JPH0674599B2 - Backhoe controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a backhoe device provided with a boom, an arm and a bucket, which is attached to a lateral side portion of a driving section of a swivel base, and the bucket is attached to the swivel base. The present invention relates to a backhoe control device provided with a lateral shift cylinder for adjusting lateral displacement.

[Conventional technology]

The backhoe is capable of compactly storing the backhoe device on the swivel base side and swiveling with a small radius by adjusting the lateral displacement of the bucket by a lateral shift cylinder.

In this type of backhoe device, conventionally, the backhoe device in the working state is stored by manually controlling the boom cylinder and the arm cylinder by manually switching the boom valve and the arm valve while visually confirming the movement of the backhoe device. It was supposed to be stored in the state.

In addition, since this type of backhoe device can be in the retracted state, the backhoe device itself may be a boom entering operation part, a bucket entering the operating part, or an approaching position depending on the operation method of boom raising operation, arm scraping side operation and bucket lateral deviation operation. It has a structure where you can do it.

[Problems to be Solved by the Invention]

Conventionally, when storing the backhoe device on the swivel side, it is necessary to maintain and operate the boom valve and arm valve at the drive position so as not to automatically return to the neutral position.
It is necessary to take care so that the backhoe device can be accurately moved to the predetermined storage position, which is troublesome and requires skill and experience.

In addition, for example, during a gutter digging operation, an operation error may occur, and the bucket may be laterally displaced so that it is located laterally beyond the connecting position between the boom and the swivel base, and the bucket may be located in front of the operating unit. Due to the large number of buckets, there are cases where the bucket enters the driving section and comes into contact with the driving section constituent members such as the front wall of the driving section, or there is a problem that earth and sand are spilled from the bucket to the driving section.

An object of the present invention is to provide a backhoe device that can be operated and worked easily and safely regardless of skill or experience.

[Means for Solving the Problems]

In order to achieve the object, the present invention provides a backhoe control device described at the beginning, wherein a boom angle sensor that detects a vertical swing angle of the boom with respect to the swivel base, and a swing angle of the arm with respect to the boom. An arm angle sensor and a lateral displacement sensor that detects a lateral displacement amount of the bucket with respect to the swivel base are provided, and the boom angle sensor, the arm angle sensor, and the lateral displacement sensor detect the lateral displacement sensor. The boom angle sensor and the arm angle are provided with safety control means for determining the position of the bucket with respect to the operating part and automatically operating the boom cylinder, the arm cylinder, and the lateral shift cylinder to prevent the bucket from entering the operating part. The boom cylinder, the arm cylinder, and the boom cylinder based on the detection results of the sensor and the lateral displacement sensor. The storage control means for automatically operating the lateral shift cylinder to automatically switch the backhoe device from the working state in which the backhoe device projects forward from the swivel base to the retracted state in which the backhoe device is retracted to the swivel side, in the operating state and the non-operating state. The switching operation is provided freely. The action and effect are as follows.

[Work]

When the storage control means is switched to the operating state, the storage control means automatically operates the boom cylinder, the arm cylinder, and the lateral shift cylinder based on the detection results of the boom angle sensor, the arm angle sensor, and the lateral displacement sensor, and the backhoe device operates. Automatically switches from working to storage.

When it is determined that the bucket has reached the set approach limit position with respect to the driving unit, for example, the boom cylinder, the bucket cylinder, and the lateral shift cylinder are automatically actuated so that the bucket moves away from the driving unit. The control means is configured such that the control means automatically operates the actuator to avoid the above movement. Then, even if the bucket approaches the operating part due to the operation of the backhoe, and the operator does not notice this approach, the safety control means operates the cylinders by the operation based on the detection result of each sensor. Automatically prevent the bucket from entering the driving section.

〔The invention's effect〕

Whether you are an experienced person or an experienced person, you can store the backhoe device on the swivel side accurately by simply performing the automatic storage start operation, and it is easy to bucket and operate without removing any special attention. It is possible to avoid contact with or entry into the part, and work can be done safely, easily and efficiently.

