that it follows the traveling direction of the vehicle, even if an inclination in the X-X direction with respect to the horizontal plane is detected, the It is meaningless to improve the accuracy of height detection of the bucket height of the excavation work arm with respect to the horizontal plane unless the inclination of the bucket with respect to the horizontal plane is detected.Therefore, in order to further improve the accuracy, it is necessary to There was a problem in that an infinite number of tilt detection sensors had to be installed along all directions of the range.

In view of the above-mentioned conventional situation, the purpose of the present invention is to easily and rationally improve the bucket height of the excavation work arm relative to the horizontal surface, regardless of the direction of the swing bracket relative to the vehicle body, and to The purpose is to enable detection with a simple structure without requiring a large number of sensors.

A characteristic configuration of the present invention is that, in the above-mentioned excavation work vehicle, a sensor is provided on the excavation work arm for detecting the rotation angle of the excavation work arm with respect to the reference plane using the swivel base as a reference plane, and A sensor is attached to the swing bracket to detect the inclination of the reference plane in the extending direction of the excavation work arm, and its functions and effects are as follows.

In other words, by simply attaching a vehicle body tilt angle detection sensor to the swing bracket, it is possible to improve
Since the inclination in the extending direction of the excavating arm is inevitably detected, the height of the bucket of the excavating arm relative to the horizontal plane can be accurately detected based on correct information, and as a result, Provides an excavation work vehicle that is capable of excavating to a desired depth accurately and reliably, or reliably avoiding collisions with other objects above the arm, and is superior in terms of performance and safety. Now I can do it. By the way, an arithmetic circuit is configured to detect the horizontal rotation angle of the swing bracket relative to the vehicle body, and based on the detected value, correct any deviations in the correction of detection errors in excavation depth and arm height due to vehicle body inclination. Although it is conceivable to improve the detection accuracy, problems in terms of configuration remain, such as increasing the number of angle detection sensors and complicating the arithmetic circuit. However, according to the present invention, the sensor for detecting vehicle body inclination transmits information after being appropriately corrected by itself, so there is no complication in terms of configuration or deterioration in terms of cost. , it is also excellent in terms of practical application.

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

As shown in FIG. 1, a swivel base 4 provided with a tower driving unit 2 and a driving unit 3 is attached to a traveling vehicle body 1 equipped with a pair of left and right crawler traveling devices so as to be able to freely drive and swivel the swivel base 4. The boom 7, the arm 8, and the excavation bucket 9 are moved around the horizontal axis Q by the hydraulic cylinder 10 through the swing bracket 6, which is rotatably operated and fixedly attached by the hydraulic cylinder 5 about the vertical axis P. An excavation work arm 11 connected in sequence around the periphery so as to be swingable is connected to the swivel table 4, and an earth removal device 13 that can be raised and lowered by a hydraulic cylinder 12 is installed on the traveling vehicle body 1 side. In addition, the excavation vehicle is also capable of soil removal work.

The excavation work arm 11 includes a second
As shown in the figure, a potentiometer type switch is used to detect the relative swing angles of the swing bracket 6 and the boom 7, the boom 7 and the arm 8, and the arm 8 and the excavation bucket 9 around the horizontal axis Q. 1, 2nd, and 3rd sensors 14a, 14b, and 14c are attached to their connection points, respectively, and a weight is used to detect the inclination angle of the excavation work arm 11 in its extending direction due to the inclination of the vehicle body. type tilt sensor 1
5 is attached to the side surface of the swing bracket 6. Then, based on the detection results of the first, second, and third sensors 14a, 14b, and 14c and the lengths of the boom 7, arm 8, and bucket 9 stored in advance, the tip of the bucket 9 and the bucket 9 are A device 16 is provided that calculates the heights of the connecting portion between the arm 8 and the boom 7, and the connecting portion between the arm 8 and the boom 7, using the swivel base 4 as a reference plane and calculating the displacement amount in the vertical direction with respect to this reference plane. At the same time, the excavation work arm 1 is adjusted based on the information from the inclination sensor 15 based on the calculation result of the device 16.
An auxiliary calculation device 17 is provided to correct errors due to vehicle body inclination in the extending direction of the excavator 1, and a device 18 is provided to display the height above ground of each part of the excavation device 11 in drawings, numerical values, etc. based on information from the device 17. Provided in the driving section 2,
Therefore, the structure is such that the operator can recognize the depth of excavation and the height of the top of the excavation device 11, and can accurately recognize the depth of excavation and the height of the top of the excavation device 11, regardless of whether the swing bracket 6 is oriented toward the vehicle body. .

In addition, it is possible to replace the excavation bucket 9 with a face shovel type instead of a backhoe type, use another excavation device, or change the drive configuration of the excavation work unit, arm 8, and boom 7. additions and other various configuration changes are possible, and therefore they are referred to as the excavation work arm 11.

Further, sensors 14a, 14b, 14c for detecting the rotation angle of each part of the excavation work arm 11 are as follows:
Instead of the potentiometer type, various types such as an electromagnetic induction type and a photocell type can be used, and these sensors 14a, 14b, 14
The specific attached structure of c can also be modified in various ways.

Furthermore, a sensor 15 for detecting the vehicle body inclination angle
However, instead of the weight type, various types such as a liquid level detection type can be applied, and the specific mounting structure of the sensor 15 to the swing bracket 6 can also be changed in various configurations.

Moreover, each sensor 14a, 14b, 14c, 15
The method and configuration for calculating the height above the ground of the arm 11 such as the excavation depth can be selected as appropriate based on the information from the device 18 that displays the height of the arm 11.
Also, the configuration can be arbitrarily changed in its specific display format, etc.

The present invention is intended for various types of excavation vehicles such as full swing type and partial swing type.

[Brief explanation of the drawing]

The drawings illustrate an embodiment of the inclination detection section of the excavation work vehicle according to the present invention, in which Fig. 1 is an overall side view, Fig. 2 is a schematic diagram showing the arm height detection and display structure, and Fig. 3 is an illustration of the working form. It is a schematic plan view showing an example. DESCRIPTION OF SYMBOLS 1... Traveling vehicle body, 4... Swivel base, 6... Swing bracket, 11... Arm for excavation work, 15
...Tilt angle detection sensor, 14a, 14b, 14
c...Sensor for detecting rotation angle, 18...Display device, P...Vertical axis center.

Claims (1)

[Scope of utility model registration request] A swivel base 4 that is rotatable relative to the traveling vehicle body 1 is mounted, and a swing bracket 6 is attached to the swivel base 4 so as to be swingable and fixed to the left and right around the vertical axis P, and to the swing bracket 6, In the excavation work vehicle in which the excavation work arm 11 is attached so as to be able to move up and down and drive and bend, the swivel base 4
a sensor 14 that detects the rotation angle of the excavation work arm 11 with respect to the reference plane;
a, 14b, 14c are the excavation work arm 1
a sensor 15 for detecting the inclination in the extending direction of the excavation work arm 11 among the inclinations of the reference plane with respect to the horizontal plane;
An inclination detection unit for an excavation work vehicle, characterized in that: is attached to the swing bracket 6.