JP2656751B2 - Bucket-type excavator that supports grasping of excavation posture and its excavation method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bucket type excavator having an excavating bucket which can be freely opened and closed at a lower end of a main body, and a method of excavating the bucket type.
The present invention relates to a bucket-type excavator for visually displaying to a driver an operating state of an adjuster for controlling the attitude of the excavator at that time by a display device, and a method of excavating the bucket-type excavator.

[0002]

2. Description of the Related Art There is generally known a bucket type excavator having a drilling bucket which can be opened and closed at a lower end of a main body. The conventional bucket type excavator and its excavation method will be described below with reference to the drawings.

FIG. 7 shows a bucket type excavator 1 suspended from a boom tip of a base crane 8 via a suspension wire.

The bucket type excavator 1 has a pair of excavating buckets 3 driven by a bucket cylinder 2 at the lower part of the main body. A plurality of adjustment guides 4 that can be extended and stored are provided on a side surface of the excavator 1.

[0005] The direction in which the bucket 3 is disposed on the body of the excavator 1 (the left and right direction in the figure, hereinafter referred to as the Y direction).
Y-direction inclinometer 5 for measuring the inclination angle of the camera, and a direction orthogonal to the Y-direction (front-back direction in the figure, hereinafter referred to as X-direction)
An X-direction inclinometer 6 for measuring the inclination angle of the vehicle is provided. The excavator 1 itself is suspended from a tip of a boom of a base crane 8 by a suspension wire 7.

The suspension wire 7 is wound around a lifting device 9 on a base crane 8, and the excavator 1 is configured to move up and down by rotation of the lifting device 9. An electric cable 10 is provided substantially in parallel with the suspension wire 7, and the electric cable 10 is
Powering the The excavator 1 has a base crane 8
The driver in the driver's seat 11 is operated, and the operation of the driver is transmitted to the control panel 12, and the excavator 1 is operated by a command from the control panel 12.

The body of the excavator 1 has a sufficient weight to push the tip of the bucket 3 into the ground by its own weight. At the time of excavation, the excavator 1 is suspended at the excavation position with the bucket 3 fully opened, the tip of the bucket 3 is pushed into the ground, and then the bucket 3 is forcibly closed to excavate the ground. The excavated earth and sand is carried out by lifting the excavator 1 and discharging it to another point.

The pushing of the tip of the bucket, the excavation, and the removal of earth and sand form a single excavation operation, and the excavation operation is repeated a plurality of times, whereby the excavation hole 13 is dug in the ground.

After the hole 13 has exceeded a predetermined depth, an opaque stabilizer 14 is injected into the hole 13 in order to prevent the side wall of the hole 13 from collapsing. After injecting Stabilizer 14,
Since the excavator 1 excavates while immersed in the stable liquid 14, the state of the excavator 1 and the excavation hole 13 during excavation cannot be directly confirmed from the driver's seat 11 on the base crane 8 or the ground.

In such a state, in order to grasp the posture of the excavator 1 during the excavation (the inclination direction and the inclination angle, hereinafter collectively referred to as the inclination state), the driver conventionally has to use the Y-direction inclinometer 5.
And the measured value of the X-direction inclinometer 6 were read from the inclination indicator of the driver's seat 11, and the posture of the excavator 1 was estimated by imagining the state of the excavator 1 in the head.

FIG. 8 shows a means for grasping and controlling the attitude of the conventional excavator 1. As shown in FIG. As shown in FIG. 8, the driver's seat 11 has an X-direction tilt indicator 15 indicating an X-direction tilt angle and a Y-direction tilt indicator 1 indicating a Y-direction tilt angle.
6, a bucket operation box 17, and an adjustment guide operation box 18.

The posture of the excavator 1 during excavation is detected by a Y-direction inclinometer 5 and an X-direction inclinometer 6 provided on the excavator 1, and the information is transmitted via a control panel 12 to an X-direction inclination indicator 15. Is transmitted to the Y-direction tilt indicator 16, and the tilt angle is expressed as the swing width of the needle. When the driver operates a button of the adjustment guide operation box 18, the information is transmitted to the control panel 12, and the corresponding adjustment guide 4 is operated by a command from the control panel 12. As a result, when the posture of the excavator 1 changes, the tilt state after the change is X
Appears on the direction indicator 15 and the Y direction indicator 16.

