JPH086352B2 - Backhoe backhoe device operation structure - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention attaches a boom of a backhoe device to a position lateral to a driving unit of a swivel so as to be vertically swingable, and a tip of the boom to which an arm is connected. The present invention relates to a backhoe device operating structure for a backhoe provided with an offset mechanism for moving a side boom part in a lateral direction of a swivel base with respect to a base end side boom part connected to the swivel base.

[Conventional technology]

In the backhoe, the mounting position of the boom and the action of the offset mechanism allow the backhoe device to be in the storage posture positioned within the swivel range of the swivel base in plan view, and the plan view space required for turning the backhoe device can be reduced. It has been taken into consideration.

In this type of backhoe, conventionally, an operation tool operation for lifting the boom, an operation tool operation for laterally moving the tip side boom portion, and an operation tool operation for operating the arm to the scraping side are separately provided. Moreover, the backhoe device has been put in a retracted posture by being artificial.

[Problems to be Solved by the Invention]

Conventionally, when the backhoe device is stored in the swing range from the use posture that protrudes outside the swing range of the swivel base, the boom operation tool is operated to raise the boom and the offset operation tool is operated to operate the tip side boom. It was necessary to offset the parts and further to swing the arm on the scraping side by operating the arm operating tool, which required a large amount of operation labor. Further, in that operation, it is not necessary to simply return it to the storage position, but it is necessary to perform an operation while avoiding interference between the bucket and the operating unit due to the offset mechanism, which increases the above-mentioned operation time. It was a thing.

It is an object of the present invention to easily perform a returning operation of the backhoe to the retracted posture.

[Means for solving the problem]

In order to achieve the above object, according to the present invention, a boom of a backhoe device is vertically swingably attached to a lateral side portion of an operating portion of a swivel base, and a tip side boom portion of the boom to which an arm is connected is connected to a swivel base. The backhoe device operation structure of the backhoe is provided with an offset mechanism that moves the swivel sideways with respect to the base end side boom part. The boom angle sensor detects the swing angle of the boom with respect to the swivel base, and the tip side boom. Based on the detection results of the boom angle sensor, the offset sensor, and the arm angle sensor, an offset sensor that detects the lateral movement stroke of the base end side boom part and an arm angle sensor that detects the swing angle of the arm with respect to the boom are provided. Is provided with a bucket position detecting means for detecting whether or not the bucket is at a set distance with respect to the operating unit. Is a set distance, the control stop means for automatically disabling the approaching operation of the bucket to the operating unit is provided, and the drive composed of the boom cylinder, the offset cylinder for operating the offset mechanism, and the arm cylinder. Automatic operation mode in which the backhoe device is automatically operated in a retracted position positioned in the swivel base rotation range in plan view, and an artificial operation mode in which the drive actuator can be manually operated are selected. When the storage control means that can be exposed is provided, the control stop means operates regardless of the switching state of the control mode, and when the automatic storage mode is executed, the operation unit and the The storage control means and the control stop hand are operated so that the backhoe device is operated in the storage posture without interference with the bucket. And a control device for controlling the operation of each drive actuator of the backhoe device by manipulating a storage operation tool capable of starting the storage operation in the automatic storage mode by the storage control means. It is characterized in that it is provided separately from an operation tool for inputting a specific operation command.

Further, it is more advantageous to add a function of maintaining the bucket in the set posture to the backhoe storage control means.

[Work]

 With the configuration of claim 1, the following effects are exhibited.

By the function of the control stop means, for example, when an arm pulling operation or a boom raising operation is performed in a state of being offset-moved to the driving section side, when the distance between the bucket and the driving section reaches the set distance, the operation is automatically stopped. Since the interference with the section is automatically prevented, the advantage of the offset can be fully exhibited without considering the inconvenience caused by the offset.

