CN104234104A - Interference preventing device in construction machinery - Google Patents
Interference preventing device in construction machinery Download PDFInfo
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- CN104234104A CN104234104A CN201410157707.3A CN201410157707A CN104234104A CN 104234104 A CN104234104 A CN 104234104A CN 201410157707 A CN201410157707 A CN 201410157707A CN 104234104 A CN104234104 A CN 104234104A
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- interference
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- deceleration
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Abstract
The invention provides an interference preventing device in construction machinery. In the construction machinery with the interference preventing device which prevents invasion of fittings to an interference preventing area, moving speed reduction of the fittings is prevented on condition that the fittings approach an interference preventing area after the fittings are stopped in a speed reduction area. The interference preventing device is characterized in that: on condition that the fittings (11) are not stopped in the speed reduction area (B) and the fittings (11) approach the interference preventing area (A), speed reduction of the fittings (11) is controlled according to an initial speed reduction meter; on condition that the fittings (11) are stopped in the speed reduction area (B) and then approach the interference preventing area (A), speed reduction of the fittings (11) is controlled according to a re-approaching speed reduction meter which is set corresponding with a movement starting positions of the fittings (11).; and furthermore the re-approaching speed reduction meter is set in a manner that the speed reduction amounts at the movement starting positions are smaller than the speed reduction amount at a same position in an initial speed reduction meter.
Description
Technical field
The present invention relates in the building machineries such as hydraulic crawler excavator for the anti-locking apparatus of interference in the building machinery that disturbs between the accessory that prevents the leading section of apparatus for work from installing and machine main body.
Background technology
Generally, in the building machineries such as hydraulic crawler excavator, there is the building machinery possessing the apparatus for work freely altered one's posture being provided with the accessories such as bailing bucket in leading section, but, such as, in this building machinery, as extra small rotation type hydraulic excavator, exist and alter one's posture with apparatus for work, accessory is likely to the building machinery that machine main body is disturbed.Therefore, in the building machinery that described extra small rotation type hydraulic excavator is such, be provided with for preventing the anti-locking apparatus of interference disturbed between accessory and machine main body, but, usually be preset with in the anti-locking apparatus of this interference: interference prevents region, and it is as forbidding the region that accessory invades; And decelerating area, its region of slowing down as the translational speed making accessory to the direction preventing region close to this interference, the interference carrying out accessory in these regions prevents from controlling.
As the anti-locking apparatus of this interference, in the past, known following technology: increase and decrease the technology of the degree of deceleration in decelerating area (for example, referring to patent document 1 according to the height of bailing bucket (accessory).); According to the motion of the translational speed of apparatus for work prediction apparatus for work, and the technology obtaining the target velocity avoiding invading according to this prediction is (for example, referring to patent document 2.); Time diffusion is carried out to the position data of the bailing bucket in decelerating area, and increases and decreases the technology of degree of deceleration (for example, referring to patent document 3 according to this differential value.）。
Prior art document
Patent document
Patent document 1: Japanese Unexamined Patent Publication 8-291531 publication
Patent document 2: Japanese Unexamined Patent Publication 9-195307 publication
Patent document 3: Japanese Unexamined Patent Publication 9-177116 publication
Summary of the invention
The problem that invention will solve
But the anti-locking apparatus of described interference is in the past configured to, in decelerating area, use the table being set with and disturbing the deceleration instruction value (or limits value) preventing the distance in region corresponding with distance, carry out deceleration and control.But, which disturbs anti-locking apparatus not all to be configured to, when making accessory temporarily stop by the operation of operator under the state being positioned at decelerating area at accessory, when wanting afterwards again to make accessory prevent the direction movement in region to close interference, set new table.Therefore, such as, when being set as in decelerating area, if prevent the distance in region for distance A from accessory to interference, carry out slowing down to become speed a, if prevent the distance B(B<A > in region from then carrying out slowing down so that specific rate a is also low and becomes speed b(b<a than distance A closer to disturbing) when, by the operation of operator, at described distance A, accessory is temporarily stopped, want afterwards again to make accessory to when preventing the direction in region from moving (reacceesing) close to interference, this speed starting movement is described speed a.In addition, make accessory distance B stop after making again its close to time the speed starting movement be the speed b slower than above-mentioned speed a.So, in decelerating area, want again to make after making accessory temporarily stop its to interference prevent region close to time beginning translational speed slower than beginning translational speed when making accessory move outside decelerating area, and the position of accessory when starting mobile prevents region then slower the closer to interference.
