JPS6337209B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a device for detecting the rotational position relative to the vehicle body of a swivel base equipped with an excavation work device, and detects when the swivel base should be used for excavation work based on information from the detection device. The present invention relates to an excavation work vehicle provided with a control mechanism that automatically operates a swivel platform drive device so as to return to a rotational position relative to the vehicle body standard rotation position.

For example, the excavation work vehicle rotates the swivel base from a reference rotation position relative to the vehicle body where excavation work is to be performed to a target rotation position relative to the vehicle body where earth and sand is to be released, and after releasing the earth and sand,
This system is designed to automatically return and rotate the swivel base to the standard rotation position relative to the vehicle body when excavating a trench or drilling a hole while operating the rotation. However, conventional excavation work equipment, for example,
As disclosed in Publication No. 576, the present invention includes means for detecting the relative position of the swivel base with respect to the traveling vehicle body, and means for artificially setting a specific relative position of the swivel base with respect to the traveling vehicle body, and both of these means are provided. Since the swivel base was configured to stop at the return position based on the comparison result, when stopping the heavy swivel base at the standard rotation position relative to the vehicle body or the target rotation position relative to the vehicle body, The vehicle body may unexpectedly rotate relative to the ground due to inertial force, and as a result, if work is continued with the reference rotational position relative to the vehicle body maintained at a constant position, the control mechanism will cause the swivel base to rotate relative to the vehicle body. Even when the rotating base is rotated back to the reference position, there is a risk that the rotational position of the swivel base with respect to the ground will deviate significantly from the desired rotational position. In order to avoid such inconvenience, it is possible to artificially set the specific relative position of the swivel base to the traveling vehicle body by adjusting it each time the swivel base is moved back, but such extra work is not necessary. There was a lot of annoyance involved.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to prevent the reference position of the swivel base relative to the vehicle body from being significantly deviated from the desired rotational position of the swivel base with respect to the ground, which requires complicated correction work. The point is to be able to suppress it without causing any problems.

The present invention has a structure in which a swivel base equipped with an excavation work device is mounted and installed on a traveling vehicle body, a swivel base drive device that rotates the swivel base around a vertical axis, and rotation by the swivel base drive device. comprising a manual operation mechanism for manually switching the drive direction between forward and reverse, and further comprising a swivel base position detection device for detecting a relative rotational position of the swivel base with respect to the traveling vehicle body,
Excavation equipment equipped with a control mechanism that automatically operates a swivel base drive device based on information from the swivel base position detection device to return and rotate the swivel base to a reference rotation position relative to the vehicle body where excavation work is to be performed. In the work vehicle, the control mechanism includes an excavation state detection device for detecting that a bucket of the excavation work equipment has descended below a set height, or that the bucket has performed a raking operation; Along with and each time the excavation state is detected,
a storage device that stores the rotational position of the swivel base relative to the vehicle body as the reference position relative to the vehicle body; a speed determination unit that detects whether the rotation speed of the swivel base is equal to or higher than a set value and outputs a determination signal; The value stored in the storage device and the value detected by the swivel base position detection device are compared only when a rotation speed detection signal higher than the setting by the speed determination means is output, and the comparison result and an automatic stop control circuit configured to output a control signal for automatically operating the manual operation mechanism of the swivel table drive device to the drive stop side when a predetermined correlation is reached. It is in.

Next, the effects of the characteristic configuration of the present invention will be described.

In other words, instead of manually resetting the reference rotational position of the swivel base relative to the vehicle body, each time the excavation state detection device enters the excavation state, it automatically sets the reference rotational position of the swivel base relative to the vehicle body at that time. It is designed to be newly memorized as a new position, and therefore, when the swivel base is stopped at the target rotation position relative to the vehicle body or the reference rotation position relative to the vehicle body, the vehicle body may unexpectedly rotate relative to the ground. Even if there is a problem, the deviation between the standard rotational position of the swivel base relative to the vehicle body and the desired rotational position of the swivel base relative to the ground will accumulate and become larger. There is an advantage that this can be avoided without requiring any manual correction operation.

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

As shown in FIG. 1, a swivel base 1 is rotatably attached to a vehicle body equipped with a crawler traveling device 2 by a hydraulic motor 3, and an engine 4 and a control section 5 are mounted on the swivel base 1. , and a backhoe working device 9 consisting of a boom 6, an arm 7, and a bucket 8 is connected to the swivel base 1,
It is configured as a backhoe work vehicle.

As shown in FIGS. 1 and 2, the swivel base 1
A device 10 for detecting the rotational position relative to the vehicle body using a potentiometer, and a device 11 for storing the reference rotational position relative to the vehicle body for excavation work of the swivel base 1 as described later are provided, respectively. An automatic stop control circuit 13 is provided for energizing the operating valve 12 of the hydraulic motor 3 while comparing and discriminating the signal from the rotational position detection device 10 and the signal from the storage device 11 so that the rotation returns to the rotational position relative to the vehicle body. A control mechanism is configured to automatically operate the hydraulic motor 3 for operating the swivel base so as to rotate the swivel base 1 back to the reference position relative to the vehicle body. Then, the operating valve 12 for the motor 3 is
A manual operation mechanism 25 is configured by linking the manual lever 14 so that the spool can be directly moved in preference to the operation by energization, and the signal from the rotational position detection device 10 is differentiated to control the rotation base 1. Device 1 for detecting the rotation speed in the return rotation state of
5, and the signal of the detection device 15 and the setting device 16
a comparison circuit that automatically switches the discrimination circuit 13 between an operating state and a non-operating state so that the automatic stop control circuit 13 is operated only when the rotating table rotational speed is equal to or higher than the set speed by comparing the signal with a preset signal; 17, and uses these rotational speed detection device 15, setter 16, and comparator 17 to determine whether the rotational speed of the swivel base 1 is equal to or higher than a set value.
6, and the control mechanism is configured to be automatically activated when the swivel base 1 is rotated toward the vehicle reference rotational position at a set speed or higher.