When the automatic storage mode is displayed as the control mode, when the storage operation tool is operated to start the storage control means of the backhoe, based on the detection results of the boom angle sensor, the offset sensor and the arm angle sensor by the storage control means. The boom cylinder, the offset mechanism, and the arm cylinder are automatically operated, and the backhoe device can be automatically returned to the retracted posture. Therefore, a single operation of operating the retracting operation tool can be used to bring the backhoe device into the retracted posture from any position when the work position is changed or the work is completed. It becomes unnecessary to perform a plurality of operations such as operating the cross swing lever and the operation itself of those operating tools.

In addition, since the control stopping means functions also in this automatic storage operation, it becomes possible to return the backhoe device to the storage posture even during the automatic storage operation by a route that avoids the interference between the bucket and the operating unit.

When the artificial operation mode is displayed, the driving parts of the boom, the arm, and the offset mechanism can be operated at the operator's will, which is convenient for a skilled operator.

Further, since the control stopping means functions even in this artificial operation mode, even if the bucket is accidentally operated in the direction of entering the driving section, the inconvenience will be automatically avoided.

 In the configuration of claim 2, the following action is added.

When storing the backhoe device, the storage control means is provided with a bucket posture maintaining function for inputting the detection result of the bucket angle sensor to maintain the bucket anti-swing platform posture at the set posture. It can be returned to the storage posture while maintaining it. For example, if you set the posture to hold the scooping object, you can store it while preventing the scooping object with the bucket from spilling, scooping soil and turning it to load it on the truck bed,
It becomes possible to efficiently perform a series of work such as.
In other words, when a small radius turning is required to discharge the scooping sand, the backhoe device can be stored for turning only by operating the storage operation tool while preventing the scooping sand from spilling.

〔The invention's effect〕

In the backhoe device operating structure according to claims 1 and 2, there is a mode in which the operation of storing the backhoe device can be easily performed by a single operation of the dedicated operation tool regardless of the skill or immatureness of the operation. It is easy to operate as it is and the manipulative operation mode that is suitable for the expert can be arbitrarily selected and has excellent operability.In any mode, the offset function is set by automatically avoiding the interference between the driving part and the bucket. It was possible to provide the advantages in a state where they could be effectively utilized.

In the backhoe device operating structure according to claim 2, the operation for maintaining the posture of the bucket can be eliminated,
The advantage that work efficiency can be further improved is added.

〔Example〕

As shown in FIG. 2, a swivel base (4) having a driving part (2) and a driving cabin (corresponding to the driving part) (3) is attached to a traveling base having the crawler type traveling device (1). At the same time, a backhoe device (5) is attached to the swivel base (4) to form a backhoe.

A boom (6) which constitutes the backhoe device (5) is attached to a location of the swivel base (4) laterally of the operating cabin (3) so as to swing about an axis (Y). The boom (6) is a base end side boom portion (6A) connected to the swivel base (4), and an intermediate boom connected to the tip of the base end boom (6A) so as to swing around an axis (X). Part (6B),
The tip end side boom portion (6C) is connected to the tip end of the intermediate boom portion (6B) so as to swing around the axis (Z) and the arm (7) is also connected. The intermediate boom portion (6B) is configured to be swingable with respect to the base end side boom portion (6A) by the offset cylinder (C ₂ ), and the base end side boom portion (6
Attach the swing interlocking rod (8) between A) and the tip side boom portion (6C), and use the offset cylinder (C ₂ ) as shown by the phantom line in FIG. 3 to attach the tip side boom portion (6C).
An offset mechanism (9) is configured so that the base can be moved laterally relative to the base side boom portion (6A) in the swivel direction. That is, the interlocking rod pivot portions of the intermediate boom portion (6B), the interlocking rod (8), the base end side boom portion (6A), and the tip end side boom portion (6C) constitute a parallel four-link mechanism so that the offset The tip side boom portion (6C) moves in parallel as the intermediate boom portion (6B) is swung by the cylinder (C ₂ ).