But if the speed (mobile commencing speed) that the accessory in decelerating area starts movement is more a lot of slowly than the speed starting movement outside decelerating area, then operator can feel inharmonious and be at a loss, and there is the problem of operation sense difference.And, there is the anti-locking apparatus of following interference: when carry out disturbing prevent control, even if in decelerating area, also with do not make accessory prevent from interference region away from direction or keep off interference and prevent the mobile mode of slowing down on the direction in region from controlling, but, in the anti-locking apparatus of this interference, even if the position of accessory when apparatus for work starts mobile in decelerating area is identical, the direction just preventing region close to interference that mobile commencing speed is slack-off, therefore, there is the incongruity that operator feels and become larger problem, this is the problem to be solved in the present invention.
The scheme of dealing with problems
The present invention completes in view of the foregoing for the purpose of addressing these problems, one of the present invention is the anti-locking apparatus of interference in building machinery, it is characterized in that, anti-for this interference locking apparatus is arranged in building machinery, this building machinery possesses the apparatus for work freely altered one's posture that is provided with accessory in leading section and forms, the interference that the anti-locking apparatus of this interference prevents accessory from invading to prevent the interference between the machine main body of this building machinery and accessory from presetting prevents region, the anti-locking apparatus of this interference possesses the speed reduction control unit of the deceleration control carrying out carrying out in decelerating area, this decelerating area presets to preventing mobile deceleration the in the direction in region close to interference to make accessory, and, this speed reduction control unit is configured to, make this accessory to when preventing the direction in region from moving close to interference when not making accessory stop in described decelerating area, according to the deceleration of the initial deceleration table control fitting preset, and after accessory is stopped in described decelerating area, again make this accessory to when preventing the direction in region from moving close to interference, according to corresponding to the mobile starting position of this accessory and set reaccees with the deceleration of deceleration table control fitting, this is reacceesed and to be set as with deceleration table, make the amount of deceleration of the translational speed of the accessory at described mobile starting position place less than the amount of deceleration at the same position place in described initial deceleration table.
Invention effect
According to one of the present invention, when again making accessory to when preventing the direction in region from moving close to interference after making accessory stop in decelerating area, this can be made to move commencing speed equal with the mobile commencing speed outside decelerating area or just there is no the deceleration of degree of incongruity, therefore, in decelerating area, accessory starts mobile to become level and smooth, can contribute to the raising of operation sense.And what set because basis is corresponding to mobile starting position reacceess with the deceleration of deceleration table control fitting, therefore, even if start gliding smoothing, the intrusion preventing region to interference can also reliably be prevented.
Accompanying drawing explanation
Fig. 1 is the lateral view of hydraulic crawler excavator.
Fig. 2 is the hydraulic circuit diagram of swing arm cylinder, biased cylinder, dipper cylinder.
Fig. 3 represents the block diagram disturbing anti-locking apparatus.
Fig. 4 represents that interference prevents the flow chart of the control sequence controlled.
In Fig. 5 (A) be represent the figure of initial deceleration table, (B) reaccees with the figure of deceleration table for representing.
What in Fig. 6, (A) was expression second embodiment reaccees with the figure of deceleration table, (B) for representing the reacceesing with the figure of deceleration table of the 3rd embodiment.
