JP3537099B2 - Bucket angle control device for industrial vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bucket angle control device for an industrial vehicle such as a shovel loader.

[0002]

2. Description of the Related Art Conventionally, bucket angle control devices for industrial vehicles
Is disclosed, for example, in Japanese Patent Application No. 63-6837 (JP-A-1-182).
No. 419) . This bucket angle control device is such that the bucket always keeps the set angle even if the boom angle changes at the time of work, and thereby the unloading work of the earth and sand loaded on the dump truck or the like. It is easy to do.

[0003]

However, the above conventional bucket angle control device is shown in FIG. 1 in order to improve the unloading property of the earth and sand and to make it easy to see the cutting edge of the bucket from the driver's seat .
So that the back surface of the bucket a is substantially horizontal
(Hereinafter, simply referred to as a “horizontal posture”) , and stop at a posture inclined downward below the angle of the bucket a ( hereinafter, “unloading angle”) even if the angle of the boom b changes in this posture.
To) in which is controlled so as not to change.

[0004] Therefore, when newly starting loading of sediment by lowering the bucket a later load cutting, Ri operation Do need to again return the bucket a horizontal posture, the loading operation
There are problems such as difficulty in smooth transition , and the inability to continuously perform unloading and loading operations. The present invention has been made in order to improve such a problem, so that the loading operation can be smoothly performed.
Migration ease Kudeki or connects the load cutting operations and loading operation, the
It is an object to provide a bucket angle control device <br/> industrial vehicle so as to perform in connection with.

[0005]

To achieve the above object, a bucket angle control apparatus for an industrial vehicle according to the present invention comprises:
To the tip of the boom which is freely moved up and down by operation of the boom cylinder, the industrial vehicle including a bucket that is freely tilted back and forth by the operation of the bucket cylinder, Bed
Boom angle detection that detects the boom angle that the boom makes with the ground
And the bucket angle that the bucket makes with the boom
Bucket angle detector and bucket cylinder
And a stroke detector for detecting the stroke length.
Angle is within predetermined lower angle range and boom is down
The stroke length of the bucket cylinder is
Stroke where the bottom surface is almost horizontal when the bucket touches the ground
Activate the bucket cylinder until the length is reached and
To lean backward.

Secondly, in an industrial vehicle having a bucket which is vertically movable by the operation of a bucket cylinder at the tip of the boom which can be vertically moved by the operation of the boom cylinder, a boom angle formed by the boom with respect to the ground. Inspect
The boom angle detector and the bucket
Bucket angle detector for detecting bucket angle and bucket
Stroke detector to detect cylinder stroke length
And a bucket based on the boom angle and the bucket angle.
Calculates the absolute angle of the bucket with respect to the ground, and calculates the boom angle
Is within the predetermined upper angle range, and the bucket absolute
When the angle reaches the predetermined first target angle, the bucket absolute angle becomes
Operate the bucket cylinder to maintain the first target angle.
The boom angle is within the predetermined lower angle range, and
When the engine is down, the bucket cylinder
The bottom is almost horizontal when the bucket length is in contact with the bucket.
Operate the bucket cylinder until the stroke length is reached.
The bucket is tilted backward.

[0007]

According to the first configuration, the boom can be moved to a predetermined lower position.
When lowered in the angle range, the bucket is almost horizontal with the ground
It is forcibly tilted to the posture. Because of this, unloading
Continuous operation without tilting when moving from loading to loading
You can do it. According to the second configuration, the effect of the first configuration is obtained.
In addition to the fruits, in a given upper angle range, the bucket
Automatically stops at the first target angle, which is the unloading angle, and raises and lowers the boom.
Even if it moves, the first target angle, which is the unloading angle of the bucket, changes.
Never. Therefore, unloading work can be performed in a circle without tilt operation.
It can be done smoothly.

[0008]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. Shown in FIG.
Example machine comprising shovel loader, operating on self-propelled freely body 1
It has a chamber 3 and a work machine 2 in the front. The work machine 2 includes a boom 5 whose tip end side is movable up and down by a boom cylinder 4, and a link mechanism 8 (a bell crank 8 a and a bell crank 8 a) attached to the tip end of the boom 5 by a bucket cylinder 7.
Bucket 6 that can be tilted back and forth via the rod 8b)
And In addition, the forward and backward inclination is a so-called “dump”.
There is a forward tilt and a backward tilt of “tilt”.

[0009] The work machine 2 has a boom 5 above the ground.
Shitadokaku theta 2 (hereinafter referred to as "boom angle theta 2") and the boom angle detector 10 for detecting the, with respect to the boom 5 of the bucket 6
A bucket angle detector 11 for detecting a forward / backward tilt angle θ 1 (hereinafter referred to as “bucket angle θ 1 ”) is provided. Bucket angle
The detector 11 detects the bucket angle θ 1 as an alternative value.
Stroke length of ket cylinder 7 or Bellclan
Rotation angle with respect to the boom 5 of the click 8a, or bucket
The rotation angle of the boom 6 with respect to the boom 5 is detected .