That is, the boom (6) is lifted and the arm (7) is rocked to the scraping side, and the distal boom part (6C) is moved with respect to the proximal boom part (6A) in the operation cabin (3). The bucket (10) is positioned on the opposite side of the operating cabin (3) with respect to the proximal boom section (6A) by performing an offset operation so that the bucket (10) is located on the opposite side to the solid line in FIG. As shown in the figure, the backhoe device (5) is configured so that it can be operated in a retracted position located within the turning range of the turntable (4) in plan view.

In order to enable the operation of the backhoe device (5), as shown in FIG. 1, a control valve (V ₂ ) of an offset cylinder (C ₂ ) as a driving actuator, a boom cylinder (C ₁ ) as a driving actuator. ) Control valve (V ₁ ), arm cylinder (C ₃ ) control valve (V ₃ ) as a drive actuator, and bucket cylinder (C ₄ ) control valve (V ₄ ) as a drive actuator, respectively. An electromagnetic control valve configured to be operated by circuits (11) to (14),
Then, the offset control means (15) automatically operates the drive circuit (12) based on the information from the potentiometer (P ₂ ) that detects the operation direction and operation stroke of the offset lever (not shown), and the boom control means 16 ) Automatically operates the drive circuit (11) based on information from the potentiometer (P ₁ ) that detects the operation direction and operation stroke of the boom lever (not shown), and the arm control means (17) causes the arm lever (Fig. The drive circuit (13) is automatically operated based on the information from the potentiometer (P ₃ ) that detects the operation direction and operation stroke of the bucket lever (not shown). Also, the drive circuit (14) is automatically operated based on the information from the potentiometer (P ₄ ) for detecting the operation stroke.

As shown in FIG. 2, constitute the swivel base of the boom (6) a rocking angle to (4) as detected by potentiometer type boom angle sensor (S _1), groups of the distal boom section (6C) A potentiometer-type offset sensor (S ₂ ) that detects the direction of lateral movement and stroke relative to the end boom part (6A) is used to swing the middle boom part (6B) relative to the base boom part (6A). It is attached to the boom (6) for detection based on the angle. Potentiometer-type bucket angle sensor that detects the swing angle of the arm (7) with respect to the boom (6) by a potentiometer-type arm angle sensor (S ₃ ) and detects the swing angle of the bucket (10) with respect to the arm (7). (S ₄ ) is detected based on the swing angle of the bucket cylinder (C ₃ ) and the interlocking link (19) of the bucket (10) with respect to the arm (7),
In addition, it is attached to the arm (7) so that it is hard for soil to come into contact with it. As shown in FIG. 1, all or some of the boom angle sensor (S ₁ ), the offset sensor (S ₂ ), the arm angle sensor (S ₃ ) and the bucket angle sensor (S ₄ ) are stored in the backhoe device. (20), the bucket attitude setting means (21) and the target bucket angle calculation means (22) are linked, and the backhoe device storage control means (20) is linked to the drive circuits (11) to (14).

The bucket attitude setting means (21) is linked to the bucket angle setting switch (23) so as to be switched by a manual operation of the bucket angle setting switch (23), and also the angle setting switch (2).
3) is turned off, when the backhoe device storage control means (20) is started by turning on the storage switch (an example of the storage operation tool) (24), the boom angle sensor (S ₁ ), The arm angle sensor (S ₃ ) and the bucket angle sensor (S ₄ ) detect the attitude of the bucket (10) with respect to the swivel base (4) based on the detected angles, and the detection is performed. It is configured to be automatically set as the bucket attitude that should be maintained. The retracting switch (24) is provided as a dedicated dedicated tool other than the operating tools of the backhoe device (5), that is, the boom, arm, offset, and bucket levers.

Then, when the angle setting switch (23) is switched on and off, the bucket attitude setting means (21) operates by the boom angle sensor (S ₁ ), the arm angle sensor (S ₃ ) and the bucket angle sensor (S ₄ ), respectively. Regardless of the value of the detection angle, the attitude of the bucket (10) with respect to the swivel base (4) that can hold the scooping earth and sand is automatically set as the attitude.

