JPS6355222A - Slewing type back-hoe - Google Patents

Abstract

PURPOSE:To permit a slewing type back-hoe to stop on a set position by providing a means by which to select automatically a slewing automatic stopping mode according to the length of arm on the basis of information from a detector for the expanding and contracting length of the expandible arm and then to give an indication to a mode setter. CONSTITUTION:As the second arm 9 is extended, the inertia during slewing of a back hoe device 27 consisting of the first arm 7, the second arm 9, and a bucket 11 becomes greater. By a mode indicator 26, a mode of moderate reduction speed on the basis of information from a detector 16 for the expanding and contracting length of the arm 9 is indicated to a mode setter 25 to stop the device 27 on a set position. As the arm 9 is contracted, the inertia during slewing of the device 27 becomes smaller. The mode indicator 26 gives an indication of rapid mode of reduction speed to the mode setter 25 and tops it at a set position.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a backhoe device equipped with a telescoping arm on a swivel base, and the swivel base is installed on a traveling vehicle body so as to be rotatable to the left and right. A control device is provided to automatically stop the swivel at either the left or right set stop position, and an automatic swing stop mode is set as a function of the speed during deceleration and the swing angle in order to automatically stop the swivel base at the set stop position. The present invention relates to a swing type backhoe in which the control device is provided with a mode setting section for controlling the mode setting section.

[Conventional technology]

Conventionally, in the above-mentioned swing type backhoe, only one swing automatic stop mode has been set in the mode setting section.

[Problem that the invention seeks to solve]

However, as the telescoping arm extends and retracts, the automatic stop control is always performed in the same automatic stop mode regardless of the change in inertia when the backhoe equipment turns, so the turning base is moved closer to the set stop position. There were cases where the aircraft stopped at a certain position or overshooted.

An object of the present invention is to make it possible to stop the swivel base at the set floating position even if the telescoping arm is extended or contracted.

[Means for resolving the gap]

The characteristic configuration of the swing type backhoe of the present invention is that a detection means for detecting the telescopic length of the telescoping arm is provided, and based on the information from the detection means, the automatic swing stop mode is automatically set according to the length of the telescoping arm. The mode instructing means is provided for instructing the mode setting section to selectively select a mode, and its operation and effect are as follows.

[For production]

Since the automatic rotation stop mode corresponding to the length of the telescopic arm is automatically selected by the mode instruction means and instructed to the mode setting section, the inertia of the backhoe device installed on the rotation base is reduced. Even if the rotation table changes due to the expansion and contraction of the telescopic arm, the swivel table can be stopped at the set stop position without stopping in front or overshooting.

〔Effect of the invention〕

Therefore, it is possible to stop at the target stop position accurately and efficiently. Furthermore, for example, the mode setting section may be provided with a plurality of artificial mode instructing means for individually instructing different automatic turning stop modes, and one of the artificial mode instructing means may be selectively activated. However, in this case, there is a risk of overshooting and colliding with another object due to an operation error or setting error.In contrast, the present invention automatically extends and retracts by simply adjusting the telescoping arm. Since the rotation automatic stop mode is set according to the length of the arm, it is easy to operate, eliminates setting errors, and improves safety.

〔Example〕

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

As shown in FIG. 3, a supporting arm (2a) of a discharge plate (2) is attached to a running machine platform equipped with a crawler traveling device (1). The swivel base 4) is mounted so that it can be raised and lowered by a hydraulic cylinder (3), and the swivel base 4) is mounted so that it can be rotated around the vertical axis (X,) by a hydraulic motor (not shown).
The first arm supporting bracket (5) is attached to the hydraulic cylinder (6) so as to be rotatable around the vertical axis (X), and the first arm (7) is attached to the ), the first
The second arm (9) is attached to the arm (7) using a hydraulic cylinder QO.
It is attached to the second arm (9) so that it can be swung by the
A backhoe working vehicle that can also be used as a dozer is constructed by attaching the packet α so that it can be swung by a hydraulic cylinder, thereby performing earth removal work and ground excavation work.

As shown in FIGS. 3 and 4, the second arm (9)
To in9, connect the square cylindrical inner arm part (9a) with the packet (b) attached to the tip, and the square cylindrical outer arm part (9a) whose lower end is pivoted to the first arm (7). 9b), and the inner arm 2, the part (9a
) is installed between both arm parts (9a) and (9'b), and with this,
By expanding and contracting the second arm (9), the operation #L# of the bucket (Ql) can be changed in order to excavate the bottom of a trench with different depths, etc.

A plurality of limit switches α1 are provided on the inner surface of the inner arm portion (9a) at equal intervals in the length direction, and a limit switch q3 is installed on the hydraulic cylinder αυ as the hydraulic cylinder α expands. A dog plate (14) that is sequentially brought into the state is installed along its longitudinal direction,
Detection means 0Q for detecting the extension/rotation length of the second arm (9)
It consists of:

To configure the swing operation structure, as shown in Fig. 1, a potentiometer-type detection device (G) for detecting the operation state of the swing operation bar α is attached to the rotation drive part of the swing base (4). A rotary encoder type detector 4 is attached to detect the rotation angle (θ) of the swivel base (4) with respect to the longitudinal reference line (ri) of the traveling vehicle body.

