JPS6337212B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a boom that is pivotally connected to a traveling aircraft body equipped with a traveling device so as to be swingable up and down around a first pivot axis. An arm is pivotally connected to the arm so that the tip of the bucket, which is pivotally connected to the arm so as to be vertically swingable around the third pivot axis, protrudes in the normal direction from the slope surface on the slope. A first detection device detects the swing angle of the boom with respect to the traveling aircraft body, and a second detection device detects the swing angle of the arm with respect to the boom.
Based on the detection angles from the detection device and the third detection device that detects the swing angle of the bucket with respect to the arm, the following formula D=H'-L ₁ cos (α-φ) + L ₂ cos (α- φ+β
)−L ₃ cos(α−φ+β+γ) H′=−√ ₁ ² +( ₁ −) ²・cos(Θ+φ) x ₁ L ₁ cos(α ₁ −π/2)−L ₂ cos(α ₁ +β ₁ −π
/2) + L ₃ cos (α ₁ + β ₁ + γ ₁ − π/2) y ₁ = H − L ₁ cos α ₁ + L ₂ cos (α ₁ + β ₁ ) − L ₃ cos (
α ₁ + β ₁ + γ ₁ ) However, L ₁ : Boom length from the first axis to the second axis L ₂ : Arm length from the second axis to the third axis L ₃ : Third axis Lengths of the bucket from the top to the tip of the nail α, β _, γ: Angle detected by the _first to third detection devices respectively at the time when the bucket enters into _the slope Detection angle φ of each of the first to third detection devices when the tip of the bucket is grounded at point A (x ₁ , y ₁ ): Inclination angle of the excavated site along the swinging direction of the bucket H: Traveling device The present invention relates to a method for detecting excavation depth in an excavation work vehicle, which is calculated from the length from the ground contact surface to the first pivot axis in the normal direction.

According to the method for detecting the excavation depth in the excavation work vehicle described above, the plunge depth of the tip of the bucket changes every moment as the boom, arm, and bucket swing up and down, regardless of the slope of the excavated site. In other words, it is possible to accurately detect the depth of excavation on a sloped surface, and even if various types of pipes are buried, as long as the buried depth of the pipes is known, it will be safe without being accidentally damaged by a bucket. It also has the advantage of being able to excavate trenches of a predetermined depth accurately and well, improving work accuracy. If the angle between the two and According to the conventional technology, the inclination angle of the excavated site along the swinging direction is set as the rotation angle of the rotary shaft of a potentiometer, and the plunge depth of the tip of the bucket is calculated based on the set inclination angle. Each time the direction of swing of the bucket changes, the operation of the boom, arm, or bucket is interrupted, and the angle of inclination of the excavated site in the direction of swing of the bucket is measured, and the potentiometer is set to match the measured angle of inclination. This has the disadvantage that it is difficult to improve the efficiency of excavation work because it is necessary to reset the angle of inclination, making it complicated to handle.Moreover, there is a risk of making a mistake in setting the angle of inclination.

The present invention has been made in view of the above-mentioned circumstances, and focuses on the fact that the position of the tip of the bucket can be easily calculated based on the angle detection by the first, second, and third detection devices. Even if the direction changes,
To enable efficient excavation work by easily and accurately resetting the inclination angle of an excavated site in the swinging direction of a bucket.

A characteristic configuration of the present invention for achieving the above object is a method for detecting the excavation depth in the above-mentioned excavation work vehicle, in which the point A (x ₁ , y ₁ ) and the rocking path of the bucket are Any point B (x ₂ , y ₂ ) other than the above point A (x ₁ , y ₂ ) on the slope that intersects the virtual plane containing
Ground the tip of the bucket and use the following formula. x ₂ = L ₁ cos (α ₂ − π/2) − L ₃ cos (α ₂ + β ₂ −
π/2) + L ₃ cos (α ₂ + β ₂ + γ ₂ − π/2) y ₂ = H − L ₁ cos α ₂ + L ₂ cos (α ₂ + β ₂ ) − L ₃ cos (
α ₂ + β ₂ + γ _{2 )} α _{2 ,} β ₂ , γ ₂ : The first to The inclination angle φ of the excavated site is determined from the detection angle of each of the third detection devices, and the plunge depth D is calculated, and this configuration provides the following effects.