FIG. 9 shows the X-direction tilt indicator 15 in an enlarged manner. Each of the tilt indicators 15 and 16 is corresponded in advance so as to indicate a tilt angle in a predetermined direction. As is apparent from FIG. 9, the tilt angle is represented by the current swing width of the needle 19.

That is, the display of the X-direction tilt indicator 15 is
Only the current inclination angle of the excavator 1 is shown. Therefore, when the adjust guide 4 is operated to see the influence thereof, the driver memorizes the inclination state before the operation and the inclination state after the operation. Had to be compared.

[0015]

However, in the conventional excavator and the excavation method for grasping the inclination direction and the inclination angle of the excavator 1 by the above-mentioned inclination indicator, the driver has
Since the values indicated by the X-direction tilt indicator and the Y-direction tilt indicator are read to determine in which direction and how much the actual excavator is tilted, in order to make an accurate and quick determination. Required the skills or skills of a skilled driver.

In particular, when the adjust guide is operated to correct the position of the excavator, the operating state of the adjust guide is read from the state of the switch of the adjust guide operation box, and the position of the adjust guide is determined by the position of the adjuster. It was necessary to judge what kind of influence it had, and higher skills were needed.

Further, as will be described later, in excavation in which the excavating operation consisting of pushing the tip of a bucket of an excavator into the ground, excavating, and carrying out earth and sand is repeated a plurality of times, the excavator is tilted left and right alternately in each excavating operation. Drilling allows you to drill holes that are entirely vertical.

Differences in the end shapes of the left and right bottom surfaces and the height of the bottom surface occur due to the difference in the number of claws of the left and right buckets. Although the difference in height between the left and right shapes is minute, the excavator body is suspended, so that the excavator is affected by the minute bottom shape, and the excavator inclines when dropped and landed.

However, at the time of driving when the excavator falls down,
No correction by the guide is necessary, and if the excavating operation is repeated with the inclination of FIG. 3, a vertical hole can be excavated as a whole.

In this case, the driver monitors the Y-direction tilt indicator, and turns right when the excavator is pushed in the last excavation, left when the bucket is closed, and right when the bucket is completely closed. If it is tilted, in this excavation, excavation is performed while confirming that it tilts to the left when the excavator is pushed in, to the right while the bucket is closed, and to the left when the bucket is completely closed. If the previous time leaned to the left, right, and left, excavation is performed this time, confirming that it leans to the right, left, and right.

However, the conventional tilt indicator only indicates the current tilt of the excavator, so that the driver has to memorize the tilt of the excavator at the time of the last excavation operation. This also caused the borehole to deviate from the vertical planning line due to mistakes in memory or work interruption.

Accordingly, an object of the present invention is to solve the above-mentioned problems of the prior art, and to provide a bucket type excavator and a bucket type excavator which enable a driver to easily grasp and correct the posture of the excavator and also grasp the past posture of the excavator. It is to provide the excavation method.

[0023]

In order to achieve the above object, a bucket type excavator according to claim 1 of the present invention has an excavating bucket which can be opened and closed at a lower end of a main body, and can be extended and stored on a side surface of the main body. A bucket-type excavator having a plurality of adjust guides for controlling the attitude, detecting an inclination angle of the excavator in a predetermined direction and outputting an electric signal, and detecting an operation state of the adjust guide. Adjusting guide operating state detecting means for outputting an electric signal, and inputting the output signals of the inclination angle detecting means and the adjusting guide operating state detecting means, and adjusting the operating state of the adjusting guide at least when viewed from a predetermined direction showing the operating state of the adjusting guide. A schematic diagram of one excavator, and the display device displays the inclination direction and the inclination angle of the excavator corresponding to the schematic diagram by numerical values or graphs. It is characterized in that a processing device.

The bucket type excavator according to claim 2 of the present application is
2. The excavator according to claim 1, further comprising a storage device for storing an inclination direction and an inclination angle of the excavator at predetermined time intervals, wherein the processing device stores data of the inclination state of the excavator before the predetermined time period from the storage device. The present invention is characterized in that the present inclination state of the excavator and the inclination state of the excavator before the predetermined time are displayed on the display device so as to be compared by numerical values or graphs.

