JPS6383329A - Bucket posture controller - Google Patents

Abstract

PURPOSE:To simply set the posture of a bucket, by comparing a horizontal angle detected by the angle detecting means of the bucket, with a set horizontal angle, and by arranging a comparison control means controlling so that both angles may coincide with each other, and the release means. CONSTITUTION:A bucket 5 is pivotally supported to be freely oscillated on an arm 3, and a shaft section is provided with a bucket inclination sensor 6, and an inclination delta between the horizontal surface of the cutting edge of the bucket 5 and the bucket 5 is detected. On an oil pressure circuit, an operational control section 14 for a control means controlling an electromagnetic pilot directional change-over valve 7 electrically, and the initial angle delta0 of the cutting edge angle delta are specified, and a control start switch 13 for a setting command means commanding control start and a pressure switch 12 for a release means commanding the release of control are arranged. Then, the pressure switch 12 is turned OFF and the switch 13 is turned ON, and only when a control start flag is set, then the initial angle delta0 of the cutting edge angle delta is automatically controlled, and in other cases, the bucket 5 is manually controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a bucket attitude control device for a construction machine that performs work using a bucket.

[Conventional technology]

An example of a construction machine that performs work using a bucket is a hydraulic excavator. A hydraulic excavator generally includes a boom that is pivotably mounted on a revolving body that is rotatably mounted on a running body, an arm that is rotatably pivotally attached to the tip of the boom, and a rotating body that is rotatably mounted on a running body. It consists of a bucket that is pivotally attached to the driver's seat, and each is independently hydraulically operated by a control lever located in the driver's seat.

In order to perform excavation work with such a hydraulic excavator, it is desirable to drive the bucket into an optimal posture (blade angle) depending on the geology and slope of the ground by operating each control lever. However, since the boom, arm, and bucket all have to be operated, drilling with the corresponding cutting edge angles aligned is complicated and does not improve work efficiency. When moving the bucket cutting edge along a fixed straight line, such as when horizontally digging, levers corresponding to multiple cylinders must be operated at the same time, which not only requires considerable skill. , work efficiency will further deteriorate.

Furthermore, when excavating deep trenches, it is almost impossible to accurately control the attitude of the bucket because the bucket cannot be visually observed.

In order to solve this problem, various proposals have been made to control the attitude of the bucket in a hydraulic excavator, that is, the angle of the cutting edge. One of them is the invention described in Japanese Patent Publication No. 60-9180.

The bucket edge angle control device according to the present invention includes a potentiometer disposed at each rotation fulcrum of a boom, an arm, and a bucket, and a rotation angle signal for the boom, arm, and bucket outputted from the potentiometer. an arithmetic circuit that calculates the actual cutting edge angle of the bucket; a comparator circuit that compares the output of this arithmetic circuit with the value of a reference signal indicating the target cutting edge angle; and a control device that controls one of the arm cylinder and the bucket cylinder in a direction that matches the value of the reference signal,
This configuration has the effect of controlling the blade edge angle of the bucket with respect to the ground to be maintained at a predetermined value.

[Problem that the invention seeks to solve]

By the way, although the above proposal mentions the control of the blade edge angle of the bucket, no particular consideration was given to the method of setting the blade edge angle or the control of the bucket after excavation. However, these points are particularly problematic when working in the field. In other words, the problem is how to set the blade edge angle of the bucket since it varies depending on the slope of the ground and the quality of the excavated soil, and the problem is how to set the blade edge angle to a certain point. The problem is how to maintain the cutting edge angle and at what point to release the maintenance of the cutting edge angle.

This invention was made in view of the above-mentioned technical background, and its purpose is to provide operability that allows the user to easily set the attitude of the bucket, that is, the angle of the blade edge relative to the ground, and to rationally release control of the attitude. An object of the present invention is to provide an excellent bucket attitude control device.

[Means for solving problems]

In order to solve the problems faced by the prior art and achieve the above object, the present invention includes a boom that can be raised and lowered, an arm that is swingably attached to the tip of the boom, and a rotatable arm that is attached to the tip of the arm. In the bucket attitude control device, the bucket attitude control device is provided with an attached bucket, and the boom, the arm, and the bucket are operated through operating means, respectively; A setting instruction means sets the horizontal angle of the bucket and instructs to start control, and compares the horizontal angle set by the setting instruction means with the horizontal angle input from the angle detection means, and determines that both angles match. The bucket is configured to include a control means for controlling the operating means of the bucket so as to control the bucket, and a release means for canceling the control by the control means when the angle of the bucket is changed by manual operation.

[Effect]

According to the above means, for example, when the bucket is manually operated so that the blade edge angle reaches a desired attitude, that is, a desired angle relative to the horizontal, the setting instruction means for specifying the attitude informs the control means of the angle relative to the horizontal. By reading and storing it, the horizontal angle is set, and the control means is instructed to maintain the horizontal angle, thereby automatically controlling the bucket operating means. When excavating the ground with the bucket, there is no need to perform any special operation on the control means to cancel the horizontal angle holding control.
Just by performing a manual operation to change the blade edge angle of the bucket, the above control is automatically canceled, and thereafter manual control is performed until the next input from the setting instruction means. Therefore, before excavation, by simply setting the attitude of the bucket once, the optimal cutting edge angle can be maintained without any manual operation, and subsequent manual operations can be performed continuously and efficiently.