That is, when the swinging direction of the bucket tot changes, the tip of the bucket can be grounded at any two points on the slope of the excavation site along the swinging direction of the bucket without interrupting operations on the boom, arm, or bucket tot. The positions of these two points are calculated based on the detection results of the first, second, and third detection devices, and the inclination angle φ of the excavated area in the swinging direction of the bucket is calculated from the positions of these two points. The plunging depth D of the tip of the bucket is calculated based on the inclination angle φ.

Therefore, there is no need to separately measure the inclination angle φ or reset the potentiometer to match the measured inclination angle φ, so you can easily and accurately set the amount without making a mistake. The inclination angle φ of the excavated area can be reset, which has the effect of allowing efficient excavation work.

In particular, according to the method of the present invention, excavation work can be performed without interrupting the operation of the boom, arm, or bucket, so the operating feeling can be maintained continuously, and the advantage is that the excavation work can be performed more efficiently and safely. There is.

Hereinafter, embodiments of the present invention will be described in detail based on illustrative drawings.

A vertical axis is attached to a traveling vehicle body equipped with a crawler traveling device 1.
A swivel base 2 is provided so as to be able to freely rotate around P ₁ , a control section 3 is provided on the swivel base 2, and a vertical axis is attached to the front part of the swivel base 2.
A swing bracket 4 is provided to freely rotate around P ₂ ,
Attach the drilling device 5 to the swing bracket 4, and on the other hand,
An earth removal device 6 is provided on the traveling body so that the earth removal device 6 can be driven and swung up and down, and the excavation work vehicle is constructed so that it can perform both ground excavation and earth removal work even though it is a single vehicle.

To configure the excavation equipment 5, a boom 7 is pivotally connected to the swing bracket 4 so as to be able to swing up and down about a first pivot axis _Q1 , and a boom 7 is pivotally connected to the boom 7 about a second pivot axis _Q1 . An arm 8 is pivotally connected to the arm 8, and a bucket 9 is pivotally connected to the arm 8 so as to be pivotable about a third pivot axis _Q3 . First to third hydraulic cylinders 10, 11, and 12 are interposed between the arm 8 and the arm 8 and the bucket 9, respectively, and the boom 7, the arm 8, and the bucket 9 are driven and oscillated to perform ground excavation work. It is structured as follows.

The first pivot axis _Q1 is the first pivot axis of the boom 7 with respect to the normal direction of the ground contact surface of the traveling device 1.
A volume-type first sensor detects the swing angle α of the first virtual straight line connecting Q ₁ and the second pivot axis Q ₂ by voltage change.
A detection device 13 is attached, and the second and third pivot axes Q ₂ and Q ₃ are connected to the second and third pivot axes Q ₂ and Q 3 of the arm 8 with respect to the first virtual straight line of the boom 7, respectively. A swing angle β of a second imaginary straight line connecting the axis Q ₃ and a third pivot axis Q 3 connecting the third pivot axis Q ₃ of the bucket 9 with respect to the second imaginary straight line of the arm 8 and the tip of the claw of the bucket 9. Second and third detection devices 14, 1 that detect the swing angle γ of the virtual straight line, respectively, by voltage changes.
5 is attached.

The control section 3 includes an arithmetic processing device 16 and a display device 1.
7, the first to third detection devices 13,
The signals from 14 and 15 are input to the arithmetic processing unit 16 to calculate the plunge depth of the tip of the bucket 9 from the ground surface, that is, the excavation depth, and the calculation result is displayed on the display device 17. Next, a calculation formula for determining the plunging depth D of the bucket 9, which is programmed into the arithmetic processing unit 16, will be explained.

As shown in FIG. 2, if we consider the ground contact surface of the traveling device 1 as a reference line in an x-y coordinate system, the bucket 9
The position of the tip (x, y) is x = L ₁ cos (α - π / 2) - L ₂ cos (α + β -
π/2)+L ₃ cos(α+β+γ−π/2)−(1) y=H−L ₁ cosα+L ₂ cos(α+β)−L ₃ cos(α+β+γ)−(2).