FIG. 3 shows a hydraulic circuit of the bucket cylinder 7 .
And its controller system. The hydraulic circuit
The bucket cylinder 7 expands and contracts by switching the pressure oil from the hydraulic pump 12 with the bucket operation valve 13 .
You . The bucket cylinder 7 is provided with a hydraulic pump 14
It is also expanded and contracted by switching the pressure oil from the solenoid valve by the solenoid valve 15.

On the other hand, the controller system is as follows. The bucket angle θ1 and the boom angle θ2 detected by the bucket angle detector 11 and the boom angle detector 10 are input to a first computing unit 17.
And the first computing unit 17 calculates the bucket absolute with respect to the ground.
Calculate the angle θ 0 . Then, when it becomes equal to the first target angle theta 01 bucket absolute angle .theta.0 previously set (the a "load wheel angle") (θ0 = θ01), the output unit 18 sends a signal to the first switch 19 Turn ON . Thereby, the bucket operation lever 20 is returned to the neutral position (that is, the bucket operation lever 20 is returned to the neutral position).
The lever detent release solenoid 30 is energized so that the bucket operation valve 13 returns to the neutral position . For more information
As follows. At the time of this energization, the operator
Bucket operation against the release force of the solenoid
If the lever 20 is continuously operated, the bucket 6 is operated by the operator.
Needless to say, the tilting forward and backward according to the operation described in FIG.

When the bucket operating lever 20 returns to the neutral position, the bucket operating lever neutral detector 21 provided on the bucket operating lever 20 detects this. Then, the second
The switch 23 and the third switch 24 are turned on. 2nd
When the switch 23 is turned on, the storage device 25
The absolute angle θ 0 (the “unloading angle θ 01 ”) is stored.
I do.

Therefore, the bucket operating lever 20 is moved to the neutral position.
When the operator performs the boom operation while the bucket is returned to the original position , the bucket absolute angle θ0 is changed by the link mechanism 8.
To try. Therefore, the second computing unit 26 calculates the first deviation angle Δθ 11 (= θ 01 −θ 0 ) from the unloading angle θ 01 previously stored in the storage unit 25 and the bucket absolute angle θ0, and calculates the third deviation angle Δθ 11 (= θ 01 −θ 0 ) . The data is input to the arithmetic unit 27 and is described in detail below in the third arithmetic unit 27.
Output signal.

In this embodiment, details will be described later.
As shown in FIG. 4, the entire vertical movement range θ 20 of the boom 5
The upper angular range than its substantially intermediate angle θ 2M θ 22 ( "theta
2 > θ 2M ”and“ unloading work range θ 22 ”)
Lower angle range θ 21 (“θ 2 <θ 2M ”
Operating range θ 21 "). The following is a description
I do.

First, the boom angle θ 2 is set to the unloading work range θ 22.
The description will be started from the case where the number is within. At this time, the third computing unit 27
Sets the first deviation angle Δθ 11 (= θ 01 −θ 0 ) to zero.
A first correction signal K · Δθ 11 is generated.

[0016] and now at the time, the bucket operation lever 20 medium
Since the switch is in the upright position, the third switch 24 is
N. Therefore, the first correction generated by the third computing unit 27
The signal K · Δθ 11 passes through the third switch 24 to the amplifier 28
To enter. "K" is an amplification coefficient for the amplifier 28.
It is. The amplifier 28 is based on the first correction signal K · Δθ 11
A driving current I for driving the solenoid valve 15 is generated.
The drive current I is input to the solenoid valve 15. Solenoid valve 1
5 indicates that the first deviation angle Δθ 11 becomes zero based on the drive current I.
In so that (Δθ 11 = 0), i.e. the bucket absolute angle theta 0 is loading
The bucket series is set so that the cutting angle is θ 01 (θ 0 = θ 01 ).
The pressurized oil is supplied to the cylinder 7.

To summarize the above, before and after the bucket 3
When tilting, the bucket absolute angle θ 0 becomes the unloading angle θ 01 (θ 0
= Θ 01 ), the bucket operation valve 13 automatically returns to the neutral position.
Return. At this time, the operator
Boom operation with the bar 20 in the neutral position
The bucket absolute angle θ 0 continues to maintain the unloading angle θ 01
Therefore (θ 0 = θ 01 ), the unloading operation can be easily performed.