〔Example〕

 Next, examples will be shown.

As shown in FIG. 2, for a traveling machine body (2) including a crawler type traveling device (1) and a dozer device (3), a boarding operation part (4), a driving part (5), and a backhoe device. A backhoe work vehicle capable of earth unloading work is configured by rotatably mounting a fully swivel type swivel base (7) provided with (6) around an axis (Y).

The backhoe device (6) has an arm (9) having a bucket (8) pivotally supported at its tip end so as to be capable of bending and swinging about a horizontal axis,
A boom (10) pivotally supporting the arm (9) at its tip end so as to be capable of bending and swinging around a horizontal axis, and the boom (10) is located at a lateral side of the boarding operation unit (4) ( It is configured so as to be swingable up and down in 7).

In FIG. 2, (C ₁ ) is a hydraulic boom cylinder that swings the boom (10) up and down, and (C ₂ ) is a hydraulic arm cylinder that swings the arm (9) relative to the boom (10). And (C ₃ ) is a hydraulic bucket cylinder that causes the bucket (8) to bend and swing with respect to the arm (9).

Next, as shown in FIGS. 1 and 2, the bucket (8) is attached to the swivel base (7) of the boom (10) at an end (10).
The lateral displacement mechanism (14) for translating the swivel base (7) in parallel with respect to a) will be described. Boom (1
0) is a base end portion (10A) including an end portion (10a) attached to the swivel base (7), and a tip end of the base end portion (10A) has an axis (X) orthogonal to the boom swing axis. An intermediate portion (10B) connected so as to be relatively swingable around, and a tip end portion (10B) connected to the tip of the intermediate portion (10B) so as to be relatively swingable about an axis parallel to the axis (X). 10C), and an arm (9) is connected to this tip portion (10C) so as to be capable of bending and swinging. Therefore, the middle part (10B) is different from the base end part (10A) of the boom (10)
Is swingable laterally of the swivel base (7). For such a bent structure of the boom (10), the intermediate portion (10B) is provided between the base end portion (10A) and the intermediate portion (10B).
A horizontal shift cylinder (C ₄ ) for bending the boom that oscillates relative to the base end portion (10A) of the boom is installed. Then, between the base end (10A) and the tip (10C), both (10
A connecting rod (15) that allows relative swinging of (A) and (10C) is erected, and an intermediate portion (1) pivotally supported with respect to the base end portion (10A).
0B), connecting rod (15), and these intermediate parts (10B)
And the connecting rod (15) are connected to each other (10
C) and 4 parallel links are constructed.

Therefore, when the horizontal shift cylinder (C ₄ ) is set to the reference length, the boom (10) and the arm (9) are in the normal posture along the front-rear direction of the swivel base (7), and in this state, the bucket (8) ) Is in a non-biased position located in front of the boom (10). When the lateral shift cylinder (C ₄ ) is expanded and contracted in this state, the intermediate portion (10B) is bent and oscillated in the lateral direction of the swivel base, and the bucket (8) is displaced to the lateral side of the boom (10). Simultaneously with this, when the arm (9) is folded and rocked, the bucket (8) is moved to the side of the boom (10) to the boarding operation part (4).
Switch to the eccentric posture that shifts to the opposite side. In this case, since the lateral displacement mechanism (14) is a parallel four-link type, the tip end (10C) is maintained in a state parallel to the base end (10A), and the bucket (8) is a boom. It is translated in the lateral direction of the swivel base (7) with respect to the mounting end (10a) of (10).

