JPH01178621A - Bucket control device for power excavator work equipment - 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] (Field of Industrial Application) The present invention relates to a bucket control device for a small swing type power shovel working machine, and in particular, to prevent the bucket of the power shovel working machine from interfering with the cabin. The present invention relates to a control device that controls hydraulic pressure supplied to various cylinders related to movement.

(Prior Art) A power excavator working machine capable of making small turns has a boom 2 connected to a machine body 1 in a freely rotatable manner, as shown in a side view in Fig. 3 and a front view in Fig. 4, for example. An arm 3 is connected freely to the arm 3, and a bucket 4 is connected freely to the arm 3.
Construct by concatenating.

A piston rod 5' of a boom cylinder 5 whose one end is connected to the fuselage 1 is connected to one end of the boom 2, and a piston rod 6' of an arm cylinder 6 whose one end is connected to the boom 2 is connected to one end of the arm 3 via a pin part. The piston rod 7' of the bucket cylinder 7 is connected to the arm 3 and has one end connected to the arm 3.
One end of the bucket-operated link machine! ! Connect to 48.

The boom 2 consists of a fuselage-side boom 2a, an intermediate boom 2b, and an arm-side boom 2c so as to be movable in the horizontal direction with respect to the tip of the arm 3 or the tip of the fuselage 1. A parallel link mechanism 9 is formed. When the parallel link mechanism 9 is viewed from the top of the power shovel working machine, it becomes a model diagram as shown in FIG. By expanding and contracting the swing cylinder 10 provided in the parallel link mechanism 9, the arm-side boom 2c can be moved parallel to the body-side boom 2a (FIGS. 5(a) and 5(b)).

and boom cylinder 5. By controlling the hydraulic pressure supplied to the arm cylinder cylinder, bucket cylinder cylinder, and swing cylinder 10, the bucket 4 can be moved to a desired position.

Further, the cabin 11 is located on the side of the boom 2.

Some small power excavators have a swing cylinder installed at the lowest end of the boom without disassembling the boom, so that the end of the boom on the arm side can be moved.

(Problems to be Solved by the Invention) In the above-mentioned conventional example, when the boom 2, arm 3, and baggage 1 are retracted to fit them within the width of the power shovel working machine and perform a small turning operation, , when attempting to make a small turn with the bucket 4 close to the cabin 11 side, the bucket 4
hits cabin 11. Therefore, conventionally, a stopper 12 was provided on the fuselage side boom 2a to prevent the bucket 4 from moving toward the cabin 11 side, and when the parallel link fii9 tried to move to the left of the center, the intermediate boom 2b
was in contact with the stopper 12, preventing it from moving any further.

However, in the above conventional example, even when there is no risk of collision between the bucket 4 and the cabin 11, the extension of the swing cylinder 10 moves the bucket 4 toward the cabin 11.
There was a problem that the bucket 4 could only be moved sideways, which narrowed the range of motion of the bucket 4.

The present invention has been made in view of the above-mentioned circumstances, and provides a bucket controller for a power shovel working machine that can set a wide range of bucket movement by making full use of the function that allows the bucket to move horizontally by expanding and contracting the swing cylinder. The purpose is to provide.

(Means for Solving the Problems) In order to solve the problems of the above-mentioned conventional example, a bucket control device for a power shovel working machine according to the present invention sequentially connects a boom, an arm, and a bucket from the machine body, and Position the cabin towards the side, and install the boom cylinder between the fuselage and the boom.
A power shovel working machine in which an arm angle sensor is interposed between the boom and the arm, a bucket cylinder is interposed between the bucket and the arm, and the boom is movable in the horizontal direction by a swing cylinder, and has the following configuration. .

A swing angle sensor is provided to detect the swing angle of the boom to determine the horizontal position of the bucket.

In order to determine the vertical position of the heget, a boom angle sensor for detecting the angle of the side boom with respect to the fuselage and an arm angle sensor for detecting the angle of the arm with respect to the boom are provided.

A control system is provided that calculates the bucket position from these values and determines whether or not this bucket position is near a preset cabin interference range.