Here, L ₁ : Boom 7 from the first axis Q ₁ to the second axis Q ₂
Length L ₂ : Arm 8 from second axis Q ₂ to third axis Q ₃
Length L ₃ : Length of the bucket 9 from the third axis Q ₃ to the tip of the claw 9a H: Length from the ground plane of the traveling device 1 to the first axis Q ₁ in its normal direction (1) and Based on equation (2), two points A (x ₁ ,
y ₁ ) and B (x ₂ , y ₂ ), the detected rocking angles of the booms 7, 8, and 9 in their respective ground states are A{α ₁ , β ₁ ,
γ ₁ }, B{α ₂ , β ₂ , γ ₂ }, x ₁ = L ₁ cos(α ₁ −π/2)−L ₂ cos(α ₁ +β
₁ −π/2+L ₃ cos(α ₁ +β ₁ +γ ₁ −π/2)−(3) y ₁ =H−L ₁ cosα ₁ +L ₂ cos(α ₁ +β ₁ )−L ₃ c
os (α ₁ + β ₁ + γ ₁ ) − (4) x ₂ = L ₁ cos (α ₂ − π/2) + L ₂ cos (α ₂ + β
₂ −π/2)−(5) y ₂ =H−L ₁ cosα ₂ +L ₂ cos(α ₂ +β ₂ )−L ₃ c
The numerical value is specified as os(α ₂ +β ₂ +γ ₂ )−(6).

Then, from the above two points A (x ₁ , y ₁ ) and B (x ₂ , y ₂ ), the slope angle of the excavated area is The inclination angle is determined from equations (3) to (6).

Next, convert it to an x'-y' coordinate system with the slope of the excavated area as the reference line, and calculate the plunge depth D of the tip of the bucket 9.
Consider the y′ component.

If the angle Θ between the y-axis and the straight line connecting the first pivot axis Q ₁ and the point A (x ₁ , y ₁ ) and the elevation angle α' of the boom 7 with respect to the y' axis are determined, α′=α− −(9).

Then, the length H' of the perpendicular drawn from the first pivot axis Q ₁ to the x' axis is H' = √ ₁ ² + ( ₁ -) ²・cos (180° - Θ +
)=−√ ₁ ² + ( ₁ −) ²・cos(Θ+φ)−(10), and by substituting equations (7) and (8), becomes. The plunge depth D of the tip of the bucket 9 is D=H'-L ₁ cos α'+L ₂ cos (α'+β)-L ₃ cos
(α′+β+γ), and by substituting and rearranging equation (9), we get D=H′−L ₁ cos(α−)+L ₂ cos(α−+β
)−L ₃ cos(α−+β+γ), and from equations (7) and (11), the depth D is α, β, and γ.
It is calculated every moment by the arithmetic processing unit 16 based on the above. The depth D thus calculated is displayed on the display device 17 every moment.

In addition, to display the depth, the depth to be excavated is set appropriately, the above-mentioned depth D is subtracted from the set depth, and the remaining depth until the set depth is reached is displayed. It's okay. In addition, on the screen of the display device 17, the cross-sectional shape of the excavated area, the excavation work vehicle, and the operations of the boom 7, arm 8, and bucket 9 are displayed on the screen of the display device 17, in addition to the depth, so that the excavation status can be more easily understood visually. It is also possible to do so.

The first to third detection devices 13, 14, 15
The first to third cylinders 10, 1, respectively.
The swing angle of each of the boom 7, the arm 8, and the bucket belt 9 may be detected by detecting the amount of expansion and contraction of each of the boom 7, the arm 8, and the bucket belt 9.