〔Example〕

Hereinafter, one embodiment of the present invention will be described based on the drawings.

All figures are for detailed explanation of this invention.
The figure is an explanatory diagram showing a part of the hydraulic excavator and a hydraulic circuit that controls the bucket, and FIG. 2 is a flowchart showing a control method for maintaining the attitude of the bucket constant.

In FIG. 1, the hydraulic excavator includes a boom 1 that is attached to a revolving body (not shown) so as to be able to move up and down, an arm 3 that is attached to the tip of a boom 1 that is rotatable, and an arm 3 that is attached to the tip of a boom 1 so that it can be rotated.
A bucket 5 is swingably attached to the end of the arm 3 opposite to the boom attachment side, and an arm cylinder 2 for operating the arm 3 is provided at the end of the arm 3 on the boom 1 side. A bucket cylinder 4 for controlling the attitude of the bucket 5 is provided between the tip of the boom 1 and the outer side of the bottom plate of the bucket 5. The bucket 5 is pivotably supported by the arm 3, and a bucket inclination sensor 6 is provided on this shaft portion to detect the inclination angle (blade angle δ) of the blade edge of the bucket 5 from the horizontal plane. It looks like this.

Moreover, the hydraulic circuit for operating the bucket cylinder 4 is as follows:
A main circuit hydraulic pump 8, an electromagnetic pilot directional switching valve 7 that supplies pressure oil from the main circuit hydraulic pump 8 via a drive pipe 15, and a hydraulic pilot section 7a of the electromagnetic pilot directional switching valve 7. Pilot supply line 1 to +7b
It mainly consists of a pilot valve 9 that supplies pressure oil from a pilot hydraulic pump 10 via 6a and 16b,
A shuttle valve 11 is installed in parallel with the pilot valve 9 between the pilot supply lines 16a and 16b.

Furthermore, in order to electrically control the electromagnetic pilot directional switching valve 7, the hydraulic circuit includes an arithmetic control unit 14 as a control means, and a setting instruction for specifying the initial angle δ0 of the cutting edge angle δ and instructing the start of control. A control start switch 13 as a means and a pressure switch 12 as a release means for instructing release of control are attached.

The control start switch 13 sets the bucket 5 to a desired cutting edge angle δ.
By turning ON when the initial angle δ of the cutting edge angle δ is
. , and the initial angle δ is determined regardless of the subsequent operation of boom 1 or arm 3. This is a switch that instructs the arithmetic control unit 14 to perform control to maintain the . Upon receiving this instruction input, the calculation control unit 14 determines the initial angle δ. , and the cutting edge angle information input from the bucket inclination sensor 6 and the initial angle δ. Compare with. In addition, the calculation control unit 14
From this, a pilot control signal can be outputted to the electromagnetic pilot sections 7c and 7d of the electromagnetic pilot directional control valve 7, and the edge angle δ of the bucket 5 can be controlled by this pilot control signal.

The pressure switch 12 operates upon receiving the pilot pressure of the pilot valve 9 from the shuttle valve 11 and sends a pilot pressure signal guided by the shuttle valve 11 to the arithmetic control section 14 . Then, when pilot pressure No. 43 is input during control execution, the arithmetic control unit 14 stops the blade edge angle control,
Allows manual bucket operations.

Next, the control operation of the bucket 5 of the hydraulic excavator configured as described above will be explained.

First, the arm cylinder 2 and bucket cylinder 4 of the hydraulic excavator are operated to determine the attitude of the bucket 5 at a cutting edge angle corresponding to the soil quality and slope of the ground to be excavated. Once this edge angle is determined, the control start switch 13 is turned on. Thereby, the target control angle, that is, the initial angle δ. is set, and this initial angle δ. is input to the calculation control unit 14 and stored. On the other hand, from the bucket inclination sensor 6, the blade edge angle δ information of the bucket 5 is input to the calculation control unit 14, which processes the input blade edge angle δ information to obtain the above-mentioned initial angle δ. In comparison, the cutting edge angle is controlled by outputting a cutting edge angle control signal to the electromagnetic pilot directional control valve 7 according to the flow shown in FIG.