[0025] The bucket type excavator according to claim 3 of the present application comprises:
In the excavator according to claim 1, when the excavation operation of pushing, by free fall of the tip portion of the bucket into the ground, excavation, and carrying out of earth and sand is repeated a plurality of times,
A storage device for storing at least the inclination angle and the inclination direction of the excavator at the time of the last excavation, wherein the processing device takes out the data of the inclination state of the excavator at the time of the last excavation from the storage device and obtains the current value by a numerical value or a graph. The tilt state of the excavator and the tilt state of the excavator at the time of the last excavation are displayed on the display device so as to be comparable.

The bucket type excavator according to claim 4 of the present application is
The excavator according to any one of claims 1 to 3, wherein the processing device causes a display device to display, in real time, moving image information indicating at least one of an inclined state of the excavator and an operation state of an adjustment guide. Is what you do.

According to a fifth aspect of the present invention, there is provided an excavating method for a bucket type excavator, wherein a lower end of the main body has an openable and closable excavating bucket, and a side surface of the main body has a plurality of adjustable guides for attitude control which can be extended and stored. In an excavation method using a bucket-type excavator, an inclination angle detection unit that detects an inclination angle of the excavator in a predetermined direction and outputs an electric signal,
An adjusting guide operating state detecting means for detecting an operating state of the adjusting guide and outputting an electric signal; and inputting output signals of the inclination angle detecting means and the adjusting guide operating state detecting means, and adjusting the operating state of the adjusting guide. A schematic diagram of at least one excavator viewed from the indicated predetermined direction, and a processing device that causes a display device to display the inclination direction and the inclination angle of the excavator corresponding to the schematic diagram by numerical values or a graph, and the display device Indicates to the driver the current tilting state of the excavator, and when the driver operates the adjust guide, excavates to the driver while indicating to the driver the tilting state of the excavator and the operating state of the adjust guide together It is characterized by having

According to a digging method of a bucket type excavator according to a sixth aspect of the present invention, in the digging method of the fifth aspect, there is provided a storage device for storing an inclination state of the excavator at predetermined time intervals. The data of the tilt state of the excavator before the predetermined time is taken out, and the current tilt state of the excavator and the tilt state of the excavator before the predetermined time are displayed on the display device in a comparable manner by numerical values or a graph. The processing device is constituted, and the history of the change of the tilting state of the excavator is indicated to the driver by the display device, so that the driver can perform the excavation while grasping the excavation direction.

The excavation method for a bucket type excavator according to claim 7 of the present application is the excavation method according to claim 5, wherein the tip portion of the bucket is pushed into the ground by free fall, excavation is performed.
And in the case of repeating the excavating operation consisting of carrying out the earth and sand a plurality of times, comprises a storage device for storing at least the inclination direction and the inclination angle of the excavator at the time of the last excavation, from the storage device the inclination state of the excavator at the last excavation Retrieve the data,
The processing device is configured to display the current excavator tilt state and the excavator tilt state at the last excavation by numerical values or graphs on the display device so as to be comparable, and the display device tilts the excavator state. The excavation is performed while the driver knows the direction of excavation by displaying the history of the change in the excavation to the driver.

An excavation method for a bucket type excavator according to claim 8 of the present application is the excavation method according to any one of claims 5 to 7, wherein the tilting state of the excavator and the adjustment guide of the adjustment guide are determined by the processing device and the display device. The present invention is characterized in that moving image information indicating at least one of the operation states is displayed to the driver in real time, and the driver performs excavation while visually grasping the state of the excavator.

[0031]

According to the bucket type excavator and the excavation method thereof of the present invention, at the time of excavation, the inclination angle detecting means detects the excavator inclination state (direction and angle) and outputs a detection signal to the processing device. . The adjusting guide operating state detecting means detects a feeding or storing state of each adjusting guide and outputs a detection signal to the processing device. The processing device is a schematic diagram of at least one excavator viewed from a predetermined direction that also indicates the operating state of the adjustment guide based on the signal, and indicates a tilt direction and a tilt angle of the excavator corresponding to the schematic diagram. Image information including numerical values or graphs is created and displayed on a display device.

By installing the above-mentioned display device at a position near the driver, the schematic diagram of the excavator displayed on this display device and the corresponding tilt direction and angle of the excavator can be obtained as follows.
The driver can easily grasp the state of the excavator's inclination.

