KR940011746A - Backhoe contact prevention system - Google Patents

Abstract

In a backhoe provided with a boom assembly and a driving unit 27 hydraulically actuated on a pivot table, the backhoe is a detecting means for detecting a relative position, a relative moving direction and a relative speed of the bucket pin relative to the driving unit, and the fencing means. Control means for operating through the boom assembly drive mechanism by the detected value of. The control means is provided with an operation inhibiting means for inhibiting the operation when the bucket is moved further inwardly than the dangerous surfaces Al and A2 set at a predetermined distance outside the driving portion. In addition, the control means sets the danger prediction surface Cl, C2 to the outside by the prescribed distance of the danger surfaces Al and A2, and the bucket pin 6a is formed inside these danger surfaces and the danger prediction surface. It is provided with a time prediction means for estimating the time to reach the dangerous surfaces Al and A2 of the bucket 6 when it is at.

In order to enable an ideal deceleration movement, a deceleration means for presetting a set time using the dangerous surface (Al, A2) and this horizontal distance as a variable, and decelerating the operating speed of the hydraulic cylinder so that the set time and the predicted time coincide Has

Description

Backhoe contact prevention system

As this is a public information case, the full text was not included.

1 is an overall side view of a back hoe,

2 is a schematic side view of a backhoe showing a front hazard plane, a front hazard zone and a hazard warning plane,

3 is a side view showing the state of movement of the bucket in the front danger zone,

4 is a schematic plan view of a backhoe representing the front and side danger surfaces, the front and side danger areas,

5 is a relational view of each hydraulic cylinder, control valve, pilot valve, left and right operating lever of the boom assembly,

6 is a flow chart of the control of the boom assembly in the front and side danger zones and the front and side danger zones.

Claims (11)

Boom assembly driving means for driving the boom of the boom assembly by a hydraulic cylinder; A position detecting member detecting a relative position, a relative moving direction, and a relative speed of the bucket 6 with respect to the driving unit 27, a position detecting member detecting the position of the bucket, a direction detecting member detecting the moving direction of the bucket, and the Detecting means including a speed detecting member for detecting a moving speed of the bucket; And an outer frame 29 (30) for manipulating the movement of the bucket 6 through the boom assembly driving means by an input value of the detecting means, wherein the bucket 6 covers the outermost side of the driving unit 27. Control means having an operation prohibiting function for prohibiting the operation of the bucket 6 when located inward from the dangerous surfaces A1 and A2 away from the outside by a prescribed distance from the outside; In a backhoe having a boom assembly driven by a hydraulic cylinder in combination with the driving unit 27 and the bucket 6 at its tip, the control means includes the dangerous surfaces A1 and A2. ) And the danger zones B1 and B2 surrounded by the danger surfaces C1 and C2 that are spaced outward by a prescribed distance from the outside thereof, and the bucket 6 is located in the danger zones B1 and B2. At the time of movement, including a deceleration means for decelerating the operating speed of the hydraulic cylinder so that the bucket 6 reaches the same dangerous time until reaching the dangerous surfaces A1 and A2. Characteristic backhoe. 2. The control means according to claim 1, wherein the control means takes as a parameter the minimum distance from the dangerous surfaces A1 and A2 of the bucket 6 when the bucket 6 is located in the dangerous areas B1 and B2. And setting value determining means for setting a time at which the bucket 6 should stop, and when the bucket 6 is located in the dangerous area, the current position of the bucket 6 based on the detection value of the detecting means. And a time predicting means for predicting the time to reach the dangerous surface at, wherein the deceleration means includes the bucket 6 located at the dangerous areas B1 and B2, and the dangerous surfaces A1 and A2. And, when moving in the direction, decelerating the operating speed of the hydraulic cylinder so that the time predicted by the predicting means becomes the installation vehicle determined by the set value determining means. 3. The backhoe according to claim 2, wherein the stop time determined by the set value determining means has a positive correlation with the minimum distance from the dangerous surfaces (A1, A2) of the bucket (6). 3. The backhoe according to claim 2, wherein the deceleration means is set so as to greatly reduce the operating speed of the cylinder as the moving speed increases. 2. The control means according to claim 1, wherein the control means sets the minimum distance from the dangerous surfaces A1 and A2 of the bucket 6 when the bucket 6 is located in the dangerous areas B1 and B2. And a set value determining means for setting the moving speed of the bucket 6, wherein the bucket 6 moving in the dangerous areas B1 and B2 is based on the detected value of the detecting means. Calculating a speed component in a minimum distance direction, wherein the deceleration means reduces the operating speed of the hydraulic cylinder so that the speed component becomes the set value. 6. The backhoe according to claim 5, wherein the moving speed determined by the set value determining means has a positive correlation with the minimum distance from the dangerous surfaces (A1, A2) of the bucket (6). The control means according to claim 1, wherein the control means includes setting value determining means for setting a time for the bucket 6 to stop when the bucket 6 is located in the danger zones B1 and B2. When the bucket 6 is located in the dangerous area, the estimated time for reaching the dangerous surfaces A1 and A2 from the current position of the bucket 6 is estimated based on the detection value of the detecting means. And a comparison operation means for comparing the time predicted by the prediction function with a set value determined by the set time, wherein the deceleration means determines the set value by the time predicted by the predicting means. And decelerating the operating speed of the hydraulic cylinder when it is larger than the set value determined by the means. 8. The backhoe according to claim 7, wherein the set value can be arbitrarily set. 8. The backhoe of claim 7, wherein the arrival prediction time is predicted by the instantaneous speed of the bucket detected by the detecting means and the current position of the bucket. 8. The backhoe according to claim 7, wherein the deceleration means does not operate even when the bucket (6) is located in the danger zones (B1, B2), when the arrival prediction time is smaller than the set value. 8. The bucket (6) according to claim 2, wherein the bucket (6) moves in a direction away from the driving part (27) when in the dangerous areas (B1, B2) of the bucket (6). When the deceleration means does not work backhoe. ※ Note: The disclosure is based on the initial application.