The target bucket angle calculating means (22) is a means for setting the attitude of the bucket (10) with respect to the swivel base (4) and the bucket attitude setting means (irrespective of changes in the detected angles by the boom angle sensor (S ₁ ) and the arm angle sensor (S ₃ ). Bucket (10) that should be exposed to maintain the same posture as the one set by 21)
Of the control target bucket angle sensor (S ₃ ) and the attitude set by the bucket attitude setting means (21) are automatically calculated.

The backhoe storage control means (20) is configured to be switched by the storage switch (24), and when the storage switch (24) is turned off, the backhoe storage control means (20) is deactivated. Drive circuit (1
1) to (14) are configured to enable operation in an artificial operation mode operated by control means (15) or (16) or (17) or (18). Then, when the storage switch (24) is switched on and off, the backhoe device storage control means (20) is switched to the operating state and started, and the control means (15), (16), (17) and (18). )
Priority, and the detection results by the boom angle sensor (S ₁ ), the offset angle sensor (S ₂ ), the arm angle sensor (S ₃ ), and the bucket angle sensor (S ₄ ) and the target bucket angle calculation means (22) A boom cylinder (C ₁ ), an offset cylinder (C ₂ ), an arm cylinder (C ₃ ), and a bucket cylinder (C ₃ ) are automatically operated by automatically operating the drive circuits (11) to (14) based on the control target bucket angle calculated by C ₄ ) is automatically operated so that the backhoe device (5) is automatically stored in the storage posture while the bucket posture setting means (21) is set to the turning base posture of the bucket (10). I am doing it.

The backhoe device storage control means (20) is configured to be able to switch between the automatic storage mode and the bucket angle control mode by the control mode switching means (25), and the control mode switching means (25) is configured to control the bucket angle control switch (26). ) Is configured to be operated by human operation. When the bucket angle control switch (26) is turned on and off, the backhoe device storage control means (20) is set to the automatic storage mode, and all the cylinders (C ₁ ) to (C ₄ ) are automatically operated as described above. Is configured. When the bucket angle control switch (26) is turned off, the backhoe device storage control means (20) enters the bucket angle control mode, and the detection angle of the bucket angle sensor (S ₄ ) and the target bucket angle calculation means (22). Based on the control target bucket angle, the bucket cylinder (C ₄ ) is automatically operated by automatically operating only the drive circuit (14) over the bucket control means (18), and the bucket (10) is turned oppositely. The platform is automatically operated so that it can scoop up and hold soil, and drive circuits (11), (12) and (1
3) is configured to allow it to be automatically operated by control means (15) or (16) or (17).

In other words, if the bucket angle control switch (26) is turned on and the "automatic storage mode" is selected, when the storage switch (24) is turned on by the operation section (24a), the backhoe device storage control means (20). ) Is started and the backhoe device (5) is automatically operated in the retracted position. At this time, the bucket angle setting switch (2
When the 3) is turned off, the bucket position is automatically maintained in the anti-swivel base position that was present when the storage switch (24) was turned on, and the bucket angle setting switch (23) was turned on. When operated, the bucket (10) is automatically maintained in the horizontal position and the scooping soil can be automatically held.

Further, when the bucket angle control switch (26) is turned off and the "bucket angle control mode" is displayed, the boom (6) and the arm (7) are automatically maintained while keeping the bucket (10) in the horizontal posture. The swing operation can be performed manually, and the tip side boom portion (6C) can be manually offset, which corresponds to the appearance of the "manual operation mode".

As shown in FIG. 1, the boom angle sensor (S ₁ ), the offset sensor (S ₂ ), the arm angle sensor (S ₃ ) and the bucket angle sensor (S ₄ ) are linked to the bucket position detecting means (27), A control stop means (28) is linked to the bucket position detection means (27). Bucket position detection means (27)
Is configured to detect whether or not the bucket (10) is close to the driving cabin (3) by a set distance based on the detection results of the sensors (S ₁ ) to (S ₄ ). is there.