Next, the sequential operation control means (A) adopted when the bucket (8) is switched from the non-biased posture to the biased posture or vice versa will be described with reference to a flowchart. First,
Explaining the sensor relationships required for control, bucket (8)
Is a gravity-type horizontal sensor (1
1), the arm (9) and the boom (10) are connected, and the arm swing angle detection sensor (12) and the mounting end (10a) of the boom (10) with respect to the swivel base (7) swing at the axial position. The boom swing angle detection sensor (13) is located at the axial center position, and the boom middle part (10
B) and the base end (10A) are connected.
A lateral displacement angle detection sensor (16) that indicates the lateral displacement amount of the bucket (8) by detecting the bending angle of the base end portion (10A) of B),
Arm swing angle setter (17), boom swing angle setter (1
8), a boom raising limit (19) for detecting the boom limit position of the boom (10), and an arm folding swing end limit (20) for detecting the folding swing end of the arm (9) with respect to the boom (10), respectively. , Provided. A control device (21) incorporated in a computer is provided which receives signals from these sensors and controls the operation of each hydraulic cylinder. Above, the sensor, the control device (21), the hydraulic cylinder, and the like are referred to as the sequential operation control device (A).

As shown in the main flow chart of FIG. 6, when the turning switch is operated, turning control is performed, and the bucket (8) is automatically returned to the position before turning by the current state return control. On the other hand, when the lateral displacement mechanism (14) is activated during excavation work, which results in the entry of the bucket (8) into the boarding operation section (4), that is, the bucket (8 ) Exceeds the second lateral deviation set angle toward the boarding operation unit (4) side, the invasion avoidance control of the bucket (8) into the boarding operation unit (4) is performed.

First, turning control will be described. First, Fig. 8 (a)
As shown by, the boom (10) is raised until the upper limit (19) is activated, and at the same time, the arm (9) is folded and rocked. The arm (9) folds and swings to the first set angle within a range where the bucket (8) does not collide with the boom (10). When the arm (9) reaches the first set angle, the swing is stopped and the lateral displacement mechanism (14) is activated. Here, the bucket (8) is laterally displaced with respect to the boom (10), and the lateral displacement is first
When the set angle is reached, the lateral displacement mechanism (14) is stopped, the arm (9) is folded and rocked again, and when the arm detection angle reaches the second set angle, the arm (9) is stopped and the bucket (8) is biased. It is possible to set the position posture (the second set angle for this arm may be the same angle as the arm folding swing end). In this turning control, the bucket (8) is always controlled based on the detection result of the horizontal sensor (11) as shown in FIG. It has a structure that suppresses stress.

In the case of the current state return control shown in FIG. 9, the swivel base (7) is swung back to the pre-swing position, and then the boom (10) at the position corresponding to the eccentric posture of the bucket (8) is lowered. At the same time, first, the arm (9) is swung in the direction away from the boom (10) toward the first set angle, and is temporarily stopped. Therefore, when the lateral displacement mechanism (14) is operated to return the boom (9) to the current position before the swing control, the operation is stopped. Then, the arm (9) is swung forward again to return to the original swing angle position stored in the computer. With this, the bucket (8), the arm (9), and the boom (10) are returned to the current position before turning.

Next, when the lateral displacement mechanism (14) is actuated to laterally displace the bucket (8) with respect to the boom mounting end (10a) at an arbitrary amount of lateral displacement, for example, when performing gutter work. Moreover, it is intended to prevent the bucket (8) from entering the boarding operation unit (4) and discharging the earth and sand into the boarding operation unit (4) due to a driver's operation error. In other words, when the lateral deviation detection angle exceeds the second set angle, it is determined that the bucket (8) has entered the boarding operation unit (4) and the avoidance control of the bucket entering the boarding operation unit is performed. First, the boom (1
When the angle (0) exceeds the set angle and the arm (9) exceeds the third set angle, the boom (10) and the arm (9) are lifted to move the bucket (8) away from the boarding operation unit (4). And the lateral displacement mechanism (14) is operated. At least one of the boom (10) and the arm (9) has the set angle
If the third set angle is not satisfied, the bucket boarding operation unit invasion avoidance control is not performed.

That is, the control device (21) constitutes a safety control means that automatically operates based on the flow of FIGS. 6 and 7, and the detection results by the detection sensors (12), (13) and (16) respectively. Is larger than the third set angle or the set angle or the second set angle, and the detection results of all three detection sensors (12), (13) and (16) are If it is larger than the set angle, the second set angle, or the third set angle, it is determined that the bucket (8) is in the avoidance control required position close to the driving section (4). The cylinder (C ₁ ), the arm cylinder (C ₂ ) and the lateral shift cylinder (C ₄ ) are automatically operated to operate so that the bucket (8) does not enter the operation unit (4). ) Is moved away from.