Further, when the adjust guide is operated to correct the excavator attitude, the driver can easily see how the attitude of the excavator is affected by the operation of the adjust guide from the schematic diagram and the inclined state. It is possible to judge, and thereby, it is possible to easily perform appropriate posture control.

According to the bucket type excavator and the excavation method thereof according to the second and sixth aspects of the present invention, the storage device stores the inclination state of the excavator every predetermined time, and the processing device performs the excavation from the storage device a predetermined time before. The data of the tilting state of the excavator is taken out, and a numerical value or a graph that is compared with the current tilting state of the excavator is displayed on a display device. In the excavation work in which the bucket tip is pushed into the ground, excavation, and excavation operation including the removal of earth and sand are performed, the driver observes the inclination state of the excavator at the current time and the predetermined time before, so that the driver can perform the operation before the predetermined time. By grasping the state of inclination of the excavator, it is possible to excavate a vertically excavated hole as a whole while inclining the excavator right and left in each excavation operation.

According to the bucket type excavator and the excavation method thereof according to the third and seventh aspects of the present invention, in the excavation operation in which the excavation operation of pushing the tip of the bucket into the ground, excavating, and carrying out earth and sand is repeated, the storage device is used. At least the tilting state of the excavator at the last excavation is stored, and the processing unit retrieves the data of the tilting state of the excavator at the last excavation from the storage device, and displays a numerical value or a graph that can be compared with the current tilting state of the excavator. Display on the device.

Through this display device, the driver can grasp the inclination state of the excavator at the time of the previous excavation, and excavate a vertically excavated hole while tilting the excavator alternately left and right for each excavation operation. be able to.

According to the bucket type excavator and the excavating method of the present invention, at least one of the tilt state of the excavator and the operating state of the adjust guide is displayed to the driver in real time by the processing device. In addition, the driver can accurately grasp the state of the excavator and can operate the excavator accurately.

[0038]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a bucket type excavator and an excavation method according to the present invention will be described below with reference to the accompanying drawings.

Since the overall configuration of the bucket type excavator of the present invention including the base crane and the lifting device and the excavation method using the same are the same as those of the above-described conventional one, the same parts are denoted by the same reference numerals as in FIG. And the description is omitted. Also,
As the means for grasping and controlling the posture of the excavator, a part of the conventional means is used, and the same portions are denoted by the same reference numerals as in FIG. 8 and description thereof is omitted.

FIG. 1 shows means for grasping and controlling the attitude of an excavator according to one embodiment of the present invention. The attitude of the excavator 1 of the present embodiment is grasped by the X-direction tilt indicator 15 and the Y-direction tilt indicator 16 of the driver's seat 11 via the control panel 12. The operation of the adjustment guide 4 is performed by an adjustment guide operation box 18, and the result of the operation is an X-direction tilt indicator 15 and a Y-direction tilt indicator 1.
6 is displayed.

A side cabin 20 is provided in a space adjacent to the driver's seat 11 of the base crane. In the side cabin 20, a processing device 21, a display device 2
2, an input device 23, an audio output device 24, a programmable controller 25, and a wire stroke sensor controller 34 are provided.

In addition, the excavator 1 according to the present embodiment has a depth measuring wire 26 connected to the excavator body, and winds the depth measuring wire 26 in a state without slack to reduce the amount of wire feeding. An excavator depth measuring means including a winding measuring device 27 having a measuring means is provided.

In the excavator 1 of the present embodiment having the above configuration, the tilt state of the excavator 1 is determined by the inclinometers 5 and 6 in the Y and X directions.
The signals are sent to the X and Y direction tilt indicators 15 and 16, and the signals are sent from the X and Y direction indicators 15 and 16 to the programmable controller 25. The programmable controller 25 receives the signals of the X and Y direction tilt indicators 15 and 16, converts the signals into digital signals that can be processed, and outputs the digital signals to the processing device 21.

When the driver operates the buttons of the adjustment guide operation box 18, the operation signal is transmitted to the control panel 1.
2, the control panel 12 sends to the excavator 1 a command to operate the corresponding adjustment guide 4, and sends a signal indicating the operating state of the adjustment guide 4 to the programmable controller 25. Programmable controller 2
5 converts the signal of the operating state of the adjustment guide 4 into a digital signal that can be processed and outputs the digital signal to the processing device 21. The position of the excavator 1 in the vertical direction is the depth measurement wire 2.
6 through the controller 34 and the programmable controller 25.
Sent to

Based on the above signals, the processing device 21 is a schematic diagram of the excavator 1 in the Y direction and the X direction showing the operating state of the adjustment guide, and the inclination direction and the inclination of the excavator 1 corresponding to each schematic diagram. The numerical value indicating the angle and a graph are displayed on the display device 22.

