JPH0324934B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides means for detecting the swinging attitude of a bucket tote with respect to the horizontal, which is attached to an arm that can be freely moved up and down relative to a vehicle body so as to be swingable. Based on the information, there is provided a control means for automatically swinging the arm or the bucket so as to maintain the opening edge of the bucket in a horizontal or nearly horizontal state, and the control means is set in an activated state and a non-operated state. The present invention relates to a shovel vehicle equipped with an operating means for switching between the two modes, and more particularly relates to a technique for improving the operability of the operating means.

[Conventional technology]

Generally, an electrically operated arithmetic unit or the like is used as the control device, and an electric switch is used as the operating means. Conventionally, this electric switch is often provided on the operation panel of the excavator work vehicle. (References not listed).

[Problem that the invention seeks to solve]

In a shovel work vehicle, the arm and bucket are operated manually by multiple operating levers, and in order to operate the arm and bucket without resting, it is necessary to operate the operating levers quickly. Also, in order to avoid spilling the earth and sand that has been scooped into the bucket, turn on the electric switch immediately after operating the operation lever to scoop the bucket, and to release the earth and sand, turn on the electric switch immediately before operating the operation lever to release the bucket. It is necessary to turn off the operation switch and operate it. Therefore, in order to avoid interrupting the work as much as possible and to avoid spilling the dirt shoved into the bucket, the operation switch must be operated quickly between lever operations, which is troublesome and It was easy to cause operational errors.

Therefore, by using a push switch as the operation means, which turns on with one push and off with a second push, and attaching this switch to the grip of the lever for bucket operation,
Although it is conceivable to have a configuration in which the control can be switched without stopping the lever operation, the inconvenience of having to turn off the switch immediately before releasing the bucket was not alleviated, and there was room for improvement.

The present invention has been made in view of the above-mentioned circumstances, and has an object to enable the operation means to be operated easily with fewer erroneous operations.

[Means for solving problems]

A feature of the present invention is that the operating means comprises:
Means for switching to an activated state based on command information of a manual operation switch provided on the bucket operation lever, and switching to a non-operation state when the operation lever is operated to the release side based on position detection information of the bucket operation lever. The point is that means are provided, and their functions and effects are as follows.

[Effect]

In other words, as mentioned above, since the switch is installed on the lever that is operated by the operator extremely often during work, the operator can turn on the control means without interrupting the lever operation and without having to look at the switch. . In addition, when the control means releases a bucket of dirt, it is always turned off by operating the lever in the direction in which it is to be operated, so the control means is automatically deactivated just by operating the lever without consciously turning the switch. Switch to the state and release the earth and sand.

〔Effect of the invention〕

Therefore, switching of the control means can be performed easily with fewer erroneous operations, and work can be carried out without waste.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

A swivel base 2 is attached to the crawler traveling device 1 to constitute a traveling main machine 3. A driving unit 4 and an arm 5 that can be driven vertically are attached to this traveling main machine 3. An arm 5 is attached to the tip of the arm 5. A bucket 6, which can be driven and swung, is arranged in series around an axis a parallel to the swing axis 5 to constitute a bucket hoe, which is an example of a shovel work vehicle.

The arm 5 includes a first arm 5A attached to the swivel base 2 so as to be able to swing up and down, and an axis A2 at the tip of the first arm 5A that is parallel to the pivot axis _A1 of the first arm 5A _. and a second arm 5B that is freely movable by driving. In general, in a backhoe, the first arm 5A is connected to the boom and the second arm 5A is connected to the boom.
B is called the arm.

The drive and swing mechanism 7 for the arm 5 swings the first arm 5A with a hydraulic cylinder 7A interposed between the first arm 5A and the swivel base 2, and moves both the first and second arms 5A, The second arm 5B is swung by a hydraulic cylinder 7A' interposed between the arms 5B and 5B.

The driving and swinging mechanism 8 for the bucket tote 6 swings the bucket tot 6 using a hydraulic cylinder 8A interposed between the second arm 5B and the bucket tot 6.

A device 9 for detecting the swinging posture of the bucket tote 6 with respect to the horizontal is provided, and based on the detection result of this detection device 9, the swinging posture of the bucket tort 6 is determined to be the same as seen in the direction of the swing axis. A control device 1 as a control means capable of automatically controlling the bucket drive and swing mechanism 8 so that the bucket opening edge 6a is held in a maximum acceptance attitude in which the bucket opening edge 6a is positioned horizontally.
Set 0.

The detection device 9 includes a first sensor S ₁ that detects a horizontal angle θ ₁ in the swing direction of the arm 5 of the swivel base 2;
A second sensor S 2 that detects the swing angle θ ₂ of the first arm 5A with respect to the swivel base 2, and a first sensor S ₂ of the second arm 5B.
It is composed of a third sensor S ₃ that detects the swing angle θ ₃ with respect to the arm 5A, and a fourth sensor S ₄ that detects the swing angle θ ₄ of the bucket bag 6 with respect to the second arm 5B.