A control valve is provided that supplies hydraulic pressure to the various cylinders based on signals from the control system.

(Function) Since the present invention is configured as described above, the bucket position is calculated from the data detected by the swing angle sensor, boom angle sensor, and arm angle sensor, and if this position is near the cabin interference range, the boom cylinder and arm cylinder , controls the hydraulic pressure supplied to the bucket cylinder and prevents it from interfering with the bucket or cabin.

(Example) An example of the present invention will be described with reference to the drawings.

FIG. 1 shows a block diagram of the present invention, and the structure of the power shovel working machine is the same as that of the conventional example shown in FIG. 3, and the same components are given the same reference numerals.

The bucket 4 of the power shovel work machine is operated by an operator who moves a control lever (not shown), and hydraulic pressure corresponding to the amount of control input is applied to the boom cylinder 5. It is supplied to the arm cylinder 6, bucket cylinder 7, and swing cylinder 10 so that the bucket 4 can be moved to a desired position.

A boom angle sensor 21, an arm angle sensor 22, a bucket angle sensor 23, and a swing angle sensor 24 for detecting data for calculating the position of the getter 4 are installed in the power shovel working machine. The boom angle sensor 21 detects the angle of the aircraft boom 2a with respect to the aircraft 1, and the arm angle sensor 22
detects the angle of the arm 3 with respect to the arm-side boom 2c, and the bucket angle sensor 23 detects the angle of the bucket 4 with respect to the arm 3.
Detect the angle of These angles serve as data for determining the position of the vertical plane of the bucket 4. Further, the swing angle sensor 24 detects the horizontal inclination of the bucket 4 with respect to the front direction of the power shovel working machine, that is, the angle θ of the intermediate boom 2b with respect to the machine side boom 2a, and determines the horizontal position of the bucket 4. It becomes data.

The data detected by the various sensors mentioned above is sent to the control system 25.
is input. The control system 25 calculates the tip position of the bucket 4 from these data. Then, it is determined whether or not the calculated tip position of the bucket 4 is within a predetermined cabin interference danger range, and a signal for issuing a warning is output to the buzzer 26, or a signal is output to the boom cylinder 5. A signal is output to the control valve 27 to limit the amount of hydraulic pressure supplied to each cylinder, including the arm cylinder 6, bucket cylinder tough, and swing cylinder 10.

Next, the operation of the control device of the present invention will be explained using the flowchart shown in FIG.

The swing angle θ is detected by the swing angle sensor 24 and read into the control system 25.

Next, if the swing angle θ is not within the range of 0 to 90 degrees, the control system 25 performs the following process, assuming that the bucket 4 is not located on the cabin 11 side. The next process is various controls of the power shovel working machine, such as reading the amount of operation input by the operator to move the bucket 4 and outputting a signal for supplying hydraulic pressure to each cylinder in accordance with the input amount.

If the swing angle θ is in the range of 0 to 90 degrees, the bucket 4
The following processing is performed assuming that the vehicle is located on the side of the cabin 11 and may interfere with the cabin 11.

The boom angle α detected by the boom angle sensor 21, the arm angle β detected by the arm angle sensor 22, and the bucket angle γ detected by the bucket angle sensor 23 are read into the control system 25. Then, the tip position of the bucket 4 is calculated from these data. The length of the boom 2, the length of the arm 3, and the length of the bucket 4 are stored in advance in the computer in the control system 25, and the boom angle α and arm angle β are
.

- - The tip position of the bucket 4 can be calculated by determining the bucket angle γ.

Next, it is determined whether the calculated tip position of the bucket 4 is within a preset cabin interference danger range. The cabin interference danger range is defined as a boundary surface that is approximately 50 cm away from the cabin 11, and is defined as an inner range of the boundary surface. bucket 4
The control system 25 performs various controls on the power shovel working machine, assuming that there is no risk of interference with the bucket 4 or the cabin 11 unless the tip position is within the cabin interference danger range.