In the above embodiment, the information of the inclination of the excavator 1 is converted into the X, Y inclination indicators 15, 1 modified to the voltage processing system.
6 through a signal sent to the programmable controller 25.

Similarly, for the information on the operation state of the adjustment guide, the adjustment guide operation box 18 is modified, and the operation signal is transmitted to the processing unit 21 via the controller.
May be input.

Next, information given to the driver by the excavator 1 of this embodiment will be described.

FIG. 2 shows an example of a screen displayed by the display device 22. The screen of the display device 22 includes various information, but as far as the present invention is concerned, a schematic front view 28 and a schematic side view 29 of the excavator 1 are displayed on the right side of the screen.

Below each of the front and side schematic diagrams 28 and 29, a numerical value indicating the inclination angle in the Y direction (left or right direction) and a graph 30, and in the X direction (inside or outside direction) are shown. And the graph 31 are displayed.

Adjustment guides 28a to 28d and 29a to 29d are displayed on the front and side schematic diagrams 28 and 29, respectively.

When the adjustment guide 4 is operated, the information is immediately input to the processing device 21, and the color of the adjustment guide portion on the corresponding schematic diagram changes or is displayed as a moving image. In the example of FIG. 2, the adjustment guides 29a and 29d on the schematic side view 29 are operated by changing the color.

The numerical value indicating the Y-direction tilt angle and the graph portion 30 show that the toe of the excavator 1 is inclined 1/300 to the left when viewed from the front, that is, the excavator 1 is inclined 1/300 to the right. The inclination of 300 is represented by a graph together with numerical values. Similarly, the numerical value indicating the X-direction tilt angle and the portion 31 of the graph indicate that the toe of the excavator 1 is tilted 1/1000 outward. Although not shown in FIG. 2, a schematic front / side view 2
8, 29 can also be displayed in an inclined manner like a moving image in accordance with the inclination direction and the inclination angle.

Further, information on the tilting state of the excavator 1 and the operating state of the adjustment guide is selectively output as voice via the voice output device 24. The input device 23 is also used for turning on / off the audio output.

Further, in the excavator 1 of the present embodiment, when the excavating operation consisting of pushing the tip end portion of the bucket into the ground, excavating, and carrying out earth and sand is repeated, a graph 3 showing the inclination angle is obtained.
A needle 32 indicating the current tilt angle of the excavator and a needle 33 indicating the tilt angle of the excavator at the time of the last excavation are displayed together on 0. Although not shown in the present embodiment, a numerical value showing the inclination angle at the time of the present excavation and that at the last excavation can be displayed. Instead of the tilting state at the time of the previous excavation,
The tilt state before the predetermined time may be displayed together.

Next, the operation and effect of displaying the previous and current inclination states of the excavator 1 together will be described below.

FIG. 3 shows the tilting state of the excavator 1 when the excavating operation is repeated a plurality of times in a time-series manner for each excavating operation.

In the excavation of the excavator 1, a difference in elevation occurs at the bottom surface of the excavation hole due to the difference in the number of claws of the left and right buckets. The height difference of the bottom surface of the excavation hole is minute, but the excavator 1 is inclined to one of right and left at the time of drop landing. Now, when the left side of the bottom of the excavation hole is slightly higher, the excavator 1 tilts to the right as shown in FIG.

Next, when closing the bucket, the excavator 1 tilts to the left as shown in FIG. 3B because the tip of the bucket exerts resistance due to the slightly high earth and sand on the bottom left side of the excavation hole.

When the bucket is completely closed, no resistance is applied to the toe of the bucket, so that the excavator 1 leans to the right again as shown in FIG.

In the next excavation operation, the bottom surface of the excavation hole is slightly raised on the right side due to the tilting swing of the excavator 1 in the previous excavation, so that the excavator 1 is pushed as shown in FIG. Tilt to the left.

When the bucket is subsequently closed, the tip of the bucket receives resistance in the direction opposite to that of the previous excavation, and the excavator 1 tilts to the right as shown in FIG.