The three hydraulic cylinders 7A, 7A', 8A are
Oil passages are connected to electromagnetic proportional valves 7B, 7B', 8B, respectively, and the valves 7B, 7B', 8B are operated by drive circuits 7C, 7C', 8C associated with each other.

The control device 10 is composed of an input interface 10a into which the signal from the detection device 9 is input, a device 10b which calculates the signal from this input interface 10a, and an output interface 10c which outputs the signal from this calculation device 10b. , cylinder 8A with a signal from output interface 10c.
By operating the electromagnetic proportional valve 8B via the drive circuits 8 and 8C, the bucket opening edge 6a is maintained horizontally.

Incidentally, in order to maintain the bucket opening edge 8a horizontally when operating the first and second arms 5A and 5B, the formula θ ₄ =π−θ ₃ −(θ ₂ −θ ₁ ) (unit: rad) is used. The arithmetic device 10 only needs to operate so as to satisfy the following.

First and second arms 5A, 5B, bucket 6,
The respective swings and the rotation of the swivel base 2 can be performed independently or simultaneously by the cross-swings of the swivel base operating lever 11 and the bucket operating lever 12, respectively. That is, the swivel base 2 rotates left and right when the swivel base operating lever 11 swings left and right, the second arm 5B bends and extends when the lever 11 swings back and forth, and the left and right swing of the bucket operating lever 12 causes the swivel base 2 to rotate left and right. Scratching and releasing
Also, by swinging this lever 12 back and forth, the first arm 5A
The levers 11, 12 are linked to the three drive circuits 7C, 7C', 8C and the valve V for the turning motor M so that the levers 11 and 12 are bent and extended.

The control device 10 is provided with a control means that switches its control means between an activated state and a non-activated state so that the control device 10 can be activated only while the bucket 6 is scooping up earth and sand and then discharging the earth and sand. Operating means are provided.

That is, this operating means consists of a manual operating switch 13 provided on the grip of the bucket operating lever 12 and a potentiometer-type operating position detection switch 14 provided at the base end of this lever 12. When the control device 10 is activated and the bucket operation lever 12 is operated to the discharge side beyond a certain level, the operation position detection switch 14 is activated.
is configured to detect this and switch the control device 10 to a non-controlled state.

A switch provided on the grip of the swivel base operation lever 11, indicated by 15 in the figure, is for forcibly switching the control device 10 to a non-control state.

Also, what is indicated by 16 in the figure is the three switches 1
Operated by signals from 3, 14, and 15, respectively,
This is a switching circuit that controls the output signal of the output interface 10c, and the operation of this circuit causes the control device 10 to be activated or deactivated.

[Another example]

In this embodiment, a potentiometer-type switch is used as the operating position detection switch 14, and the operating amount of the bucket operating lever 12 is converted into voltage for detection. This switch may be configured and implemented so that it is turned on and off when the switch is turned on and off.

In this embodiment, only the cylinder 8A was operated to maintain the bucket opening edge 6a horizontally.
A control system may be configured to maintain the bucket opening edge 6a horizontally by operating the other cylinders 7A, 7A' independently or in combination with the cylinder 8A.

Further, in general, the load applied to the bucket 6 changes between when the bucket 6 is raking and when discharging soil.
Therefore, in order to forcefully scrape the bucket 6 with a large load, the operating system of the valve 8B is adjusted so that the opening of the oil passage in the electromagnetic proportional valve 8B increases by a certain amount only when the bucket 6 is scraped. You can configure
Alternatively, the raking load of the bucket 6 may be detected from the pressure of hydraulic oil or the like via a sensor, and the opening degree of the oil passage in the valve 8B may be adjusted steplessly.
By the way, the electromagnetic proportional valve is configured so that the opening degree of the oil passage inside the valve can be adjusted so that the flow rate of the hydraulic oil can be adjusted steplessly according to the amount of operation from an external device such as a lever.
Because electromagnetic force is used to operate the valve, it is called an electromagnetic proportional valve.

[Brief explanation of drawings]

The drawings show an embodiment of the excavator vehicle according to the present invention, and FIG. 1 is a side view of the excavator vehicle during work, and FIG. 2 shows the operation system for the lever of the cylinder and the linkage with the control device for the cylinder. FIG. 5...Arm, 6...Bucket, 12...Bucket operating lever, 13...Operation switch.

Claims (1)

[Claims] 1. A means is provided for detecting the horizontal swinging posture of the bucket belt 6, which is swingably attached to an arm 5 that can be operated up and down relative to the vehicle body, and based on the detected information, the opening edge of the bucket belt 6 can be adjusted to be horizontal or horizontal. A shovel work vehicle is provided with a control means for automatically swinging the arm 5 or the bucket belt 6 so as to maintain the same state, and an operation means for switching the control means between an operating state and a non-operating state. The operating means includes a manual operating switch 13 provided on the bucket operating lever 12.
means for switching to an active state based on command information of;
and a shovel work vehicle, which is provided with means for switching the operating lever 12 to a non-operating state when the operating lever 12 is operated to the release side based on position detection information of the bucket operating lever 12.