JPH041333A - backhoe control device - Google Patents

Abstract

PURPOSE:To raise the efficiency of operation by a method in which an automatically operating decelerator is provided to a housing controller capable of switching a backhoe device attached to the side of the operating part of a slewing base from an operating condition to project it forwards to housing condition. CONSTITUTION:The position of a bucket's operating part is detected on the basis of the detecting results of sensors P1 and P4, and a danger-avoiding controller 13 and a housing controller 14 are connected to a valve controller to operate a backhoe. The backhoe device is automatically operated from an operation condition to project it forward from a slewing base to a small-slewing and housing condition only by operating a housing switch S6. The controller 14 is provided with a decelerator 15 to work it for an offset cylinder, and the moving speeds of the bucket is regulated on the basis of information from the controller 14.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention provides a system for attaching a backhoe device to a position where the operating section of a swivel table is tilted sideways, and adjusting the bucket of the backhoe device by moving it in the lateral direction of the swivel table with respect to the boom. an offset cylinder is provided, so that the boom, the arm, and the bucket of the backhoe device are retracted toward the swivel base, and the backhoe device is switched to a retracted state in which the bucket is located to the side of the operating section. a boom angle sensor that detects a vertical swing angle of the boom with respect to the swivel base, an arm angle sensor that detects a swing angle of the arm with respect to the boom, and a lateral deviation of the bucket with respect to the base end portion. A boom cylinder, an arm cylinder, and the offset cylinder are automatically operated based on the detection results of each offset sensor that detects the position of the backhoe, and the backhoe device is automatically switched from a working state in which it projects forward from the swivel platform to the retracted state. The present invention relates to a backhoe control device provided with storage control means.

[Conventional technology]

The above-mentioned backhoe is designed so that if there is a relatively narrow space around the machine body that allows the swivel table to rotate, the backhoe device can be retired and stored on the swivel table and can be rotated. Furthermore, the backhoe operation is designed to switch from the working state to the retracted state by automatically operating the boom cylinder, arm cylinder, and offset cylinder by the retracting control means just by performing the start operation of the retracting control.

Conventionally, in this type of backhoe, when the offset cylinder is operated by the storage control means, the offset cylinder operates at a constant speed regardless of changes in the lateral deviation position of the bucket with respect to the boom.

[Problem to be solved by the invention]

Conventionally, in order to allow the bucket to quickly lateral deflection and to quickly retract the backhoe equipment, the operating speed of the off-cent cylinder must be increased, and the bucket is moved to an offset position for storage with respect to the boom. When setting by laterally moving from the opposite side, the bucket tends to move too far and stop at a position beyond this position toward the driving section, instead of stopping at the storage offset position due to dynamic inertia. As a result, even if the bucket shifts to the driving section side during horizontal transfer and stops, when it is retracted and stored on the swivel side, a predetermined gap is provided between the bucket and the driving section, ensuring safety. In order to avoid such inconveniences, the storage offset position must be set relatively far from the driving section, and the bucket width must be relatively small.

An object of the present invention is to be able to offset transfer a bucket as quickly as possible and to make it as large as possible. Therefore, in the configuration described at the beginning, when the bucket is moved from the side opposite to the driving section to the storage offset position with respect to the proximal end portion and set, the bucket is set to the storage offset position with respect to the proximal end portion. A deceleration means automatically operates to start decelerating the offset cylinder as the bucket reaches the approach position, and to slow down the operating speed of the offset cylinder as the bucket approaches the storage offset position on the deceleration start side. The storage control means is provided. The functions and effects thereof are as follows.

[For production]

When the bucket is automatically stored from a location located on the opposite side of the operating section to the storage offset position, the offset cylinder is not decelerated by the deceleration means until the bucket reaches the set approach position, and the bucket is Move offset at high speed to reach the set approach position. After reaching this point, the offset cylinder is decelerated by the deceleration means, and the offset movement speed becomes slower than before reaching it.Moreover, the closer the bucket is to the storage offset position on the deceleration start side, the slower the movement speed becomes. will quietly reach the storage offset position and stop. Therefore, the bucket can be transferred in bulk at a low speed over the set approach position and cylinder speed, etc. to avoid mispositioning, or the bucket can be transferred at a high speed over the entire travel distance to quickly move the bucket to the offset position for storage. Even if the width of the bucket is made as large as possible, and the bucket is offset toward the driving section, the bucket is moved to the offset storage position as quickly and accurately as possible. It is possible to reliably retire to the swivel base side and quickly store it.