Therefore, when the -degree control start switch 13 is turned ON, even if the boom 1 or the arm 3 is operated to move the bucket 5 to the excavation position, the relative attitude of the bucket 5 with respect to the horizontal plane is kept almost constant. Ru. Then, at the excavation position, the cutting edge of the bucket 5 is driven into the ground, and at the position where a predetermined M is dug, the bucket 5 is operated toward the cloud side. This operation is carried out by operating the operation knob 9a of the pilot valve 9, and via the pilot pressure supply line 16a,
Pressure oil is supplied to the hydraulic pilot section 7a on the cloud side. As a result, pilot pressure is applied from the shuttle valve 11 to the pressure switch 12, the pressure switch 12 is actuated, the edge angle control of the arithmetic control unit 14 is released, and the bucket 5 is rolled in, released, etc. by manual operation. . after that,
When manual operation by pilot 9 is stopped, shuttle valve 1
1, pilot pressure is not guided to the pressure switch 12, so the pressure switch 12 is turned off, and a control start signal from the control start switch 13 enables angle control of the cutting edge angle.

Subsequently, the operation of the arithmetic control section 14 will be explained based on the flowchart in FIG.

First, it is confirmed whether the pilot valve 9 is operating or not by turning the pressure switch 12 ON/OFF. Here, if the pressure switch 12 is ON, the bucket 5 is being operated manually, so the control start switch flag is cleared and sending of the drive signal to the electromagnetic pilot directional control valve 7 is stopped.

On the other hand, if the pilot valve 9 is OFF, electrical control by the arithmetic control section 14 is possible, so it is checked whether the control start switch 13 is ON or OFF. If the control start switch 13 is ON, the control start switch flag is set and the initial angle δ of the bucket 5 is set. Enter. Then, the initial angle δ.

and the actual cutting edge angle δ from the bucket 5. In this case, the cutting edge angle δ is set as positive when it is above the horizontal plane and negative when it is below). When it is larger, a bucket dump signal is output to the electromagnetic pilot directional switching valve 7 to operate the electromagnetic pilot section 7d.

Further, the cutting edge angle δ is the initial angle δ. When it is smaller, a bucket cloud signal is output to the electromagnetic pilot directional switching valve 7 to operate the electromagnetic pilot section 7c. This controls the cutting edge angle δ.

On the other hand, when the control start switch 13 is OFF, it is checked whether the control start switch flag is set, and if it is not set, the drive signal is not output to the electromagnetic pilot directional control valve 7. If it is stopped or set, the buckets 5 are respectively controlled by the comparison operation described above.

Therefore, only when the pressure switch 12 is OFF, the control start switch 13 is ON, and the control start switch flag is set, automatic control is performed for the initial angle δ0 of the cutting edge angle δ, and otherwise it is performed manually. The bucket 5 can be controlled by

As described above, according to the above embodiment, while visually observing the attitude of the bucket 5, that is, the cutting edge angle,
Just by turning on the control start switch 13, the desired initial angle δ can be set. Since we can set the initial angle δ.

The setting is easy, and the cutting edge angle control is automatically canceled when manual operation is started, so connected excavation operations can be performed without interrupting to cancel the settings.

In this embodiment, the bucket is operated manually and when the desired attitude (edge angle) is achieved, the attitude is specified by the control start switch, but the attitude is specified separately. It is also possible to numerically set the blade edge angle using the blade edge angle setting means and perform the above-mentioned control according to the set numerical value.

〔Effect of the invention〕

As is clear from the above explanation, the setting means for setting the horizontal angle of the bucket and instructing the start of control is compared with the horizontal angle detected by the bucket angle detection means and the set horizontal angle. According to the present invention, which is provided with a comparison control means for controlling the two angles to match, and a release means for canceling the control by the comparison control means when the bucket is manually operated, setting the attitude of the bucket is easy. This is easy to do, and once you set the bucket to -degrees, it will maintain a constant bucket posture unless you manually change the bucket posture next time, making operations easier during that time.Also, the posture control operation will be canceled when manual operation is started. Since any manual operation can be performed using the bucket, it is possible to provide a bucket attitude control device with excellent operability and workability.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing a part of a hydraulic excavator and a hydraulic circuit for controlling a bucket according to an embodiment of the present invention, and FIG. 2 is a flowchart showing a bucket control operation. 1...Boom, 3...Arm, 4...
...bucket cylinder, 5 ...bucket,
6... Bucket inclination sensor, 7... Solenoid pilot directional control valve, 9... Pilot valve, 11... Shuttle valve, 12...・Pressure switch, 13... Control start switch, 14.
... Comparison control section, 15 ... Drive conduit,
16a. 16b...Pilot pressure supply pipe.

Claims (1)

[Claims] A boom that can be raised and lowered, an arm that is swingably attached to the tip of the boom, and a bucket that is rotatably attached to the tip of the arm, and the boom, the arm, and the bucket are each operated through operating means. The device to be operated includes an angle detection means for detecting the angle of the bucket with respect to the horizontal plane, a setting instruction means for setting the angle of the bucket relative to the horizontal plane to be held and instructing the start of control, and an angle detection means for setting the angle of the bucket relative to the horizontal plane to be held and instructing the start of control; A control means for comparing the horizontal angle and the horizontal angle input from the angle detection means and controlling the bucket operating means so that both angles match; 1. A bucket attitude control device comprising: a release means for canceling the control by the control means when the bucket attitude control device is activated.