If the tip position of the bucket 4 is within the cabin interference danger range, a buzzer sound is emitted to alert the operator that there is a danger that the bucket 4 will interfere with the cabin 11. Next, it is determined whether the tip position of the bucket 4 is being operated in a direction closer to the cabin 11 side, that is, to the dangerous side. If the operator operates the operating lever in a danger avoidance manner in response to a warning from the buzzer, the control system 25 performs various controls on the power shovel working machine, assuming that there is no danger of interference with the bucket 4 or the cabin 11.

If the operation is dangerous, there is a risk that the bucket 4 will interfere with the cabin 11, so the boom cylinder 5. Arm cylinder, bucket cylinder 7, swing cylinder 10
The oil supplied to each cylinder is restricted by a control valve 27, the speed at which the bucket 4 approaches the cabin 11 is reduced, and the movement of the bucket 4 is stopped before the cabin 11.

Alternatively, the oil supplied to each cylinder is stopped regardless of the input amount of the operating lever by the operator, and the movement of the bucket 4 is stopped.

The bucket control device for a power shovel working machine of the present invention includes:
As shown in FIG. 2, it is incorporated into a part of various controls of the power shovel working machine, and is configured to form one loop as the entire control of the power shovel working machine. Therefore, the bucket control described above is performed sequentially at regular intervals to monitor whether the tip of the bucket 4 is located within the cabin interference danger range.

In this embodiment, the boom angle α, arm angle β, and bucket angle γ are detected in order to calculate the tip position of the bucket 4, but the range in which the bucket 4 can be positioned with respect to the arm 3 has been calculated and By storing them in the computer in the control system 25, the tip position of the bucket 4 can be approximately estimated using only the boom angle α and the arm angle β. in this case,
If the bucket 4 moves relative to the arm 3, it is necessary to provide a margin for the cabin interference danger range, or the device can be simplified.

(Effects of the Invention) According to the present invention, a swing angle sensor, a boom angle sensor,
The bucket position is calculated from the data detected by the arm angle sensor, and if this position is near the cabin interference range, the boom cylinder and arm cylinder are activated.

The hydraulic pressure supplied to the bucket cylinder is controlled by a control system and control valve to prevent the bucket from interfering with the cabin.

Therefore, when there is no risk of interference between the bucket or the cabin, the bucket can be moved to the cabin side, and the function of allowing the bucket to move horizontally by expanding and contracting the swing cylinder is fully utilized to set a wide range of bucket movement. I can do it. Therefore, it is particularly effective when digging ditches and the like.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of a bucket control device of a power shovel working machine according to an embodiment of the present invention, Fig. 2 is a flowchart of the same as above, Fig. 3 is a side view of the power shovel working machine, and Fig. 4 is a front view of the same as above. FIGS. 5(a) and 5(b) are explanatory diagrams showing a parallel link mechanism mounted on the same boom. ■・・・Body 2・・・Boom 3・・・Arm 4・・・Bucket 5・・・Boom cylinder Bottom・・・Arm cylinder 7... Bucket cylinder = 13- 9... Parallel link mechanism 10... Swing cylinder 21... Boom angle sensor 22... Arm angle Sensor 23...Bucket angle sensor 24...Swing angle sensor 25...Control system 27...Control valve December 30, 1988

Claims (1)

[Claims] The boom, arm, and bucket are connected sequentially from the fuselage, and the cabin is located on the side of the boom.There is a boom cylinder between the fuselage and the boom, an arm cylinder between the boom and the arm, and an arm cylinder between the bucket and the arm. In a power excavator working machine that is equipped with a bucket cylinder and in which the boom is movable in the horizontal direction by a swing cylinder, a swing angle sensor detects a swing angle of the boom in order to determine the horizontal position of the bucket; In order to determine the vertical position of the bucket, a boom angle sensor detects the angle of the side boom with respect to the aircraft body, an arm angle sensor detects the angle of the arm with respect to the boom, and the bucket position is calculated from these values. A bucket control device for a power shovel working machine, comprising a control system that determines whether or not the cabin is in the vicinity of a preset cabin interference range, and a control valve that supplies hydraulic pressure to the various cylinders based on signals from the control system.