When the manual switching device (1), which selectively switches between the manual turning operation state and the automatic turning operation state, is in the manual turning operation state, the manual switching device (1), which selectively switches between the manual turning operation state and the automatic turning operation state, uses the information from the operation state detection device (g). , in the direction corresponding to the operating direction of lever αη,
At the same time, the swivel base (4
) for turning operation 'I! Magnetic proportional control pa
7′? A command is given to the valve control (E) of υ, and on the other hand, when the manual switching device (1) is in the automatic turning operation state, a command is given from the operation state detection device (G) and the vehicle body angle detector α Based on the information, the swivel base (4) is rotated in a direction corresponding to the operating direction of the lever α and in a preset speed change state with the lever operation as a start command, and furthermore, the two setting devices (23A), (2
3B) to the valve controller 4 in order to stop the swivel base (4) at the set stop position (θa) when turning left or the set stop position (θb) when turning right, which has been manually set respectively. A control device consisting of a microcomputer that automatically issues commands is installed.

As shown in FIG. 2, by using the automatic turning operation state of the pick, the repeated turning operation between the fixed excavation position and the fixed ejection position Q3) can be carried out using the double-membrane measuring device (23A), (
23B) and the overtime command operation for the lever α force.

Push-button left setting switch 1&1 for instructing the left and right projectors (23A) and (23E) to set values separately.
and a right side setting switch +bl.

In the control device (c), a left and right setting device (23A),
(23B) indicates the open setting stop position (θs, (θb)
In order to automatically stop the swivel base (4), a mode setting unit (c) for setting an automatic rotation stop mode as a function of the speed during deceleration) and the rotation angle (θe) of the remaining table is connected to the control device (c). c), and based on the information from the detection means α, the length L of the second arm (9) is determined as shown in FIG.
Rotation automatic stop mode (N=0...M) according to EA)
Mode instructing means (to) for automatically selecting a mode and instructing the mode setting section) is provided.

As the knob and second arm (9) are extended,
First arm (7), second arm (9) and bucket αυ
Since the inertia of the backhoe device Shu, which consists of Set stop position (θa)
, (θb), and the second arm (9)
As the backhoe device (b) is shortened, the inertia during turning of the backhoe device (b) becomes smaller.
This automatically instructs the mode setting section () to a mode with a steep deceleration, so that it automatically stops at the set stop position (θa), (θ1)) without stopping at the front position. The operation is shown in the flowchart of FIG. 6 and the control mode pattern of FIG.

In addition, in the sensing shown in FIG. 6, sensing of the extension/contraction state of the second arm (9) is added, and the control Y-chin is as follows:
Let LEA be the length of the telescopic arm and LQ...LM be an arbitrary identification value, N-0: O≦LFA < LO N-1: L○≦LEA < LI N-M: LM-1≦LEA < A control operation is selected from among the automatic stop modes shown in FIG. 5 in response to an instruction as shown by LM.

[Another example]

The second arm (9) is referred to as a telescopic arm.

Regarding the control method, instead of switching the mode in stages based on the detection of the detection means α, an interpolation method between each stage is, for example, Ll-0≦L<, Ll, (target speed)
=(Target speed at N=i-1)+

[Brief explanation of the drawing]

The drawings show an embodiment of a swing-type backhoe according to the present invention,
Fig. 1 is a system diagram of the automatic turning stop control, Fig. 2 is an explanatory diagram showing the turning range, Fig. 3 is an overall side view of the backhoe, and Fig. 4
The figure is a cross-sectional view of the telescopic arm, FIG. 5 is a guffaw showing the automatic stop mode, and FIG. 6 is a control flowchart. (4)...Swivel base, (9)...Telescopic arm, α...Detection means, Foundation...
Control device, (To)...Mode setting section, (E)・
...Mode instruction means, (b) ... Back hook device, (θa), (θb) ...Setting stop position, ... Speed, (θ0) ...Turning angle. Agent Patent Attorney Osamu Kitamura 3 Figure 4

Claims (1)

[Claims] A backhoe device (27) equipped with a telescoping arm (9) is provided on a swivel base (4), the swivel base (4) is mounted on a traveling vehicle body so as to be rotatable for left and right drive, and the swivel base (4) is mounted on either the left or right side. A control device (24) for automatically stopping at the set stop positions (θ_a) and (θ_b) is provided, and the set stop position (θ_a)
), (θ_b), a mode setting unit (25) that sets an automatic turning stop mode as a function of the speed (■) during deceleration and the turning angle (θ_e) in order to automatically stop the turning table (4) at (θ_b). is provided in the control device (24), and is provided with a detection means (16) for detecting the extension/contraction length of the telescoping arm (9), and based on information from the detection means (16). , a swing type backhoe provided with a mode instruction means (26) for automatically selecting a swing automatic stop mode according to the length of the telescoping arm (9) and instructing the mode setting section (25).