When the bucket is completely closed, no resistance is applied to the toe of the bucket, so that the excavator 1 tilts to the left as shown in FIG.

When the excavating operation is repeatedly performed, as described above, if the excavator 1 repeats the right, left, right, left, and left inclinations, a vertical hole can be excavated as a whole.

The excavator 1 of the present embodiment displays the inclination direction and the inclination angle of the excavator 1 on the display device 22 to prevent a driver from forgetting due to an erroneous memory or an interruption of the operation.

In order to correctly display the inclination angle of the excavator at the time of the last excavation, it is necessary to confirm the completion of each excavation and update and display the inclination angle of the last excavation. FIG. 4 shows a flow of processing for updating and displaying the inclination angle of the excavator at the time of the last excavation.

In FIG. 4, when the process is started (step 100), first, the inclination angle of the excavator at the time of the previous excavation is set to 0 (step 110). When the excavation is started (step 120), the processing device 21 takes in the data of the inclination angle and the inclination direction at predetermined time intervals (step 13).
0). In each operation when the bucket is pushed, when the bucket is closed, and when the bucket is completed, the maximum value of the inclination angle taken every predetermined time is stored as candidate data for data update and stored. (Step 140). Next, the depth of the excavator is measured by the above-described excavator depth measuring means. If the depth of the excavator is negative, it is determined that the excavator has been lifted to the ground in order to carry out the earth and sand (step 150). The angle is updated (step 160), and the updated previous tilt angle is displayed (step 170). If the depth of the excavator is positive in step 150, it is determined that the excavation is still in progress, and the previous inclination angle is displayed without being updated.

Next, it is determined whether excavation is completed (step 1).
80) If not, return to step 130 and repeat the above processing.

According to the above processing, when each excavation operation is completed, the inclination angle of the excavator at the time of the previous excavation can be updated and displayed correctly.

In the case of simply displaying the state of inclination of the excavator before the predetermined time as described above, the previous tilt angle may be updated and displayed every predetermined time without confirming the completion of the excavation operation.

If the bucket type excavator of the present invention is used,
When suspending an excavator in a digging hole, a rough shape of the digging hole, that is, a deviation from a vertical center line can be measured and output to a display device. This will be described below with reference to FIGS.

FIG. 5 shows the flow of the method for measuring the shape of the excavated hole. As shown in FIG. 5B, when the process is started (step 200), the excavator depth is 0, the Y direction, and the X direction.
Both the deviations of the directions from the vertical planning line are initially set to 0 (step 210).

When excavation work is started (step 22)
0) First, the excavator is suspended in the excavation hole, and the excavator depth increases as the excavator descends (step 2).
30). During the descent of the excavator, the excavator depth measuring means and the inclinometer acquire data of the depth-direction movement amount ΔD and the inclination α of the excavator at regular intervals (twice per second in the present embodiment). (Step 240).

The depth direction movement amount Δ thus obtained
A graph as shown in FIG. 5A is created based on D and the inclination α (step 250). The vertical axis of the graph of FIG. 5A represents the amount of displacement ΔD of the excavator in the depth direction, and the horizontal axis represents the amount of displacement (inclination α × ΔD) of the excavator. Created based on data obtained every second.

This graph shows the behavior (posture and position) of the excavator when the excavator slides down along the side wall of the excavation hole.
Therefore, the schematic shape of the excavation hole is shown.
For this reason, this graph is called an excavation tendency graph. This excavation tendency graph is displayed by the display device 22 (step 260).

Next, it is determined whether or not the next excavation operation has been performed based on "whether or not the excavator has risen and descended again after coming out of the ground" (step 270). If it is determined that the next excavation operation has been started, the process returns to step 230 to repeat the above-mentioned processing, and if not, an excavation tendency graph of the excavation operation is displayed (step 280).

FIG. 6 shows an example of the excavation tendency graph displayed on the display device 22. In FIG. 6, an excavation tendency graph 34 is displayed on the left side of the screen. In this example, two graphs in the X direction and the Y direction are displayed. The digging tendency graph 34 can be selectively displayed, and the driver displays the digging tendency graph on the screen of the display device 22 as necessary, and refers to the graph to grasp the general shape of the digging hole. Excavation work can proceed.