This embodiment further has the following configuration. Immediately
Chi, after completion of a load cutting operations as described above, in order to perform the subsequent loading operation, lowering the boom 5. Then, the bucket angle control device outputs a signal from the detection switch 32 for detecting the boom lowering provided separately, and a boom angle detector.
With the boom angle θ 2 from 10 , the descending boom 5
Unloading work range from θ 22 (θ 2 > θ 2M ) to loading work range
When θ 21 (θ 2 <θ 2M ) is entered, this is determined. This product
In the work range θ 21 (θ 2 <θ 2M ), the fourth computing unit
33 calculates “K | θ 2M −θ 2 |”. More memory
Receiving “θ 01 ” from the unit 25,
In response to the bucket absolute angle θ 0 , “Δθ 12 = (θ 0
A) -θ 0 "as the second deviation angle Δθ 12 | 1 + K | θ 2M -θ 2
It is calculated and input to the third computing unit 27.

The third calculator 27 calculates the first deviation angle Δθ.
11 (= θ 01 −θ 0 ) to make the first correction signal K ·
It resulted in [Delta] [theta] 11 "is, Similarly, the second deviation angle [Delta] [theta] 12
To produce a second correction signal K | θ 2M −θ 2 |
You. Details are as follows.

[0020]Second deviation angle Δθ 12 Becomes zero (Δθ 12 =
0), the above equation “Δθ 12 = (Θ 01 + K | θ 2M −θ Two |) -Θ
0 Is the formula “θ 0 = K | θ 2M −θ Two | + Θ 01 ". This
Here, the second term “θ” on the right side 01 Is the first target angle θ
01 (I.e., "unloading angle θ 01 )) And the previous loading work range
Enclosure θ twenty one Is a constant already secured in. In addition, “θ
2M Is also the total rotation range θ of the boom 5 in the vertical direction. 20 Roughly in the middle
Since it is an angle, it is also a constant. And "K" is
First target angle θ 01 As in the case of “K (amplification coefficient)”
A number, which may also be treated as a constant. That is, loading
Working range θ twenty one (Θ Two <Θ 2M Bucket absolute angle θ) 0 (=
K | θ 2M −θ Two | + Θ 01 ) Is the variable boom angle θ Two To
From the boom angle θ Two The smaller the
(I.e., the bucket gradually tilts)
).

The bucket absolute angle θ 0 is simply
Rather than escalating to darkness, straws that explain in detail
The limit is imposed by the laser detector 35. straw
Detector 35 is, for example, a shovel loader or a shovel dozer.
A well-known device conventionally provided in the bucket cylinder 7
is there. The structure is as shown in FIG.
7 is connected to the piston rod 7a of the
The operating rod 35a that moves, and the tip position of the operating rod 35a
And a switch 35b for detecting the position. Switch
H 35b, the stroke length of the bucket cylinder 7 is
Bucket when bucket 6 reaches the ground (grounds)
Check that the bottom of 6 is long enough to be horizontal.
It's set to get out.

That is, the boom angle θ 2 is equal to the loading work range θ 21.
(Θ 2 <θ 2M ), the boom 5 descends
Then, the bucket 6 gradually tilts. Specifically, the figure
As shown in the link mechanism 8 of FIG.
I will continue. The angle of the bucket 6 is such that the bucket 6
When the angle is set so that the bottom is horizontal when
The switch 35b of the trooke detector 35 emits a signal.
You. As a result, the third switch 24 is turned off, and the solenoid valve is turned off.
15 becomes the neutral position and the extension of the bucket cylinder 7 stops.
Stop. During this stop, the bucket 6 is in the air and
Although not in a flat posture, the boom 5 is further lowered and the bucket 6
When the ground contacts, the bucket 6 at the time of the ground is in a horizontal posture.
ing. Therefore, it is easy to shift smoothly to loading operation,
Unloading work and loading work can be performed continuously.

The behavior of the bucket 6 according to the above embodiment is as follows.
A specific description will be given with reference to FIG. In FIG. 6, point A
Between points D and D, the boom angle θ 2 is the unloading work range θ 22 (θ 2 >
θ 2M ), and between point D and point F, the boom angle
When θ 2 is in the loading work range θ 21 (θ 2 <θ 2M )
You. Then, D point boom angle theta 2 is at a substantially intermediate angle theta 2M
It is time. Point C is the operation between points B and D.
Point generated by operating the bucket operating lever 20
It is. Details are as follows.

At point A, the bucket 6 is fully dumped
Load the soil into a dump truck, etc.
Buckets to unload the earth and sand on pump trucks, etc.
The bucket 6 by operating the lever operating lever 20
(From point A to point B). Bucket absolute by this tilt
When the angle θ 0 becomes the unloading angle θ 01 (θ 0 = θ 01 , point B),
Then, the boom 5 is moved up and down (between the points B and C). this
During vertical movement, the bucket absolute angle θ 0 maintains the unloading angle θ 01
Therefore, the unloading work can be performed efficiently. Unloading work completed
Later, in order to take new earth and sand into the bucket 6 (ie,
Lower the boom 2 (to perform the loading operation)
To point D). Then, the boom angle θ 2 reaches the approximate intermediate angle θ 2M .
(Point D), the bucket 6 tilts and the boom angle θ 2
Becomes smaller, the bucket absolute angle θ 0 gradually increases (point D
To point E). Then, the stroke detector 35 operates
Detects the position of the tip of the rod 35a ”(point E).
The cut cylinder 7 stops extending. And more boom
2 to lower the bucket 6 to ground (point F), the bucket
G6 is in a horizontal posture and touches the ground.