Further, the control device (21) constitutes a storage control means,
As shown in FIGS. 3 and 4, the backhoe device (6) is automatically operated based on the flow shown in FIGS. 6 and 8, and the backhoe device (6) is projected forward from the swivel base (7) as shown in FIG. It is configured to automatically switch to a retracted state in which it retreats to the swivel side.

That is, the storage control means is switched between the operating state and the non-operating state by switching the turning switch. Then, when the sensor is activated, the sensor (12),
Boom cylinder (C ₁ ) and arm cylinder (C ₂ ) by operating the valve based on the detection results from (13) and (16), and information from the setter (17) and limits (19) and (20). And the lateral shift cylinder (C ₄ ) is automatically operated so that the bucket (8) is displaced laterally to the side of the boom (10) and the entire backhoe device (6) is swung by the swivel base (7). The backhoe device (6) is operated so as to be located within the radius.

[Another embodiment]

As a mechanism for laterally displacing the bucket (8), a boom (1
0) The whole may be bent and rocked from the mounting end (10a) to the swivel base (7), or the arm (9) may be bent and rocked only at the tip.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a backhoe control device according to the present invention, FIG. 1 is a plan view showing a bucket laterally displaced by the operation of a lateral displacement mechanism, FIG. 2 is an overall side view, and FIG. Fig. 4 is a side view showing the eccentric posture of the bucket during operation, Fig. 4 is a plan view corresponding to Fig. 3, Fig. 5 is a control block diagram, Fig. 6 is a main control main flow diagram, and Fig. 7 is boarding of the bucket. FIG. 8 (a) is a flow chart showing a shift of the bucket eccentric posture during turning, FIG. 8 (b) is an interrupt flow chart in bucket horizontal control, FIG. 9 FIG. 6 is a flow chart in the case of returning from the biased posture of the bucket to the original non-biased posture. (4) …… Operating section, (6) …… Backhoe device, (7)
…… Swivel base, (8) …… Bucket, (9) …… Arm,
(10) …… Boom, (12) …… Arm angle sensor, (13)
...... Boom angle sensor, (16) …… Lateral displacement sensor, (C ₁ )
…… Boom cylinder, (C ₂ ) …… Arm cylinder,
(C ₄ ) ... Lateral shift cylinder.

Claims (1)

[Claims] 1. A backhoe device (6) provided with a boom (10), an arm (9) and a bucket (8) is attached to a lateral side portion of an operating part of a swivel base (7), and the bucket (8) is attached. A control device for a backhoe provided with a lateral shift cylinder (C ₄ ) for lateral displacement adjustment with respect to the swivel base (7), wherein a vertical swing angle of the boom (10) with respect to the swivel base (7) is set. Boom angle sensor (13) for detecting the arm (9)
Arm angle sensor (12) for detecting the swing angle of the boom with respect to the boom (10), and a lateral displacement sensor (16) for detecting the lateral displacement of the bucket (8) with respect to the swivel base (7).
The boom angle sensor (13) and the arm angle sensor (12)
And the position of the bucket (8) with respect to the operating unit (4) is determined based on the detection results of the lateral displacement sensors (16), and the boom cylinder (C ₁ ), the arm cylinder (C ₂ ) and the lateral A safety control means for automatically operating the shift cylinder (C ₄ ) to prevent the bucket (8) from entering the operating section is provided, and the boom angle sensor (13) and the arm angle sensor (12) are provided.
And automatically operating the boom cylinder (C ₁ ), the arm cylinder (C ₂ ) and the lateral shift cylinder (C ₄ ) based on the detection results of the lateral displacement sensor (16),
The storage control means for automatically switching the backhoe device (6) from the working state in which it projects forward from the swivel base (7) to the stored state in which it retracts to the swivel base side, can be switched between an operating state and a non-operating state. Backhoe control device installed in.