Then, the bucket position detecting means (27)
When the approach of 0) is detected, the control stop means (28) gives priority to the drive circuits (11) to (14) over the control means (15) or (16) or (17) or (18). ₁ ) or (V ₂ ) or (V ₃ ) or (V ₄ ) is automatically output as a signal for operating the neutral position.

In other words, when the bucket (10) approaches the approaching position, the swing operation of the boom (6), the arm (7) and the bucket (10) toward the side where the bucket (10) approaches the driving cabin (3) further, The risk of the bucket (10) coming into contact with the operating cabin (3) is avoided by disabling the offset operation of the tip side boom portion (6C).

The backhoe device storage control means (20), the bucket attitude setting means (21), the bucket position detecting means (27), the control stopping means (28), etc. are composed of a microcomputer, and
It is configured to operate based on the flowcharts shown in FIGS. 5, 5 and 6.

In short, the present application automatically operates the boom cylinder (C ₁ ), the offset mechanism (9), and the arm cylinder (C ₃ ), and puts the backhoe device (5) in a retracted posture positioned within the swivel swivel range in plan view. Storage control means capable of selectively displaying an automatic storage mode capable of automatic operation and an artificial operation mode capable of manually operating the boom cylinder (C ₁ ), the offset mechanism (9) and the arm cylinder (C ₃ ). (20) and a control mode switching means (25) for switching the mode of the storage control means (20). Then, when the control stop means (28) operates regardless of the switching state of the control mode switching means (25) and the automatic storage mode is executed, the operating section (3) and the bucket (10) are disconnected. So that the backhoe device (5) can be operated in the retracted posture without the interference of the control device (20), the control mode switching device (25), and the control stopping device (28). ) Is provided, and a dedicated storage operation tool (24) that can start the storage operation when the storage control means (20) is selected in the automatic storage mode is provided.

[Another embodiment]

The operation may be carried out without providing the operation cabin (3), and the space substantially required for the cabin (3) and the control section are collectively referred to as the operation section (3).

Except for the bucket posture setting means and the like, the backhoe device may be automatically stored without performing the bucket posture maintenance control.

The storage operation tool (24) may be configured to be operated by a pedal or a manual lever in addition to the storage switch, and they are collectively referred to.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of the backhoe device operating structure of the backhoe according to the present invention. FIG. 1 is a block diagram of a control system, and FIG.
The figure is a side view of the entire backhoe, FIG. 3 is a plan view of the entire backhoe, and FIGS. 4 to 6 are flowcharts. (3) …… Operating part, (4) …… Swivel base, (5) …… Backhoe device, (6) …… Boom, (6A) …… Base end side boom part, (6C) …… Front end side boom Part, (7) …… arm, (9) …… offset mechanism, (10) …… bucket,
(20) …… Storing control means, (24) …… Storing operation tool, (2
5) Control mode switching means, (27) Bucket position detecting means, (28) Control stop means, (C ₁ ) Boom cylinder, (C ₃ ), Arm cylinder, (C ₄ ) …… Bucket cylinder, (S ₁ ) …… Boom angle sensor, (S ₂ ) ……
Offset sensor, (S ₃ ) …… Arm angle sensor, (S ₄ )
...... Bucket angle sensor, (A) …… Control device.

Claims (2)