〔Effect of the invention〕

By the action of the storage control means, automatic storage of the bucket can be made faster, and the bucket can be made large and wide, allowing work to be carried out efficiently in terms of both bucket storage speed and capacity.

〔Example〕

Next, examples will be shown.

As shown in Fig. 2, a swivel base (2) is attached to a crawler type traveling machine base having a dozer (1), and this swivel base (2) is equipped with a driving part (3) and a driving part (4). At the same time, a backhoe device (5) is attached to form a backhoe with a dozer.

The boom (6) and boom cylinder (C1) constituting the backhoe (5) are attached to a location located on the lateral side of the operating section (3) of the swivel base (2). As shown in FIG. 1, the intermediate portion (6c) connecting the proximal portion (61) and the distal portion (6b) of the boom (6) can be swung by an offset cylinder (C4). When configured and this swing operation is performed, the base end of the boom (
The links attached to the boom tip side part (6,) are attached to the arms (7,) or (7,), and these links are attached to the arms (7,) and (7b). (7), and the boom tip side portion (6
, ) moves in parallel or nearly parallel to the swivel base side portion (6,) in the lateral direction of the swivel base, and the arm (8) moves in the swivel base arm (8,) with respect to the boom base end portion (6,). ), the bucket (9) is positioned on one side of the traveling machine to enable ditch digging, and the offset operation of the arm (8) and the boom (6)
and the raising operation of the arm (8), the third
As shown in the figure and Fig. 4, the boom (6), arm (8) and bucket (9) are retracted to the revolving base side, and the bucket (9)
) is laterally displaced with respect to the boom proximal end portion (6a) so as to prevent the driving part (3) from entering the driving part (3).
) is configured so that the backhoe device (5) can be stored in a small turning storage state located on the lateral side of the backhoe device (5).

To enable the operation of the backhoe device (5) and the swivel table (2), a pair of left and right operating levers (10,), (1
The operating structure is constructed as shown in FIG. 5 so that the hydraulic boom cylinder (CI), arm cylinder (C4), and swing motor (M) are operated by the hydraulic boom cylinder (CI), arm cylinder (C4), and swing motor (M) using the hydraulic boom cylinder (CI), arm cylinder (C4), and offset switch (84).

That is, the operating position of one operating lever (10a) in the longitudinal direction of the swivel base and the operating position in the direction of the swivel base are specifically detected by the first sensor (S,) and the third sensor (S,) made of potentiometers. A second sensor (S2) and a fifth sensor (S, ) and are configured to be detected separately. And boom cylinder (CI)
boom valve (V,) connected to ), arm cylinder (
The arm valve (VZ) connected to the bucket cylinder (C1), the bucket valve (ν2) connected to the bucket cylinder (C1), and the offset valve (VZ) connected to the offset cylinder (C4).
v4) and a swing valve (
Each of V, ) is configured as an electromagnetic proportional control valve, and a valve drive circuit (D1) or (
02) or (C2) or (C4) or (D,), the valve control means (11) consisting of a microcomputer is connected to the sensor (S+).

(SZ), (S,) and (SS), and the offset switch (S4).

Then, when the operating lever (LOA) is manually operated in the longitudinal direction of the swivel table, the valve control means (11) automatically outputs a signal to the boom drive circuit (0+) based on the detection result by the first sensor (SI). and then switch the boom knob (V,), and move the boom cylinder (C+) to the operating lever (1).
The valve control means (10a) is configured to operate or stop in a direction and speed depending on the operating position of the valve control means (10a), and when the operating lever (10a) is manually operated in the lateral direction of the swivel table, the valve control means (10a) is automatically operated.
1) outputs a signal to the valve drive circuit (D,) based on the detection result by the third sensor (S,) to drive the bucket valve (
v3) to operate or stop the bucket cylinder (C8) in a direction and at a speed corresponding to the operating position of the operating lever (10a). When the operating lever (10b) is manually operated in the longitudinal direction of the swivel table, the valve control means (11) automatically outputs a signal to the valve drive circuit (D2) based on the detection result by the second sensor (S2) to control the arm valve. (VZ) so that the arm cylinder (C2) operates or stops in a direction and at a speed according to the operation position of the operation lever (10b),
When the operating lever (10b) is manually operated in the lateral direction of the swivel table, the valve control means (11) automatically operates the fifth sensor (S,
), a signal is output to the valve drive circuit (D,) to switch the swing valve (V,), and the swing motor (M) moves in the direction according to the operating position of the operating lever (10b). and configured to operate and stop at speed. Move the offset switch (S4) to the switch lever (
1), the valve control means (Step 1) automatically outputs a signal to the valve drive circuit (D4) based on the information from the offset switch (S4) to turn the offset valve (V,) on. The offset cylinder (C4) is configured to operate or stop in a direction depending on the switching position of the offset switch (S4).