[0078]

As is apparent from the above description, according to the bucket type excavator and the excavation method thereof according to claims 1 and 5, the processing device is capable of detecting the tilt state of the excavator detected by the tilt angle detecting means; The operating state of the adjusting guide detected by the adjusting guide operating state detecting means is input, and a schematic diagram of the excavator viewed from a predetermined direction is output to the display device, and the inclination of the excavating machine corresponding to the schematic diagram of the excavating machine is output. Display direction and angle. By referring to the screen of the display device, the driver can accurately grasp the inclination state of the excavator, thereby reducing the burden of the excavation work. In particular, when the adjust guide is operated, the influence of the operation of the adjust guide can be determined together with the inclination angle of the excavator, so that it is possible to obtain a bucket type excavator capable of performing accurate posture control and a method of excavating the bucket type excavator. it can.

According to the bucket type excavator and the excavation method thereof according to the second and sixth aspects of the present invention, the processing device fetches the data of the inclination state of the excavator before the predetermined time from the storage device, and determines the current inclination state of the excavator. The present invention provides a bucket-type excavator capable of excavating a vertical excavation hole by referring to a past inclination state of an excavator, and a method of excavating the bucket-type excavator, which is displayed so as to be comparable, in an excavation operation in which an excavation operation is repeated. it can.

According to the bucket type excavator and the excavation method thereof according to the third and seventh aspects of the present invention, in the excavation operation in which the excavation operation is repeated, the processing device retrieves the data of the inclination state of the excavator at the time of the previous excavation from the storage device, It is possible to provide a bucket type excavator capable of excavating a vertical excavation hole and a method of excavating the vertical excavation hole while referring to a past excavator inclination state because the current excavator inclination state is displayed so as to be comparable. it can.

According to the bucket type excavator and the excavation method thereof according to claims 4 and 8 of the present application, the processing device displays at least one of the inclination state of the excavator and the operation state of the adjustment guide to the driver in real time by using a moving image. Therefore, the driver can intuitively grasp the relationship between his / her operation and the operation of the excavator, and can obtain a bucket-type excavator and its excavation method that are easy to operate.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing extracted means for controlling the inclination and attitude of a bucket type excavator according to the present invention.

FIG. 2 is a diagram showing an example of a screen of a display device including information on an inclined state of a bucket type excavator and an operation state of an adjustment guide according to the present invention.

FIG. 3 is a diagram showing a behavior of an attitude of an excavator in excavation in which excavation operation is repeated.

FIG. 4 is a flowchart for displaying a tilt angle of an excavator in a previous excavation operation.

FIG. 5 is a flowchart for displaying a drilled hole shape using the bucket type excavator of the present invention.

FIG. 6 is a diagram showing an example of a screen when the excavation tendency is displayed on a display device by a graph.

FIG. 7 is a diagram showing an entire configuration of a bucket type excavator including a base crane.

FIG. 8 is a configuration diagram showing extracted means for grasping inclination and controlling the attitude of a conventional bucket type excavator.

FIG. 9 is a front view showing a tilt indicator of a conventional bucket type excavator.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Bucket type excavator 3 Excavation bucket 4 Adjustment guide 5 Y direction inclinometer 6 X direction inclinometer 7 Hanging wire 8 Base crane 12 Control panel 13 Drilling hole 18 Adjustment guide operation box 20 Side cabin 21 Processing device 22 Display device 25 Programmable controller 26 Depth measurement wire 28 Front schematic diagram 29 Side schematic diagram 30 Numerical value and graph of Y-direction tilt angle 31 Numerical value and graph of X-direction tilt angle 34 Wire stroke sensor controller

 ──────────────────────────────────────────────────続 き Continuing from the front page (73) Patent holder 000150615 Haseko Corporation, Ltd. 2-32-1, Shiba, Minato-ku, Tokyo (73) Patent holder 594198547 Orient Development Co., Ltd. 2-3-3 Yaesu, Chuo-ku, Tokyo No. 12 (72) Inventor Kazuhisa Yamamoto 3-12-8 Shibaura, Minato-ku, Tokyo Inside Ando Construction Co., Ltd. (56) References JP-A-61-45885 (JP, A) (JP, U) Japanese Utility Model 2-125059 (JP, U) Japanese Utility Model Application Showa 56-58505 (JP, U)

Claims (8)