[Claims] 1. A boom (6) of a backhoe device (5) is swingably attached to a lateral side portion of an operating portion (3) of a swivel base (4), and an arm (7) of the boom (6) is attached. Of the backhoe provided with an offset mechanism (9) for moving the tip side boom part (6C) connected to the swivel base (4) to the base end side boom part (6A) connected to the swivel base (4) in the lateral direction of the swivel base. A backhoe device operation structure, comprising a boom angle sensor (S ₁ ) for detecting a swing angle of the boom (6) with respect to the swivel base (4), and a proximal boom portion of the distal boom portion (6C). An offset sensor (S ₂ ) for detecting a lateral movement stroke with respect to (6A) and an arm angle sensor (S ₃ ) for detecting a swing angle of the arm (7) with respect to the boom (6) are provided. S _1), an offset sensor (S _2), ARE Angular sensor (S ₃₎ the operation of the on the basis of the respective detection results bucket (10) bucket position detecting means for detecting whether or not the set distance relative to (3) (27) is provided, the bucket position detecting means When it is detected that (27) is a set distance, control stop means (28) for automatically disabling the approaching operation of the bucket (10) to the operating unit (3) is provided, and the boom cylinder (C ₁ ), the offset mechanism (9)
Actuator (C ₁ to C ₃ ) consisting of an offset cylinder (C ₂ ) and arm cylinder (C ₃ )
Is automatically operated to automatically operate the backhoe device (5) in a retracted posture positioned within a swivel range of the swivel base in plan view, and the drive actuator (C ₁ to
The storage control means (20) capable of selectively displaying the artificial operation mode in which C ₃ ) can be manually operated is provided, and the control stopping means (28) operates regardless of the switching state of the control mode. As described above, and when the automatic storage mode is executed, the backhoe device (5) is operated in the storage posture without interference between the operating unit (3) and the bucket (10), A storage operation tool that is provided with a control device (A) that links the storage control means (20) and the control stop means (28) and can start the storage operation in the automatic storage mode by the storage control means (20). (24), the backhoe implement (5) control means for controlling the operation of the drive actuator (C ₁ -C ₃₎ (15 to 1
7) The backhoe device operation structure of the backhoe provided separately from the operation tool for inputting an artificial operation command to. 2. A boom (6) of a backhoe device (5) is vertically swingably attached to a lateral side portion of an operating portion (3) of a swivel base (4), and an arm (7) of the boom (6). Of the backhoe provided with an offset mechanism (9) for moving the tip side boom part (6C) connected to the swivel base (4) to the base end side boom part (6A) connected to the swivel base (4) in the lateral direction of the swivel base. A backhoe device operation structure, comprising a boom angle sensor (S ₁ ) for detecting a swing angle of the boom (6) with respect to the swivel base (4), and a proximal boom portion of the distal boom portion (6C). offset sensor (S ₂₎ for detecting a lateral movement stroke for (6A), the arm angle sensor (S ₃₎ for detecting the swing angle relative to the boom (6) of the arm (7), the arm of the bucket (10) Bucket for detecting swing angle with respect to (7) Sensor provided (S _4), these boom angle sensor (S _1), an offset sensor (S _2), the arm angle sensor (S _3), the bucket (1 based on the bucket angle sensor (S ₄₎ each of the detection result
0) is provided with a bucket position detecting means (27) for detecting whether or not the bucket is located at a set distance with respect to the operating unit (3), and when the bucket position detecting means (27) detects that the set distance is set, the bucket position detecting means (27) is A control stop means (28) for automatically disabling the approaching operation of the (10) to the operating section (3) is provided, and the boom cylinder (C ₁ ) and the offset mechanism (9) are provided.
Offset cylinders for actuating the (C _2), arm cylinder (C _3), and driving an actuator comprising a bucket cylinder _{(C 4) (C 1 ~C} 4) to automatically operate the pair pivoting of the bucket (10) An automatic storage mode in which the backhoe device (5) can be automatically operated in a storage posture positioned in the swivel rotation range of the backhoe device (5) while maintaining the platform posture at the set posture, and the drive actuators (C _{1 to} C). ₄ ) is provided with a storage control means (20) capable of selectively displaying an artificial operation mode in which the control stop means (28) operates regardless of the switching state of the control mode. In addition, when the automatic storage mode is executed, the backhoe device (5) is operated in the storage posture without causing interference between the operation unit (3) and the bucket (10). Storage control means ( 20) and a control device (A) that links the control stopping means (28) with each other, and a storage operation tool (24) capable of starting the storage operation in the automatic storage mode by the storage control means (20), the backhoe implement (5) control means for controlling the operation of the drive actuator (C ₁ -C ₄₎ (15 to 1
8) The backhoe device operation structure of the backhoe, which is provided separately from the operation tool for inputting artificial operation commands to.