Detailed description of the invention
Below, with reference to the accompanying drawings embodiments of the present invention are described.In FIG, 1 is the extra small revolution hydraulic crawler excavator of eccentrically arranged type, this hydraulic crawler excavator 1 is made up of each several parts such as crawler type lower running body 2, the upper rotation 3 being supported in this lower running body 2 freely to rotate, the pulpit (operation office for train receiving departure) 4 being equipped on this upper rotation 3, the apparatus for work 5 being installed on upper rotation 3, and, this apparatus for work 5 utilizes and can freely be formed with altering one's posture with lower component etc., and these parts comprise: base end part freely up and down can swing the earth's axis and prop up the first swing arm 6 in upper rotation 3; Base end part the left and right earth's axis that freely swings can prop up the second swing arm 7 in the leading section of this first swing arm 6; Base end part the left and right earth's axis that freely swings can prop up leading section in this second swing arm 7, and is linked by link rod 8 and the first swing arm 6 and the offset support 9 moved in parallel in the lateral direction relative to the first swing arm 6; Base end part can before and after the earth's axis that freely swings prop up dipper 10 in the leading section of this offset support 9; As making above-mentioned first swing arm 6, second swing arm 7, the swing arm cylinder 12 of hydraulic actuator that dipper 10 swings respectively, biased with cylinder 13, dipper cylinder 14 etc., and, in the leading section of this apparatus for work 5, accessory 11 is installed.In addition, in FIG, as the accessory 11 of leading section being installed on apparatus for work 5, bailing bucket is illustrated, but, be not limited to this bailing bucket, according to job content, the various accessories such as grab bucket, crushing engine, lifting magnet can be installed aptly.In addition, described first swing arm 6 is configured to, and is extended and move upward (swing arm moves upward), reduced and move downward (swing arm moves downward) by swing arm cylinder 12 by swing arm cylinder 12.In addition, the second swing arm 7 is configured to, extended by biased cylinder 13 and right direction swing (right-hand offset), reduced by biased cylinder 13 and left direction swing (left avertence puts >.In addition, dipper 10 is configured to, and is extended and swing (dipper withdrawal) to body rear side by dipper cylinder 14, is reduced and swing (dipper stretches out) to body front side by dipper cylinder 14.And, by the first swing arm 6, second swing arm 7, dipper 10 with these swing arm cylinders 12, biased to swing with the expanding-contracting action of cylinder 13, dipper cylinder 14, make accessory 11 move to carry out various operation.In addition, in the present embodiment, accessory 11 is configured to, and can swing based on the expanding-contracting action of bailing bucket cylinder 15 relative to dipper 10, but the swing being set to this accessory 11 is not contained in the movement of accessory 11.
Further, in FIG, A is the region that can not invade as accessory 11 and the interference preset prevents region, in the present embodiment, in order to prevent the interference between accessory 11 and pulpit 4, A is located at pulpit 4 around.In addition, B is as the decelerating area for making accessory 11 preset to preventing the region of the mobile deceleration in the direction of region A close to interference, is located at the outside that interference prevents region A.In addition, AL is the outer side edges boundary line that interference prevents region A, and BL is the outer side edges boundary line of decelerating area B.
Then, based on Fig. 2 to described swing arm cylinder 12, biased to be described with the hydraulic circuit of cylinder 13, dipper cylinder 14.In Fig. 2,16 is as swing arm cylinder 12, the biased hydraulic pump using the hydraulic power source of cylinder 13, dipper cylinder 14,17 is the pioneer pumps of hydraulic power source as pilot pressure oil, 18 is fuel tanks, and 19 ~ 21 is the control valves carrying out discharging for the oil supply of each cylinder 12 ~ 14 of described swing arm, biased, dipper the swing arm that controls, biased, dipper respectively.
Described swing arm is used, biased use, the control valve 19 ~ 21 of dipper possesses elongate sides, the pilot port 19a of reduced side, 19b ~ 21a, the three position transfer valves of 21b, be configured to, not to two pilot port 19a, 19b ~ 21a, under the state that 21b supplies pilot pressure, for not using to swing arm, biased use, each cylinder 12 ~ 14 of dipper supplies the neutral position N of pressure oil, but, conjugate by supplying pilot pressure to elongate sides pilot port 19a ~ 21a, and be switched to oily for the discharge of the hydraulic pump 16 elongate sides position X supplied to the cylinder head side grease chamber 12a ~ 14a of each cylinder 12 ~ 14, in addition, conjugate round about by supplying pilot pressure to reduced side pilot port 19b ~ 21b, and be switched to oily for the discharge of the hydraulic pump 16 reduced side position Y supplied to the stem side grease chamber 12b ~ 14b of each cylinder 12 ~ 14.In this case, the addendum modification (shift motion) of each control valve 19 ~ 21 be input to pilot port 19a, 19b ~ 21a, 21b the increase and decrease of pilot pressure corresponding and increase and decrease, further, corresponding with the increase and decrease of the addendum modification of this control valve 19 ~ 21 for the pressure oil supply flow rate of each cylinder 12 ~ 14 and increase and decrease.