(57) [Claims] 1. A bucket type excavator having an excavating bucket which can be freely opened and closed at a lower end portion of a main body, and a plurality of adjust guides for attitude control which can be extended and stored on a side surface of the main body. Tilt angle detecting means for detecting an inclination angle of the adjusting guide and outputting an electric signal; adjusting guide operating state detecting means for detecting an operating state of the adjust guide and outputting an electric signal; and an inclination angle detecting means and an adjusting guide operation. An output signal of the state detecting means is input, and a schematic diagram of at least one excavator viewed from a predetermined direction showing the operating state of the adjustment guide, and an inclination direction of the excavator corresponding to the schematic diagram by numerical values or a graph. A bucket-type excavator, comprising: a processing device for displaying a tilt angle on a display device. 2. A storage device for storing an inclination direction and an inclination angle of an excavator at predetermined time intervals, wherein the processing device retrieves data of an excavator inclination state a predetermined time ago from the storage device, 2. The bucket type excavator according to claim 1, wherein a current tilt state of the excavator and a tilt state of the excavator before the predetermined time are displayed on the display device so as to be compared by a numerical value or a graph. 3. 3. When the excavating operation of pushing, excavating, and carrying out earth and sand by the free fall of the tip of the bucket into the ground is repeated a plurality of times, at least the inclination angle and the inclination direction of the excavator at the time of the previous excavation. The processing device retrieves the data of the tilt state of the excavator at the time of the last excavation from the storage device, and displays the current tilt state of the excavator and the value of the excavator at the last excavation by a numerical value or a graph. The bucket type excavator according to claim 1, wherein the display device displays the inclination state in a comparable manner. 4. The processing device according to claim 1, wherein the processing device displays, on a display device, moving image information indicating at least one of an inclined state of the excavator and an operating state of the adjustment guide in real time. A bucket-type excavator according to any one of the preceding claims. 5. An excavation method using a bucket-type excavator having an openable and closable excavation bucket at a lower end portion of a main body and a plurality of adjustment guides for attitude control that can be extended and stored on a side surface of the main body, An inclination angle detecting means for detecting an inclination angle of the machine in a predetermined direction and outputting an electric signal; an adjusting guide operation state detecting means for detecting an operation state of the adjustment guide and outputting an electric signal; and the inclination angle detection. Means and an output signal of the adjusting guide operating state detecting means are input, and the operating state of the adjusting guide is shown together with a schematic diagram of at least one excavator viewed from a predetermined direction and corresponding to the schematic diagram by numerical values or graphs. A processing device for displaying a tilt direction and a tilt angle of the excavator on a display device, wherein the display device displays a current tilt state of the excavator. A bucket type wherein when the driver operates the adjustment guide, the driver excavates while indicating to the driver the inclination state of the excavator and the operation state of the adjustment guide. Excavator drilling method. 6. A storage device for storing the state of the excavator's inclination every predetermined time, and from the storage device, data of the state of the excavator before the predetermined time is taken out, and the current excavation is represented by a numerical value or a graph. The processing device is configured to display the tilting state of the excavator and the tilting state of the excavator before the predetermined time on the display device in a comparable manner, and the display device drives a history of changes in the tilting state of the excavator. The excavation method for a bucket-type excavator according to claim 5, wherein the excavation is performed while the driver is informed of the excavation direction by indicating to the driver. 7. In a case where the excavation operation including pushing, excavation, and carrying out of earth and sand is repeatedly performed a plurality of times by free fall of the tip portion of the bucket into the ground, at least the inclination direction and the inclination angle of the excavator at the time of the previous excavation. A storage device for storing the data of the inclination state of the excavator at the time of the previous excavation from the storage device, and comparing the current inclination state of the excavator with the inclination state of the excavator at the previous excavation by numerical values or a graph. The processing device is configured to be displayed on the display device as much as possible, and the history of the change in the tilting state of the excavator is indicated to the driver by the display device, so that the driver can excavate while grasping the excavation direction. The method for digging a bucket-type excavator according to claim 5, wherein: 8. The processing device and the display device display to the driver in real time moving image information indicating at least one of the tilting state of the excavator and the operating state of the adjustment guide, and informs the driver of the state of the excavator. The excavation method of a bucket type excavator according to any one of claims 5 to 7, wherein the excavation is performed while visually grasping the condition.