JPS5847830A - Excavation working car - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an excavation work vehicle equipped with an excavation device equipped with a packet attached to the tip of a working arm that is movable up and down, can be bent and extended, and can be rotated. , the excavation work can be selected between the normal lever operation type and the copying type operation type, so that depending on the skill level of the worker, the work type can be chosen from a wide variety of work types. , excavation and discharge of excavated earth and sand for 3111 tables, etc.
The state of the artificial excavation work of the 2% layer, which repeats the operations of 111 and ll1l cutting f% work location change history, can be arbitrarily memorized, and KL and cutting can be carried out extremely efficiently through fully automatic operation. Depending on the excavation situation and the target of subdivision, such as changes in depth and soil removal level, or soil properties, the IJ4
I#t-Purpose is to be able to change and set the operation of 11 works.

Next, embodiments of the present invention will be described based on examples (not shown).

A swivel base (31
Attach the swivel table (31K), install the K11ll cutting device @ which can freely rotate left and right around the M axis, and install the engine section (5) in the operating cabin (4) to extend the excavation work vehicle to 1m.
It is completed.

The first arm (6
) at the tip of the second arm (7) connected to the bending and extending arm around the horizontal axis;
The #111th λ arm 1 is connected so as to be vertically swingable, and
The packet 18) is pivotally connected to the tip of the packet 18) so as to be rotatable around the horizontal axis, and the first arm (61) and the second arm (7) and the packet 181 km are connected to the fluid pressure for swinging. cylinder +91, ul, u
1. A fluid indenter (2) for driving and rotating the swivel table (3), and 1. an operation valve (V,) for controlling them; e (V D) # (V, ),
(Vm) is provided.

Said operating valves (V,) to (V,) and left and right crawler running
・The driving motor for the rowing device II mountain, the control valve aa (maa, (maat)) is made of an electromagnetic actuation type, and the control valve (V
, ) and (V,) and the operating valves (V-) and (V,) are linked to the cross-swinging operating lever Q41, respectively, and the travel operating valves (Maa, (Maat operating lever αS, (It is linked to i51.

Further, the working trajectory 4at of the drilling rig IBI - proportional K
A model-type operating machine for excavation work aIMA that draws a trajectory at 1 m1 smaller is provided, and its operating button 1θ is set to operate the excavating device 11B+ in a proportionally enlarged manner with respect to the position and posture of the operating mechanism of B. against the first and second arms (6)
, (?) and packet (81 driving operation scenes!
(9) , (1(I m u(r)11 act valve(Q*(
”)*(vs), the first & second arms (
6) , (Composition operation of 71 and packet (8) ffL&,
It is designed so that even an unskilled person can perform the copying operation efficiently using the model-type operating mechanism.

The operating mechanism (to) includes first and second arms (6).

(7) and members (171, (2) corresponding to packet (8)
), loquat, and the linkage structure for the second arm (7) and the corresponding member u81 and the linkage structure for the second arm operating valve (Vm) K are #4 as follows.

That is, as shown in FIG.
An operating piece is connected to the shaft (2), and on both sides of this operating piece, a switch +81 (81k) is attached to operate the operation 1111 for the arm cylinder operation valve (V-), and the arm (7) is attached. The release wire @, Cm is connected across the continuous throw shaft (2) and the rotating body (2), and the arm ζ7 is connected to the arm equivalent member (switch (Sl) by the operation of 18, and the arm ζ7 by the selection operation of 81).
) is swung, and the amount of input is fed back to the rotary body TjJJK, causing the arm 471 to oscillate until the operation input to the product is released.

In addition, the model member u1 for the first arm 16)2sonK,
And packet (8) #The linking structure of the model member U hot water thereto is similarly structured, but its wind body structure can be modified in various ways.

All of the valves (Ma,) to (V,) are automatically controlled by an automatic control mechanism 1.
It is linked to.

To configure the automatic control mechanism (G), first, the lever U41 for operating the excavation rig is used as the main body, and the working operation state by the N7 and travel control lever Q51 (151), or the model type operating mechanism ( Based on the imitation of (to), and similar to the turning operation lever ■ and traveling operation lever, the work operation status is interfaced by (to).
, ca to be stored in the storage device of the microcomputer.

That is, as shown in FIG. 3(a)K, the first operation state (zl) is to discharge and work the packet surface while lowering and extending the millet arm t-'F.

■ As shown in the same figure (ri), the second operation state (i) in which the arm tAl is bent and the packet (2) is scooped 4 times and 1llJ is made.

As shown in FIG. 3(C), the third operation state (S) is to scoop up the packet D while bending the arm upward.

■ As shown in the same figure), the IS4 operation state (
2,).

(2) As shown in the same figure, the fifth operation state (-) in which the arm holder is rotated while being raised and extended while the packet 1125't'' is stopped.

0 As shown in the same figure (f), the sixth operation state (2) allows the packet D to be ejected while the arm is stopped.

■ As shown in the same figure (G), the arm prisoner is rotated to return while keeping 1 packet @ stopped! iF,? Steering status (-).

■ As shown in Figure (A) K, move the vehicle body 121 backwards while keeping the arm prisoner and packet @ stopped%8
8 Operation status (-) 0 The above valve operation order, the continuation and stop time of the 1g1J operation, and the correlation between the valve opening degree are stored in a storage device 1111.
i? ? It is designed to input lK.

Then, in order to make the eight types of memorized operation conditions w4 appear cyclically in the jet, the operation valve (v+L(We) --
A valve control system (Ma) is provided for automatic operation of (V).

This control mechanism (a mechanism for switching and selecting the operating state of M9 between a state in which the operating state by human control is memorized and a state in which the memorized action is performed automatically), @wo It has a push button structure and is equipped with a panel IIK.

According to the above configuration, by repeating the eight types of previous operations stored in the memory, excavation, turning, ejection, and changing the ffI focal position and pupil position can be performed fully automatically and efficiently, and the second operation state (ZO
and the fifth operation state (2,), etc. - Ik17'r! compound a
Since the machine is made to do one work, its work efficiency is further increased.

Since the work operation is memorized by human operation, the depth and length of excavation, arm rotation angle, vehicle travel distance, and the appropriateness of these operations can be adjusted according to the hardness and softness of the soil. Accordingly, the automatic Kfi is set to OFF, and appropriate excavation work is performed with the same operation as the set manual operation.

Furthermore, in order to memorize the operating state of the manual work, the manual work can be stored using the normal cross-swing levers ua and I, the operating state of the traveling control lever U-9 (151), and the model The mold operation mechanism UE is the main body, along with the turning operation lever U41 and the traveling operation lever Q51.
, Q! It is possible to arbitrarily select and memorize the operating states of the floating operation levers, and therefore, an expert who is familiar with operations based on the cross-swing operating lever circle and u#, or a model-type operating lever structure (lυ) It is possible to memorize the work operation state of any operation mode, such as an unskilled person who thinks that the operation i based on imitation has better operability and can be performed easily. This makes it easier for experienced users to memorize desired programs, which in turn improves operability.

In the diagram, (2) is the start switch for automatic excavation work, and (to) is the switch for starting manual excavation work, which is used to manually perform excavation work separately from the self-operated system. be.

(To) The display shows detailed operation information such as excavation depth and excavation trajectory so that the operator can understand the excavation work status.

(To) is a trouble sensor that detects engine oil pressure, radiator water level, remaining fuel level, battery fluid level, battery voltage value, operating pressure fluid capacity and temperature, etc., and passes the information to the maintenance sensor interface c11. input the information into the microcomputer, display the information on the display, and create a warning device based on the detection of the rubble. It is recommended to stop the operation of the gills and various devices.

(To) is an excavation obstacle detection sensor that detects the presence of stones or other obstacles, for example, based on the work load of excavation work cylinders (9), (To), (1!+). 8, and input that information to the computer (to) through the obstacle sensor interface (to).
11 Automatically repeat the excavation work based on the information, and if the obstacle existence information is still input even after repeating the excavation work a set number of times, self-help excavation is performed. This is to stop the work and display the status on the display.

(To) is a swinging obstacle detection sensor that detects, for example, the state in which the swing base (3) is in contact with another object based on the work load of the swing motor 0υ, and detects the pleasure when the above interface (To) Pressure is inputted into the computer (to) to stop the excavation work at hand immediately, and the swivel table (31 or wax stopper, etc. This is to prevent things from being seriously damaged.

One valve control interface, the other is a feedback control interface.

In the control system having the above configuration, the operating valves (V,) to (V
, ) are each of the t11 type and 1111J type for on/off control.For example, for the first arm cylinder (9), as shown in FIG.
v;>t Operate by pilot cylinder t
In both cases, the pilot valve lO for operating the cylinder 5 is operated by a pulse control mechanism linked to the own control mechanism (to), and this pulse control mechanism is operated by the operation lever 1, 2 or the above. The device f@,', which determines the direction of control valve operation based on the model type operation mechanism 11e, converts the operation amount into a pulse number and transmits it! [Constructed from (48), the control valves (V, ) to (V,
) may be configured to allow inching control.

In summary, the excavation work table according to the present invention has a working arm<AJts fluid pressure actuator (9).

(2) A bucket I-+81 k is attached to the tip of the arm 4 so that the upper FK can be assisted in driving, flexed and rotated freely by aυ, and can be freely cut and turned in the upper F by a fluid pressure actuator @. constitutes a drilling rig (6);
The arm 4 and packet (4 operation valves (mat) e (v meeting) for 81) * (vs) e (v4) are 2
The operating valves for turning (three operating valves (V, V,
), (Y Zeng).

(V,) is linked to the operating mechanism for the model type excavation device that operates proportionally to the change in position and attitude of the excavation device (Bl), Vs)
# (v,) @ Travel control lever u51 #u5) Kal
Section 5, furthermore, all of the operation valves (V,) to (V,) t
481 K" is connected to the control machine 11251 to configure the control machine 11251, while the arm tAlt-lower is extended, the bucket) 481 K" is discharged to the first island-like shape X1 (Z,) , 182 artificial lI operation state (zl) in which the packet (81 is scooped up and moved r1:8) while bending the arm prisoner, and a third human island in which the 10th packet (81 is scooped out and moved) while the arm prisoner is bent upward. state (2,), the packet ta+t - raises and extends the arm prisoner with the packet (ta+t) stopped; fourth artificial state - sweat state (Z,), raises the arm prisoner with the packet (8) stopped; The fifth person, Takuroku Sakusho (zρ), who rotates while raising and extending the arm, ejects the packet (8) 111J while keeping the arm prisoner stationary. s6: Artificial island state (1,), the packet (8) a seventh artificial operation state C-) in which the arm prisoner is rotated to return while the arm is stopped;
and the arm 4 and the bucket) (8th person's island-like operation state where the vehicle body (2) is moved backwards with 81 stopped (-)
, and in order to display the memorized operating state of class 821I in a circular manner, the operation valve (V, ) ~
(V,) is configured to automatically operate, and the operating state of the control saw structure is controlled by the cross-swing operation reparo 41,
A state in which the operating valves (V,) to (V,) are operated in a memorized manner; It is characterized by a switching mechanism (to) and an @ symbol.

That is, by selecting the operating mode in which the two cross-swing operating levers (141 and 141 are the main body) and the copying operating mode II in which the model-type operating mechanism u61 is used, the excavation work and the work of changing the position of the eastern part are performed. This made it easier for the robot to perform the desired task by using its preferred form of operation, depending on the level of proficiency of the task.

Then, the state of the manual operation can be stored in the automatic control mechanism, and the state of the operation can be repeated on its own.
! He was also able to make a J-shaped fist and was able to carry out repeated excavation work efficiently.

Moreover, I chose artificial manipulation f'll:t-JM, which is my specialty.
Since it memorizes unusual work movements depending on the hardness and softness of the soil at the work site and the surrounding conditions, it is now possible to change the settings of the manual operation as desired by the worker.

[Brief explanation of drawings]

The drawings illustrate embodiments of the excavation work vehicle according to the present invention,
4pI1 is an overall side view, the second figure is a control circuit diagram, FIG. (8)...Packet, (9)-(2)...
・・Fluid pressure actuator, Yun・・Cross swing operation lever, uj・・・・Operation lever with foot, u@・・
...Operating mechanism, -... System (Il1 mechanism, (
2), @...Selection**, Prisoner...Working arm, tBl...Drilling equipment, (Vl) ~ (V
, ) −... Operation valve, (2,) ~ (su...
...Operating status.

Claims (1)

[Claims] One fluid pressure actuator (91,
ul, (IIK) It is provided so that it can be driven to move up and down, bend forward and extend, and rotate freely, and a packet (8) that can be driven and rotated up and down by a fluid pressure actuator (121) is attached to the tip of the arm. and configure the drilling rig@,
The four operation valves (Vl) e (Vl) # (Vs) # (V,) for the arm prisoner and packet (81K) are linked to the two cross-swing operation levers (14+, (141), operation valves (3 operation valves (Vl) excluding maDt) e
(v snow), Cv, 1fJE 11u device (Bl
) It is connected to the excavation rig operation machine made by Hidell, which is made in proportion to the size of $ 36.
Vehicle body traveling operation valve (V,) e (MaDt--travel operation, similar to bar, linked to U51,!!!, said operation valve (V,)~
(V,) are all linked with the control mechanism gilK to form the control mechanism false, and the first island-like structure 111 (z,) is configured to eject the packet (81) while lowering and extending the arm prisoner. , while bending the arm ^ 111
A second human island-like work state (Zs) in which the packet (8: t-scoop # sweat) is made, and a third human island-like work state (Zs) in which the aforementioned packet 7 is scooped and made to make one scoop while the arm is bent upward.
Z,), the bucket) 18+' is stopped and the arm prisoner is raised and extended.
), a v65 artificial state (Za) in which the arm prisoner is rotated while raising and extending the packet (8) while the packet (8) is stopped, and a sixth state in which the packet (8) is discharged and created while the arm tAli is stopped. Human island state (Z,
), while the packet 4811 remains stopped, the arm prisoner t returns and rotates;
Memorize the 8th person island state (2,) in which the main body (2) is moved backward while the arm prisoner and packet 18) are stopped, and the 8 types of memorized operation conditions 1 fit - 11 m to that cough. The operating valves (V,) to (V,
) is configured to operate automatically, and the wJ operation state of the controller 412!
a41t- A state in which the operating valves (V,) to (V,) are operated as a main body, a state in which the operating valves (V,) to (V,) are automatically operated; An excavating work vehicle characterized by being provided with a switching and selecting mechanism @, 12I'.