Therefore, when the bucket 6 is grounded on the ground and scooping of soil or the like is performed, the bucket 6 naturally becomes substantially horizontal. Therefore, only the boom 2 is lowered after the unloading operation. The loading operation can be continuously performed without requiring the tilt operation of the bucket 6.

[0026]

As described in detail above, the present invention can be used for unloading earth and sand, etc., loaded on a loading platform such as a dump truck.
Even if the bucket is stopped at the unloading angle and the boom is moved up and down , the unloading angle of the bucket does not change, so that the unloading operation can be performed easily and in a short time.

After the unloading operation, when the boom is lowered again to perform the loading operation, the bucket stopped at the unloading angle is forcibly tilted with the lowering of the boom, and the ground is lowered.
Since it is controlled to the horizontal position above, the operation from the unloading operation to the loading operation can be performed continuously without the need for tilting the bucket.

Thus, the loading operation and the like can be performed efficiently, and the bucket angle at the time of unloading can be set to an angle that is easy for the operator to work. Therefore, the workability is further improved.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a conventional bucket angle control device .

FIG. 2 is a side view of an industrial vehicle provided with a bucket angle control device according to an embodiment.

FIG. 3 is a configuration diagram of a bucket angle control device according to an embodiment.

FIG. 4 is an explanatory diagram of an operation of the packet angle control device according to the embodiment;

FIG. 5 is a perspective view of a straw used in the bucket angle control device according to the embodiment;
FIG. 3 is an explanatory diagram of a work detector .

FIG. 6 is an explanatory diagram of the operation of the bucket angle control device according to the embodiment;

[Explanation of symbols]

4: Boom cylinder, 5: Boom, 6: Bucket, 7:
Bucket cylinder, 10: boom angle detector, 11: bucket angle detector, 15: solenoid valve.

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-63-151728 (JP, A) JP-A-1-43629 (JP, A) JP-A-1-182419 (JP, A) JP-A-2- 190530 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) E02F 3/43 E02F 3/348

Claims (2)

(57) [Claims] An end of a boom (5), which can be moved up and down by the operation of a boom cylinder (4), is provided with a bucket cylinder.
In industrial vehicle comprising a bucket (6) which is freely tilted back and forth by the operation of (7), for detecting a boom boom angle formed (5) to the ground (theta 2)
Boom angle detector (10), a bucket (6) relative to the boom (5)
Bucket angle detector for detecting forming a bucket angle (theta 1) Te (1
1) and the stroke length of the bucket cylinder (7)
That stroke detector (35) and provided with a boom angle (theta 2) is given below the angle range (theta 21) in the near
And the boom (5) is down, the bucket
Bottom upon the ground Linda Stroke length (7) of the bucket (6)
Until the surface reaches the stroke length at which it is almost horizontal.
Activate the bucket cylinder (7) to tilt the bucket (6) backward
Bucket angle control for industrial vehicles
apparatus. 2. The up and down movement of the boom cylinder (4).
At the end of the movable boom (5), a bucket cylinder
The bucket (6), which can be tilted back and forth by the operation of (7), is provided.
Industrial vehiclesboom (Five) Boom angle with respect to the ground ( θ 2) Detect
Boom angle detector (Ten) And the bucket (6) Is a boom (Five) Against
Bucket angle ( θ 1) Bucket angle detector to detect (1
1) And bucket cylinder (7) Detect stroke length
Stroke detector (35) With Boom angle ( θ 2) And bucket angle ( θ 1) Based on bucket
(6) The absolute angle the bucket makes with the ground ( θ 0) , And Boom angle ( θ 2) Is a predetermined upper angle range ( θ twenty two) Within
And bucket absolute angle ( θ 0) Is the predetermined first target angle ( θ
01) , When the bucket absolute angle ( θ 0) Is the first target angle
( θ 01) To keep the bucket cylinder (7) Actuated
Let Boom angle ( θ 2) Is the prescribed lower angle range ( θ twenty one) Within
And boom (Five) Is falling, the bucket
Linda (7) The stroke length of the bucket (6) Bottom when grounding
Until the surface reaches the stroke length at which it is almost horizontal.
Cylinder (7) Operate the bucket (6) Tilt backward
Bucket angle control for industrial vehicles
apparatus.