As shown in FIG. 2, a boom angle sensor (p+) made of a rotary potentiometer that detects the swing angle of the boom (6) with respect to the swivel base (2) is attached to the base end of the boom cylinder (C1), An arm angle sensor (made of a rotary potentiometer) that detects the swing angle of the arm (8) with respect to the boom (6)
P2) is attached to the tip of the boom (6), and the bucket (9) is attached to the tip of the boom (6).
) is connected to the arm (8) of the link (12), which is a rotary potentiometer made of a bucket angle sensor (P1) that detects the swing angle with respect to the arm (8) of the bucket cylinder (C1) and the bucket (9). It is attached to the link (12) so as to detect based on the swing angle, and the bucket (9
) to detect the offset direction and lateral movement amount with respect to the boom base end section (6a) of the boom base end section (6a) of the boom intermediate section (6c). It is attached to the boom (6) for detection based on the swing angle. As shown in FIG. 5, a danger avoidance control means (13) and a storage control means (1
4) is linked to the valve control means (11), so that the bucket (
9) can be operated while avoiding the danger of intrusion into the operating section (3), and the backhoe device (5) can be moved to the swivel base (2) by simply starting the retraction switch (S1).
It is configured to automatically return from the working state of protruding forward from the small turning retracted state.

That is, when the backhoe device (5) is operated by manual operation of the operation levers (10a) and (10b) and the offset switch (S4), the danger avoidance control means (13) is automatically operated by the storage control means (14). The sensor (P1)
or P4) and the flow shown in FIG. 11.

That is, the position of the bucket (9) with respect to the driving part (3) is detected by calculating the detection results from the sensors (P1) to P4), and this detected bucket position is as shown in FIG. The first, which is a preset peripheral
And it is determined whether or not it is in the second danger avoidance zone (Z) (Z2). Based on the information from the valve control means (11), the operation levers (10a) and (10b) and the cylinder (2) or C4) are operated by the offset switch (S4).
The boom (6), the arm (8) and the bucket (9) to enable or disable oscillating or offset operation. That is, when it is determined that the detected bucket position is in the first danger avoidance zone (Z1) set in front of the operating section (3), the boom (6) is lowered and the arm (8) is operated on the earth removal side. upward operation of the boom (6) while allowing
Scraping side operation of arm (8) and bucket (9)
This prohibits offset operation on both the left and right sides. Then, when it is determined that the detected bucket position is in the second danger avoidance zone (L) set on the side of the driving section (3), the bucket (9) can be offset to the side opposite to the driving section. Raising and lowering operation of boom (6), arm (8)
This prohibits the operation of the bucket (9) on the discharge side and the scraping side, and the offset operation of the bucket (9) toward the driving section side.

The storage control means (14) is configured to be switched between an activated state and an activated state by switching the storage switch (S6), and when it is in the activated state, it is automatically activated based on the flow shown in FIG. It is composed. That is, when the operating state is reached, a signal is output to the valve control means (11) based on the detection results by the boom angle sensor (P1), the arm angle sensor (P2), and the offset sensor (P4), so that the valve (V, ), By operating (v2) and (v4), the boom cylinder (C1), arm cylinder (C2) and offset cylinder (C4) are automatically operated, and the bucket (9) is moved by the action of the danger avoidance control means (13). The backhoe device (5) is switched to the small turning retracted state while being careful not to intrude into the driving section (3).

The storage control means (14) is provided with a deceleration means (15) so as to act on the offset cylinder (C4), so that when the storage control means (14) automatically stores the bucket (9), the bucket (9) is in a second danger avoidance mode. This is to prevent the storage operation from stopping due to the danger avoidance control means (13) upon entering the zone (Z2).