In short, the swivel base 1 is rotated from the standard rotational position relative to the car body for excavation work to the target rotational position relative to the car body where mud is to be discharged, and then rotated back to the reference rotational position relative to the car body after releasing the mud. When excavating a trench or hole, the manual lever 14 is used to rotate the swivel base 1 either to the right or to the left at a speed higher than a set speed in order to return the swivel base to the reference rotation position relative to the vehicle body. If the rotation is made to rotate at this point, the control mechanism can then automatically perform the rotation.Moreover, when the rotating base 1 is rotated near the reference position relative to the vehicle body or near the target rotation position relative to the vehicle body, In order to finely adjust the rotational position, the rotary table 1 can be rotated at a slow speed while reciprocating the manual lever 14.

A device that uses a potentiometer to detect each of the vertical swing angle of the boom 6 relative to the swivel base, the vertical swing angle of the arm 7 relative to the boom, and the vertical swing angle of the bucket 8 relative to the arm in the bucket hoe working device 9. 18, 19, and 20, and calculates the height of the tip of the bucket belt 8 based on the signals of the detection devices 18, 19, and 20, and the boom length, arm length, and bucket trunk length input in advance. 2
1, and a comparator 23 that determines whether the tip of the bucket has descended below the set height based on the signal from the arithmetic circuit 21 and the signal from the setting device 22 that sets the height corresponding to the desired excavation depth. is provided to constitute an excavation state detection device 24 that detects that the backhoe working device 9 is in an excavation state based on the height of the tip of the bucket. And the detection device 24
detects the excavation state, and for each detection, the detection device 24 stores in the storage device 11 the rotational position relative to the vehicle body at that time as the reference rotational position relative to the vehicle body. It is configured to give operation commands.

In short, every time the backhoe work device 9 performs excavation work, the reference position relative to the vehicle body is
Even if the vehicle body unexpectedly rotates relative to the ground, the rotational position relative to the vehicle body is stored so that the reference rotation position relative to the vehicle body does not deviate significantly from the desired position of the swivel base 1 relative to the vehicle body. It is set as.

The present invention can be applied to an excavation work vehicle equipped with various excavation work devices such as a face shovel work device instead of the backhoe work device 9.

Further, the excavation state detection device 24 may be modified in various ways, such as by detecting the raking operation of the bucket 8 as an excavation state based on the swinging of the bucket 8 with respect to the arm 7. can.

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]

FIG. 1 is a side view of the backhoe work vehicle, and FIG. 2 is a block diagram showing the specific configuration of the control mechanism. 1... Swivel base, 3... Swivel base drive device, 8...
bucket, 9...excavation work device, 10...rotation position detection device, 11...memory device, 13...automatic stop control circuit, 24...excavation state detection device, 25...
...Manual operation mechanism, 26...Speed determination means.

Claims (1)

[Claims] 1. A swivel base 1 equipped with an excavation work device 9 is mounted and installed on a traveling vehicle body 2, and a swivel base drive device 3 drives the swivel base 1 to rotate around a vertical axis.
and a manual operation mechanism 25 for manually switching the rotation drive direction of the swivel base drive device 3 between forward and reverse directions, and further includes a manual operation mechanism 25 for manually switching the direction of rotational drive by the swivel base drive device 3;
Turntable position detection device 1 that detects the relative rotational position of
0, and based on the information from the swivel table position detection device 10, the swivel table driving device 3 is automatically operated so as to return and rotate the swivel table 1 to the reference rotation position relative to the vehicle body where excavation work is to be performed. The excavation work vehicle is equipped with a control mechanism that controls the control mechanism to detect when the bucket 8 of the excavation work device 9 has descended below a set height, or when the bucket 8 has performed a raking operation. An excavation state detection device 24 for detecting the excavation state, and a memory for storing the rotational position of the swivel base 1 relative to the vehicle body as the reference position relative to the vehicle body as the detection device 24 detects the excavation state and each time the detection device 24 detects the excavation state. A device 11, a speed determining means 26 for detecting whether the turning speed of the rotating base 1 is equal to or higher than a set value and outputting a determination signal, and a rotating speed detection signal exceeding the set value from the speed determining means 26 is outputted. The stored value in the storage device 11 and the detected value in the swivel head position detection device 10 are compared only when the swivel head position detection device 10 Manual operating mechanism 25 of device 3
Automatic stop control circuit 1 configured to output a control signal for automatically operating the drive stop side.
An excavation work vehicle characterized by being provided with 3.