JP2824078B2 - Backhoe - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] In the present invention, a boom of a backhoe device is vertically swingably mounted on a lateral side of a driving unit of a swivel base, and an arm is connected to the boom. The present invention relates to a backhoe provided with an offset mechanism for moving a distal end boom portion in a lateral direction of a swivel base with respect to a base end boom portion connected to the swivel base.

[Conventional technology]

The backhoe device of the following backhoe can laterally offset the distal boom portion (10C) to which the arm (9) is connected as shown in, for example, the solid line in FIG. 4 and FIG. If the part (10C) is stored offset from the moving part (4) on the opposite side, the backhoe device (6) will fit within the turning radius of the turning table (7), and the turning radius can be reduced. is there.

In this case, the arm, the front end boom portion, and the like in the backhoe apparatus are manually operated based on an operation lever or the like operated by the driver.

[Problems to be solved by the invention]

However, in the above-described conventional technique, for example, if the proximal boom portion (10A) is lifted while the distal boom portion (10C) is offset toward the driving section (4), the arm (9) may be provided in some cases. It is conceivable that the bucket (8) at the tip of the head approaches the driving unit (4) side.

In this case, since the bucket (8) may come into contact with the driving unit (4) (driving cabin (3)), the contact is avoided by a driver's artificial operation before such a state occurs. Although it is to be expected, the approach of the bucket (8) to the driving unit (4) is not complete simply by relying only on the driver's artificial avoidance operation.

An object of the present invention is to provide a configuration in which a state in which a bucket contacts a driving unit can be prevented without relying on manual operation.

[Means for solving the problem]

A feature of the present invention is that a boom of a backhoe device is vertically swingably mounted on a lateral side of a driving section of a swivel base, and a distal end boom portion of the boom to which an arm is connected is connected to a swivel base. A boom angle sensor that can detect the swing angle of the boom with respect to the swivel, and a lateral movement of the distal boom with respect to the base boom in a backhoe equipped with an offset mechanism that moves the swivel horizontally with respect to the swivel. An offset sensor capable of detecting the amount and an arm angle sensor capable of detecting a swing angle of the arm with respect to the boom, and a bucket position for detecting a position of the bucket of the backhoe apparatus with respect to the driving unit based on a detection value of each sensor. Setting means for providing a detecting means, for setting a tread surface closest to the driving section in an allowable range in which the bucket does not interfere with the driving section, and bucket position detection Comparing means for comparing the detected position of the bucket with the step and the check surface; and, based on the coincidence between the detected position of the bucket and the check surface, the direction in which the bucket crosses the check surface and enters the operation unit side. A check means is provided to prevent the operation of the backhoe device, and the longitudinal distance between the drive section and the front wall portion of the check face located in front of the drive section on the check face is determined by the lateral direction of the drive section on the check face. Is set to be larger than the lateral distance between the side wall portion of the tread surface and the driving section located at the right side.

(Operation)

According to the configuration, a. When the backhoe device is artificially operated and the bucket reaches a preset check surface, the backhoe device is moved in the direction in which the bucket enters the operating section side beyond the check surface by the action of the check means. If you try to do this, you cannot do this.

B. The above-mentioned tuck surface is constituted by a tuck surface front wall portion in front of the driving unit and a tuck surface side wall portion on the side of the driving unit (side of the hackhoe device). While the front wall portion of the restraint surface requires a boom angle sensor and an arm angle sensor in addition to the offset sensor, it is determined by the detection information of a plurality of sensors.

In other words, the accumulation of mechanical errors such as the backlash of the mounting of the sensor or the backlash of the connecting part between the boom and the arm, and the accumulation of detection errors are greater on the side of the side wall of the tether than on the side of the front wall of the tether. In order to minimize the approach distance of the bucket to the driving unit, the distance between the side wall of the tether and the driving unit in the left-right direction should be smaller than the distance between the front wall of the tether and the driving unit. It can be small.

〔The invention's effect〕

As a result, the operation a. Therefore, when the backhoe device is artificially operated, it is possible to prevent a situation in which the bucket is brought extremely close to and in contact with the driving unit and the driving unit is damaged, and the working performance of the backhoe can be prevented. Could be improved. Then, an operation b. As a result, while having the above-mentioned effects, the bucket can be brought closer to the driving section, the movable range of the backhoe apparatus can be made as wide as possible, and the workability can be improved.

〔Example〕

 Hereinafter, embodiments of the present invention will be described with reference to the drawings.

As shown in FIG. 3, an operating section (4) with an operating cabin (3), a driving section (5), and a backhoe apparatus (6) are provided for a traveling body (2) having a crawler traveling apparatus (1). A backhoe is configured by mounting a full-swing type swivel (7) provided with.

The backhoe device (6) has an arm (9) that supports a basket (8) at its tip so as to be swingable around a horizontal axis, and a boom that supports the arm (9) at its tip so as to swing around the horizontal axis. The boom (10) is supported on the side of the driving section (4) so as to be able to swing up and down. A hydraulic cylinder (C ₁ ) for swinging the boom (10) up and down, a hydraulic cylinder (C ₃ ) for swinging the arm (9) with respect to the boom (10), and an arm ( A hydraulic cylinder (C ₄ ) that swings with respect to 9) is provided.

Next, an offset mechanism (1) that translates the arm (9) to which the bucket (8) is connected in a horizontal direction of the swivel (7).
4) will be described. As shown in FIG. 3, the base end boom (10A) including the mounting end to the swivel (7) and the tip of the base end boom portion (10A) are orthogonal to the swing axis (Y). Intermediate part (10) that is swingably connected around the axis (X)
B) and the front boom part (10C) connected to the tip of the middle part (10B) so as to be swingable around the axis parallel to the axis (X).
And a boom (4).
An arm (9) is swingably connected to C). As a result, the middle part (10B) is positioned relative to the base boom part (10A).
Is swingable in the lateral direction of the swivel (7).

For such a bent structure of boom (10),
A hydraulic cylinder (C ₂ ) is provided between the proximal boom portion (10A) and the intermediate portion (10B) to swing the intermediate portion (10B) around the axis (X). A connecting rod (15) is erected between the base end boom part (10A) and the distal boom part (10C), and the intermediate part (10B) and the connecting rod (1
5) and the front end boom portion (10C) constitute a parallel quadruple link. This allows the hydraulic cylinder (C ₂ )
When the intermediate portion (10B) is swung left and right with respect to the base end boom portion (10A), the arm (9) connected to the bucket (8) is parallel to the swivel (7) in the lateral direction. Can be moved.

As shown in FIGS. 1 and 3, the proximal boom section (10
A potentiometer (P ₁ ) (an example of a boom angle sensor) that detects the relative swing angle between the boom (10) and the swivel (7) on the swing axis (Y) of the hydraulic cylinder (C ₁ ) of A). Detecting the relative swing angle between the proximal boom part (10A) and the intermediate part (10B) at the axis (X) which is the connection point between the proximal boom part (10A) and the intermediate part (10B). A potentiometer (P ₂ ) (an example of an offset sensor) is provided between the tip boom part (10C) and the arm (9) at the axis (Z) which is a connection point between the tip boom part (10C) and the arm (9). A potentiometer (P ₃ ) (an example of an arm angle sensor) for detecting a relative swing angle is provided.

Potentiometer as shown in FIG. 1 (P _1),
(P _2), and based on the detected value of (P _3), a bucket a bucket position detecting means for computing a position for the driver cabin (3) (8) (11), a bucket (8) is operated cabin (3) A setting device (13) (corresponding to a setting device) for setting a position closest to the operating cabin (3) in the allowable range (S) where no interference occurs as a check surface (N), and a bucket ( A comparator (28) (corresponding to comparison means) for comparing the detection position of 8) with the restraint surface (N) is provided.

Then, when the comparator (28) detects that the detected position of the bucket (8) and the check surface (N) match, based on this, the raising operation of the boom (10) and the tip-side boom portion (10C) are performed. ) And the swinging operation of the arm (9) toward the boom (10) (the bucket (8) moves over the restraining surface (N)). (Equivalent to the operation of the backhoe device (6) in the direction of entering the side).

In the bucket position detecting means (11), the potentiometer (P _1), (P _2), (P ₃₎ of the combination of the detection values, the data table in advance calculate the position for the driver cabin of the bucket (8) (3) Is becoming The data table is configured to detect the position of the bucket (8) by associating a combination of the detection values of the potentiometers (P ₁ ), (P ₂ ), and (P ₃ ) with the data table one-to-one. Thus, the microcomputer for inputting these values can be reduced in capacity.

The check surface (N) is set in advance by the setting device (13). In this case, the position where the bucket (8) comes closest to the cabin (3) in the entire swing range of the bucket (8) with respect to the arm (9) is considered. Thereby, regardless of the attitude of the bucket (8), it is possible to prevent the bucket (8) from protruding to the operation cabin (3) side from the set tread surface (N) and stopping, so that the tread surface (N) Can be brought closer to the driving cabin (3).

As shown in FIG. 1, a cross-operable operation lever (16) for the boom (10) and the bucket (8), a cross-operable operation lever for turning the arm (9) and the swivel (7) ( 18), and an operation lever (17) for the offset mechanism (14) is provided, and the operation levers (16), (17), (1)
Control means for controlling the operation circuits (22), (23) and (24) of the control valves (19), (20) and (21) by the potentiometers (16a), (17a) and (18a) on the 8) side (25), (26), and (27) are provided.

With the above configuration, as shown in FIGS. 1 and 2,
During the artificial operation of the backhoe device (6) by the operation levers (16), (17) and (18), when the bucket (8) reaches the check surface (N) from the allowable range (S), the potentiometer ( _{P 1), (P 2)} , bucket-based (P ₃₎ (8)
The comparator (28) outputs that the detected position with respect to the operating cabin (3) coincides with the restraint surface (N), and based on the output, the hydraulic cylinders (C ₁ ), (C ₂ ), and (C ₃ ) The check valve (12) for forcibly switching the control valves (19), (20) and (21) of the bucket (8) via the operation circuits (22), (23) and (24) is actuated, and the bucket (8) Is the check surface (N)
It stops at.

And, as shown in FIG. 4, the front-rear spacing (Da) between the driving unit (4) and the front wall portion (Na) of the braking unit on the front of the driving unit (4) on the braking surface (N) is determined. The lateral distance (Db) between the lateral portion (Db) of the restraint on both sides of the lateral side of the driving unit (4) where the backhoe device is present on the restraining surface (N) and the driving unit (4) is larger than the lateral distance (Db). It has been set.

In other words, the side wall portion (Nb) of the tread surface is determined by a single piece of detection information only from the potentiometer (P ₂ ) for offset, whereas the front wall portion (Na) of the tread surface is provided with the potentiometers (P ₁ ), (P ₂ ), Since it is determined by the three types of detection information according to (P ₃ ), errors due to potentiometers and their mounting, and errors due to mounting errors of each part of the backhoe device, etc., increase. Therefore, the basket (8)
Can be made smaller in the left-right direction interval (Db) than in the front-rear direction interval (Da).

For example, when only the arm (9) is artificially operated by the operation lever (18) so that the bucket (8) approaches the driving cabin (3), the bucket (8) reaches the check surface (N). Then, the restraint means (1) is set so that only extension guidance of the hydraulic cylinder (C ₃ ) for the arm (9) becomes impossible.
2) operates and the bucket (8) stops. That is,
Arm (9) and than switched to forced neutral position actuated control valve (21) in the extended operating side of the hydraulic cylinder (C ₃₎ for the bucket (8) has not been restored to the allowable range (S) case is to maintain the switching of the control valve to the extension operation side of the hydraulic cylinder (C ₃₎ (21) incapable.

In the above-mentioned state, the operation of contracting the hydraulic cylinder (C ₃ ) for the arm (9) is allowed. When the boom (10) is operated in a state where the bucket (8) has reached the check surface (N), the boom (8) moves the bucket (8) closer to the driving cabin (3) from the check surface (N). The lifting operation of 10) is prevented by the restraint means (12). Conversely, the lowering operation of the boom (10) is performed using the bucket (8).
Is moved away from the driving cabin (3), so that it can be artificially operated by the operation lever (16), and the check means (12) does not operate.

That is, even when the bucket (8) reaches the check surface (N) and the backhoe device (6) is stopped, the bucket (8) moves away from the check surface (N) to the driving cabin (3). Direction, each hydraulic cylinder (C ₁ ), (C ₂ ),
(C ₃₎ operating the constitute possible. Also, the hydraulic cylinder (C ₄ ) for the bucket (8) can always be extended and retracted.

(Another embodiment)

The bucket position detecting means (11) may be configured by a function formula such as a program formula or an analog formula. Since the detection value by the function expression is expressed by a function, there is an advantage that it is possible to easily cope with various models.

In the claims, reference numerals are provided for convenience of symmetry with the drawings, but the present invention is not limited to the structure of the attached drawings by the entry.

[Brief description of the drawings]

The drawings show an embodiment of the backhoe according to the present invention, FIG. 1 is an operation circuit diagram of the backhoe device, FIG. 2 is a flowchart showing the operation flow of the check means, FIG. 3 is an overall side view of the backhoe, FIG. The figure is an overall plan view of the backhoe. (4) ... driving unit, (6) ... backhoe device, (7)
Swivel, (8) Bucket, (9) Arm, (1
0)… boom, (10A)… proximal end boom part, (10A)
C) Tip boom portion, (11) Bucket position detecting means, (12) Checking means, (13) Setting means,
(14) Offset mechanism, (28) Comparison means,
(S): allowable range, (N): check surface, (P ₁ ): boom angle sensor, (P ₂ ): offset sensor, (P ₃ ):
… Arm angle sensor, (Na) …… The front wall of the control surface, (Nb)
…… Checking side wall, (Da) …… Front and back spacing, (Db)
... Left and right spacing.

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Takanori Miura 64 Ishizukita-cho, Sakai-shi, Osaka Kubota Iron Works Inside Sakai Works Co., Ltd. (56) References JP-A-1-271535 (JP, A) JP-A-2- 204537 (JP, A)

Claims (1)

(57) [Claims] 1. A boom (10) of a backhoe device (6) is vertically swingably mounted on a lateral portion of an operating section (4) of a swivel (7), and an arm (9) of the boom (10). An offset mechanism (14) is provided for moving the distal boom portion (10C) connected to the swivel (7) to the swivel (7) sideways relative to the proximal boom portion (10A) of the swivel (7). A boom angle sensor (P ₁ ) capable of detecting a swing angle of the boom (10) with respect to the swivel (7); and a base boom portion of the distal boom portion (10C). An offset sensor (P ₂ ) capable of detecting an amount of lateral movement with respect to (10A); and an arm angle sensor (P ₃ ) capable of detecting a swing angle of the arm (9) with respect to the boom (10). each sensor (P _1), based on the detection value of _{(P 2), (P 3} ), said Bakkuho A bucket position detecting means (11) for detecting a position of a bucket (8) of the device (6) with respect to the operating section (4), and an allowable range (S) in which the bucket (8) does not interfere with the operating section (4). ), A setting means (13) for setting a check surface (N) closest to the operating section (4), a detection position of the bucket (8) by the bucket position detecting means (11), and the check surface (N). (28) for comparing the detected position of the bucket (8) with the check surface (N).
When the bucket (8) exceeds the check surface (N) and enters the operation section (4) side, the operation of the backhoe device (6) is suppressed based on the fact that ), And the longitudinal direction interval (Da) between the tread surface front wall portion (Na) located in front of the operating portion (4) in the tread surface (N) and the operating portion (4) is defined as The lateral distance (Db) between the side wall portion (Nb) of the traction surface on the lateral side of the operation portion (4) on the traction surface (N) and the operation portion (4) is set to be larger than the distance (Db). Backhoe.