That is, the deceleration means (15) is the backhoe device (5)
In order to achieve the short turning retracted state, the operating unit ( The bucket (9) is configured to determine, based on information from the storage control means (14), from which side the bucket (9) is to be moved laterally, the side where the movement part (3) is located and the side opposite to the movement part (3). As shown in FIG. 11, the structure is such that the deceleration action is not performed when it is determined that the moving direction of the bucket (9) is from the driving section side. And the bucket (
When it is determined that the moving direction of the bucket (9) is from the opposite side to the driving part (3), the bucket (9) is moved toward the boom base end portion (6a) based on the detection result by the offset sensor (P4). When detecting the position and detecting that the bucket (9) has reached the first set approach position (Y1), which is preset in front of the storage offset position (X) as shown in Fig. 6, this Accordingly, a signal is automatically output to the valve control means (II) via the storage control means (14) to switch the offset valve (v4) to the deceleration side, thereby reducing the offset cylinder (C4).
At the same time as starting the deceleration operation, the bucket (9) is at the offset position for storage! (X) and the first set approach position (Y1) until it reaches the second set approach position (Y2)) (9) approaches the storage offset position (X), the offset cylinder (C4) Continue the deceleration operation so that the operating speed of the offset cylinder (C4) decreases from the high speed (Vh) for quick movement before deceleration to the low speed (m) for preventing positional deviation and stoppage. ,bucket(
9) is the second setting close position! The low speed (v1) is maintained from (Yz) until the storage offset position (X) is reached.

[Brief explanation of the drawing]

The drawings show an embodiment of the backhoe control device according to the present invention, in which FIG. 1 is a plan view of the backhoe device, FIG. 2 is a side view of the entire backhoe with a dozer, and FIG. 3 is a side view of the backhoe device in a stored state. Figure 4 is a plan view of the backhoe device in its stored state, Figure 5 is a block diagram of the control system, Figure 6 is an explanatory diagram of the danger avoidance area, Figure 7 is an explanation of deceleration operation, Figure 8 is a main flow diagram, FIG. 9 is an automatic storage flow diagram, FIG. 10 is a danger avoidance flow diagram, and FIG. 11 is a deceleration flow diagram. (2)...Swivel base, (3)...Driving section, (5)...Backhoe device, (6)...
...Boom, (6a) ... Base end part, (
8)...Arm, (9)...Bucket, (14)...Storage control means, (15)...
... Deceleration means, (C1) ... Boom cylinder, (C2) ... Arm cylinder, (C1) ...
...Offset cylinder, (P+) ...Boom angle sensor, (P2) ...Arm angle sensor,
(P4)...Offset sensor, (X)...
...Offcent position for storage, (Yi)...
Set approach position.

Claims (1)

[Claims] The backhoe device (5) is attached to the lateral side of the operating section of the swivel base (2), and the bucket (9) of the backhoe device (5) is attached to the side of the swivel base with respect to the boom (6). An offset cylinder (C_4) is provided to adjust the movement in the direction, and the boom (6) and the arm (8) of the backhoe device (5) are
) and the backhoe device (5) is configured to switch to a retracted state in which the bucket (9) is retracted to the rotating platform side and the bucket (9) is located on the side of the driving section, (6) a boom angle sensor (P_1) that detects the vertical swing angle with respect to the swivel base (2); an arm angle sensor (P_2) that detects the swing angle of the arm (8) with respect to the boom (6); and the bucket (9
), the boom cylinder (C_1) and the arm cylinder (C_2) based on the detection results by the offset sensor (P_4) that detects the lateral deviation with respect to the base end portion (6a).
and automatically operating the offset cylinder (C_4),
A backhoe control device comprising a storage control means (14) for automatically switching the backhoe device (5) from a working state in which it projects forward from the swivel base (2) to the storage state, the bucket (9) ) to the storage offset position (X) with respect to the proximal end portion (6a) from the side opposite to the driving section (3), when moving the bucket (9
) starts the deceleration operation of the offset cylinder (C_4) as it reaches the set approach position (Y_1) with respect to the storage offset position (X), and on the deceleration start side, the bucket (9) moves toward the storage offset position (Y_1). Position (X
); a deceleration means (15) that automatically operates so that the operating speed of the offset cylinder (C_4) becomes slower as the offset cylinder (C_4) approaches
A control device for a backhoe, wherein the storage control means (14) is provided with: