JPH038930A - Lifting-up carrier work machine - Google Patents

Abstract

PURPOSE:To promote work efficiency and to reduce costs by providing a boom location sensor, a bucket location sensor, an attitude setting, a boom rising and falling lever and a floating switch to a tractor having a bucket to automate. CONSTITUTION:A boom 11, a boom location sensor 50 detecting angles, a bucket 10, a bucket location sensor 51 detecting angles and a bucket attitude setting 52 setting a location relationship between the boom 11 and the bucket 10 are provided to a work machine equipped with the boom 11 having the bucket 10 on the end thereof, and the attitude of the bucket 10 is controlled automatically. After that, a rising and falling lever 55 controlling the rising and falling of the boom by manual operation and a floating switch 47 lowering the bucket freely are provided, and a relative location between the work machine and the bucket is set. According to the constitution, the simplification of loader work and the work efficiency are promoted, and the time used for controlling the bucket attitude can be saved to simplify the treatment.

Description

[Detailed Description of the Invention] "Industrial Application Field" The present invention is a front loader that is attached to the front of a traveling machine such as a tractor and is used for loading compost and grass, for field maintenance such as digging, backfilling, and leveling, or for snow removal. Regarding lifting and transporting work machines such as.

"Prior Art" Conventionally, there has been a technology in which a tractor is equipped with a boom having a bucket at its tip to control the raising and lowering of the boom and the dumping and scooping of the bucket.

"Problems to be Solved by the Invention" In the prior art, the bucket support angle changes as the boom goes up and down, causing soil or compost inside the bucket to fall, so the bucket is supported horizontally using parallel links, etc. There were structural and handling problems such as the need to prevent it from falling.

"Means for Solving the Problems" However, the present invention is equipped with a boom having a bucket at its tip, a boom position sensor for detecting the boom angle, a bucket position sensor for detecting the bucket angle,
The present invention is characterized in that it includes a bucket attitude setting device that sets the positional relationship between the boom and the bucket, and is configured to automatically control the bucket attitude based on the detection results of each sensor.

``Function'' Therefore, it is possible to maintain the bucket in the set posture regardless of the ascending and descending position of the boom without the need for conventional parallel links, etc.
It has a simpler and lighter structure than the conventional one and can functionally support the bucket, and can easily simplify loader work such as transporting and moving compost and improve work efficiency.

In addition, it is equipped with a boom that has a bucket at its tip, and is equipped with a lift lever for manually raising and lowering the boom and a floating switch that allows the bucket to fall freely, as well as a boom position sensor that detects the boom angle and a bucket position that detects the bucket angle. The device is equipped with a sensor and is configured to set the relative position of the machine and the bucket based on the detection values of each of the above sensors when the bucket is manually landed on the ground by free fall. Even if there is a difference in the slope of the surface, this can be easily corrected, eliminating the need for a setting device to set the bucket attitude, making it easy to reduce costs, and eliminating the trouble of adjusting the bucket attitude, making it easy to handle. It is something.

"Example" An embodiment of the present invention will be described in detail below based on the drawings.

Fig. 1 is a side view of the main parts, Fig. 2 is a side view of the whole, and Fig. 3 is a plan view of the same. front and rear wheels, (4
) is the chassis on which the front wheel (2) is mounted, (5)
is an engine mounted on the chassis (4), (6) is a power transmission case connected to the engine (5) and mounted with the rear wheel (3), and (7) is the rear upper surface of the case (6). The driver's seat (8) is a steering handle attached to the front loader (9), and the bucket (10) is an attachment for the front loader (9).
is installed in front of the tractor (1) via a pair of left and right booms (111). Also, in the figure (12) is a rotation fulcrum frame that is a rear mounting frame that supports the boom (11), ( 13) is a main bracket which is a loader rear mounting base to which the frame (12) is connected; bracket(
13) is the loader rear base stand on which the loader is fixed.

The lower end of the rotation fulcrum frame (12) is connected to the main bracket (13), and the boom (11) is connected to the upper end of the frame (12) via a rotation fulcrum pin (16). The base end is connected and supported, and a bottle (1
A lift cylinder (19) is interposed via 71 (181), and the boom (11) is appropriately raised and lowered around the fulcrum bin (16) by the expansion and contraction of the cylinder (19).

In addition, each swing bin (
201 (211) to support the base ends of the dump cylinder (22) and dump arm (23), and connect the tips of the cylinder (22) and arm (23) to each other via the bottle (24), Attach the tip of the arm (23) to the rear upper end of the bucket (lO) and attach the tip of the arm (23) to the bin (25) +2
61 and a dump link (27), while the rear lower end of the bucket (lO) is connected to the boom f.
It is configured to be supported at the front end of the bucket via a dump fulcrum bin (28), and to appropriately vary the inclination of the bucket (lO) by the expansion and contraction movement of the dump cylinder (22), thereby performing dumping and scooping operations. .

Furthermore, as shown in Fig. 4, a rising and falling solenoid (29
1 (301), a dumping and scooping solenoid (32), and a bucket valve (34) having 1 (331), which is connected to the hydraulic pump (36) through each valve (311+341 and a diversion valve (35)). Connect each cylinder (19) (22), each cylinder +19)
+221 separately, and lift cylinder (
19) includes a boom oil pressure sensor (37) that detects the lifting force of the boom [111] and a bucket oil pressure sensor (38) that detects the scooping force of the dump cylinder (22). Bucket (l
O) is configured to detect the load weight.

Furthermore, as shown in Fig. 1, it is operated by an automatic/manual changeover switch (39) that allows the lifting, dumping, and scooping of the bucket (lO) to be controlled automatically or manually, and a work lever (40) that can be tilted in eight directions. Lifting and lowering, dumping and scooping switch (411 (421 (43) f441), an automatic horizontal switch (45) that keeps the bucket (lO) in a substantially constant position relative to the machine, and a shoe that decelerates and stops during lifting and lowering operations. switch (46) and bucket f10
1, a floating switch (47) that drops the bucket (10) under its own weight, a boom upper and lower position setter (481 (491) that initially sets the lifting height of the bucket (10), and a potentiometer that detects the angle of the boom (11) with respect to the machine. type boom position sensor (50), a potentiometer type bucket position sensor (51) that detects the angle of the bucket (10) relative to the boom (11), and a bucket position sensor (51) that detects the angle of the bucket (10) relative to the boom (11).
0) A bucket attitude setter (52) that initializes the attitude, a controller attachment sensor (54) that detects the attachment and detachment of the controller (53) provided with the lever (40) and each switch and setting device, and the controller (53). A boom position adjuster (56) that raises and lowers the boom (11) by operating a lift lever (55) provided in the controller (
A bucket position adjuster (53) that rotates the bucket (101 back and forth) by operating a bucket lever (57) provided on the bucket lever (57).
8) is connected to a loader control circuit (59) composed of a microcomputer.

Then, each solenoid (
291F2O3f321 f331 is operated and controlled to raise and lower the boom fill and dump and scoop operations of the bucket (101), and also raise and lower the boom (11) and the bucket lever (55) with priority over the work lever (4o) and by operating the bucket lever (55) It is capable of adjusting the position of the bucket flO), and when the work lever (40) is operated, the boom (11) is raised and lowered to the initially set up and down position, and the moving speed is slowed and stopped before the set value, and the boom (11) is raised and lowered before the set value. The bucket lever fs5) (57) is of a neutral return type and has a dead zone near the neutral point, so that when it is moved far from the neutral point, each of the cylinders (57)
19) While increasing the (221 speed), the boom (11
) By detecting the position, floating (free fall) is started only below the set height, and the attitude of the bucket (Iff) is set by floating lowering of the bucket (1o), or the attitude of the bucket (1o) is set at the initial setting. The operation of each cylinder (191 (221) is controlled so that the cylinder (191) (221) is moved up and down, and the scooping and dumping operations of the bucket (1O) and the lifting and lowering of the boom (111) are performed in association with each other.

In addition, a cylinder speed changeover switch (60
), a vehicle speed sensor (61) that detects the running speed by rotation of the rear wheels (3), a steering angle sensor (62) that detects the turning angle by the steering operation of the steering wheel (8), and each of the oil pressure sensors (371 ( 381 and the loader control circuit (59
) to prevent the bucket (10) from tipping over by regulating the lifting height when the bucket (10) is lifting a large weight, when the steering angle of the handle (8) is large, or when traveling at high speed. It is configured to prevent

In addition, each cylinder (19) (2
2), a travel interlocking switch (63) that operates the travel gear shift lever (64) of the machine, a travel gear position sensor (65) that detects the switching between forward, neutral, and reverse, and a latch pedal that operates the machine. A latch sensor (67) that runs in conjunction with the latch sensor (66) that detects latch discontinuity is connected to the loader control circuit (59). , by moving backward to raise the bucket (10), moving forward again to drop the compost etc. in the bucket (10) by a dumping operation, and moving backward to return to the starting point, which can be performed by switching between forward and backward movement. There is.

Furthermore, a hook (69) is provided on the dash board (68) of the tractor fil as shown in FIG.
When the hook (70) of 3) is attached to and detached from the hook (69) and the controller (53) is attached to the dash board (68), all automatic control is enabled by the sensor (54) output, and the controller ( 53) and move it within the extension range of the cord (71) to easily attach and detach the tractor rack and loader (9) using external operations. The system is configured so that automatic control is prohibited or regulated.

Furthermore, as shown in FIG. 6, a sensor case (72) is fixedly installed on the outside of the rotation fulcrum frame (12) and the bucket (10), and the position sensors f50'l f51) are connected to the case (72).
72), and a sensor arm (74) is provided on the rotation axis (73) of the sensor (5o1 f511), and an eccentric shaft (75
), the shaft (75) is engaged and connected to the sensor arm (74), and the rotating shaft (73) is arranged on the same axis as the bins (16) and (28), and the boom fill and The sensor arm (74) is linked to the rotation of the bucket (10).
The rotation angle of the boom (11) and bucket (10) is detected by a sensor (51).

This embodiment is constructed as described above, and when performing horizontal control to support the bucket (lO) parallel to the tractor (1), the switch (
39) Automatic mode is activated by operating the switch (45), and the boom position (θdan) is manually adjusted from the boom position sensor (50), and the bucket position sensor (
The bucket position (θB) is input from 51), and the median value (θC) of the bucket attitude setter (52) is converted into a voltage value (θ) corresponding to 180 degrees. In addition, tractor (1)
When and bucket (10) are parallel, θB+θH is,
It is the diagonal of the parallelogram and is 180 degrees.

Furthermore, inputting the output value (θX) of the setting device (52), comparing the median value (θC) and the output value (θX), and correcting the voltage value (θ) using the output value (θX), The sum of the sensor f50) (51) values (θH + θB) is compared with the corrected voltage value (θ), and when the boom (11) descends and the corrected voltage value (θ) becomes large, the bucket (lO) becomes upward. While the cylinder (22) is controlled, the cylinder (22) is controlled so that the bucket (lO) is directed downward as the boom (11) rises and the corrected voltage value (θ) becomes small.
) (operate in association with 221, bucket (10)
Raise and lower the machine while keeping it in a substantially constant position.

Furthermore, when setting the attitude of the bucket (10) without using the bucket attitude setter (52), as shown in the flowchart of FIG. (10), turn off the switch (45) to cancel automatic leveling, turn on the floating switch (47) to allow the bucket flO) to fall freely, and switch (45)
is turned on to set the automatic horizontal mode, input the boom and bucket positions (θH1FθB) from each sensor (50) (511), and input the boom and bucket positions (θH1FθB) from each sensor (50) (511).
Input the voltage value (θ) at the center of the posture and check the boom position (θH
) and the bucket position (θB), calculate the relative position of the bucket (10) and the tractor fil in the same way as above, use this calculated value to control the position of the bucket (1o), and use this position control as a reference from now on. The sensor (501(
The relative position between the machine and the bucket (lO) is set based on the 511 detected value.

"Effects of the Invention" As is clear from the above embodiments, the present invention provides a bucket (1
0) at the tip, and a boom position sensor (5) that detects the angle of the boom (11).
0), a bucket position sensor (51) that detects the bucket (1o) angle, a boom (11), and a bucket (10)
It is equipped with a bucket attitude setting device (52) that sets the positional relationship of Boom f without the need for links etc.
The bucket (10) can be maintained in the set posture regardless of the lifting position of the bucket (10), and the structure is simpler and lighter than the conventional one, and the bucket (10) can be functionally supported. This makes it easy to simplify the process and improve work efficiency.

Also, a boom (11) having a bucket (10) at its tip
A lift lever (55) for manually raising and lowering the boom (11) and a floating switch (47) for freely dropping the bucket (101) are provided, as well as a boom position sensor (50) for detecting the angle of the boom (11). and a bucket position sensor (51) that detects the bucket (lO) angle, and manually moves the bucket (lO) by free falling.
Each of the above-mentioned sensors (501 (511
It is configured to set the relative position between the machine and the bucket (10) based on the detected value, and even if there is a difference in slope between the ground plane of the machine and the ground surface of the transported object, this correction can be easily made. A setting device (52) for setting the bucket (lO) attitude.
) can be eliminated, thereby easily reducing costs, and the bucket (10) can be easily handled by eliminating the need for adjusting the attitude.

[Brief explanation of the drawing]

Fig. 1 is a control circuit diagram showing one embodiment of the present invention, Fig. 2 is an overall side view, Fig. 3 is a plan view thereof, Fig. 4 is a hydraulic circuit diagram, and Figs. 5 and 6 are partial diagrams. The explanatory drawings and FIGS. 7 and 8 are flowcharts. 10... Bucket 11... Boom 47)... Floating switch 50)...
Boom position sensor 51)...Bucket position sensor 52)...Bucket attitude setting device 55)...Elevating lever

Claims (2)

[Claims] (1) Equipped with a boom having a bucket at the tip, a boom position sensor that detects the boom angle, a bucket position sensor that detects the bucket angle, and a bucket attitude setting device that sets the positional relationship between the boom and the bucket. A lifting and transporting work machine, characterized in that the bucket posture is automatically controlled based on the detection results of each sensor. (2) Equipped with a boom with a bucket at the tip, equipped with a lift lever to manually raise and lower the boom and a floating switch to allow the bucket to fall freely, as well as a boom position sensor to detect the boom angle and a bucket to detect the bucket angle. 1. A lifting and transporting work machine, comprising a position sensor, and configured to set the relative position of the machine and the bucket based on the detection values of each of the sensors when the bucket is manually landed on the ground by free fall.