According to the present invention, the tip of the claw of the bucket 9 is set at two points A.
(x ₁ , y ₁ ), B (x ₂ , y ₂ ), thereby
This is to find the inclination angle of the excavated ground with respect to the traveling machine, and is used when excavating horizontal ground that is almost the same as the ground plane of the traveling machine, as shown in Figure 3 A, or when excavating horizontal ground that is almost the same as the ground contact surface of the traveling machine, as shown in Figure 3 B. In both cases, when excavating a sloped surface with the same slope that is connected to the ground plane of the traveling aircraft, the calculated slope angle is zero,
It can be applied virtually without any problems, and can also be used well even when the traveling device 1 runs onto a bump, stone, etc., and the traveling device side is inclined with respect to the excavated ground, as shown in Fig. 3 C. It can be applied well regardless of the slope of the excavated area or the vehicle. 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 the drawing]

The drawings are diagrams illustrating a method for detecting excavation depth in an excavation vehicle according to the present invention. FIG. 1 is an overall side view of the excavation vehicle, and FIG. 2 is a diagram showing the principle of the excavation depth calculation method. 3A, 3B, and 3C are explanatory diagrams showing various types of usage, respectively. 1... Traveling device, 7... Boom, 8... Arm, 9... Bucket, 13... First detection device, 1
4...Second detection device, 15...Third detection device, 1
6... Arithmetic processing unit, 17... Display device, Q ₁ ...
...First pivot axis, Q ₂ ...Second pivot axis, Q ₃ ...
Third pivot axis.

Claims (1)

[Claims] 1. A first pivot axis in a traveling aircraft body equipped with a traveling device 1.
An arm ₈ is pivotally connected to the boom 7, which is pivotally connected to the boom 7 so as to be vertically swingable around the second pivot axis _Q2 , and a third pivot is connected to the arm 8. The plunge depth D of the tip of the bucket belt 9, which is pivotally connected around the axis _Q3 so as to be vertically swingable, in the normal direction from the slope surface on the slope is determined by the rocking of the boom 7 with respect to the traveling aircraft. a first detection device 13 that detects a movement angle; and a first detection device 13 that detects a movement angle;
Based on the detection angles from the second detection device 14, which detects the swing angle of the bucket belt 9, and the third detection device 15, which detects the swing angle of the bucket bag 9 with respect to the arm 8, the following formula D=H'-L ₁ cos(α−φ)＋L ₂ cos(α−φ＋β
)−L ₃ cos(α−φ+β+γ) H′=−√ ₁ ² +( ₁ −) ²・cos(Θ+φ) x ₁ = L ₁ cos (α ₁ − π/2) − L ₂ cos (α ₁ + β ₁ −
π/2) + L ₃ cos (α ₁ + β ₁ + γ ₁ − π/2) y ₁ = H − L ₁ cos α ₁ + L ₂ cos (α ₁ + β ₁ ) − L ₃ cos (
α ₁ + β ₁ + γ ₁ ) However, L ₁ : Boom 7 from the first axis Q ₁ to the second axis Q ₂
Length L ₂ : Arm 8 from second axis Q ₂ to third axis Q ₃
Length L ₃ : Length α, β, γ of the bucket 9 from the third axis Q ₃ to the tip of the claw: The first to third detection devices 13,
Angle α ₁ , β ₁ , γ ₁ detected at steps 14 and 15 respectively: 1st to 3rd detection with the tip of bucket 9 grounded at any point A (x ₁ , y ₁ ) on the slope Detection angle φ of each of the devices 13, 14, and 15: Inclination angle H of the excavated area along the swinging direction of the bucket: Length from the ground plane of the traveling device 1 to the first pivot axis Q ₁ in the normal direction thereof A method for detecting excavation depth in an excavation work vehicle by calculating from the above, the point on an inclined surface intersecting a virtual plane including the point A (x ₁ , y ₁ ) and the swinging path of the bucket 9. Any _point B (x _{2 ,}
y ₂ ) with the tip of the bucket 9 grounded, and use the following formula. x ₂ = L ₁ cos (α ₂ − π/2) − L ₃ cos (α ₂ + β ₂ −
π/2) + L ₃ cos (α ₂ + β ₂ + γ ₂ − π/2) y ₂ = H − L ₁ cos α ₂ + L ₂ cos (α ₂ + β ₂ ) − L ₃ cos (
α ₂ + β ₂ + γ ₂ ) α ₂ , β ₂ , γ ₂ : The first point with the tip of the bucket 9 in contact with an arbitrary point B (x ₂ , y ₂ ) different from the point A on the slope or third detection device 13,1
4. A method for detecting excavation depth in an excavation work vehicle, characterized in that the inclination angle φ of the excavated site is determined from each of the detection angles 4 and 15, and the plunge depth D is calculated.