In addition, 22 ~ 24 is swing arms with each pilot valve of, biased, dipper, and these pilot valves 22 ~ 24 export pilot pressure according to the swing arm operation of, biased, dipper operating parts (action bars or operating pedal) 25 ~ 27 to the elongate sides of each control valve 19 ~ 21 of described swing arm, biased, dipper, reduced side pilot port 19a, 19b ~ 21a, 21b.In this case, the pilot pressure exported from each pilot valve 22 ~ 24 increases and decreases according to the operational ton of each operating parts 25 ~ 27.
And, 28 ~ 33 is swing arm elongate sides, swing arm reduced side, biased elongate sides, biased reduced side, dipper elongate sides, each electromagnetic proportional valve of dipper reduced side, these electromagnetic proportional valves 28 ~ 33 are configured at respectively to be used from described swing arm, biased use, each pilot valve 22 ~ 24 of dipper is used to swing arm, biased use, the pilot port 19a of each control valve 19 ~ 21 of dipper, 19b ~ 21a, guide's oil circuit of 21b, according to the deceleration instruction exported from control part 34 described later, in order to make to export each pilot port 19a to from each pilot valve 22 ~ 24, 19b ~ 21a, the pilot pressure decompression of 21b, and carry out action.In this case, each electromagnetic proportional valve 28 ~ 33 carries out the adjustment of aperture amount as follows, namely, when the deceleration instruction value exported from control part 34 is zero, aperture amount is maximum, do not reduce the pilot pressure being input to pilot port 19a, 19b ~ 21a, 21b, but deceleration instruction value larger then aperture amount is less, when deceleration instruction value is maximum, aperture amount is zero, and does not input pilot pressure to pilot port 19a, 19b ~ 21a, 21b.And be configured to, exporting under the state that pilot pressure and control valve 19 ~ 21 be positioned at elongate sides position X or reduced side position Y from pilot valve 22 ~ 24, above-mentioned electromagnetic proportional valve 28 ~ 33 reduces pilot pressure according to the deceleration instruction from control part 34, thus, reduce the pressure oil supply flow rate from control valve 19 ~ 21 to cylinder 12 ~ 14, or stop pressure oil supply, thus the expanding-contracting action of cylinder 12 ~ 14 slows down or stops.In addition, in Fig. 2,35 ~ 40 is the one way valves configured in parallel with each electromagnetic proportional valve 28 ~ 33 of described swing arm elongate sides, swing arm reduced side, biased elongate sides, biased reduced side, dipper elongate sides, dipper reduced side, these one way valves 35 ~ 40 stop pilot pressure oil from pilot valve 22 ~ 24 to pilot port 19a, 19b ~ 21a, 21b flowing, and allow rightabout flowing.
Then, according to the block diagram of Fig. 3, the anti-locking apparatus of the interference being arranged at hydraulic crawler excavator 1 is described.In Fig. 3, 41 is for detecting the swing arm angular transducer of the first swing arm 6 relative to the pendulum angle (swing arm angle [alpha]) of upper rotation 3, 42 is for detecting the angle of eccentricity sensor of the second swing arm 7 relative to the pendulum angle (angle of eccentricity β) of the first swing arm 6, 43 is for detecting the dipper angular transducer of dipper 10 relative to the pendulum angle (dipper angle γ) of offset support 9, in addition, 44 ~ 49 is use for detecting swing arm respectively, biased use, the swing arm of the operating parts 25 ~ 27 of dipper moves upward (swing arm cylinder 12 extends), swing arm moves downward (swing arm cylinder 12 reduces), right-hand offset (is biased and extends > with cylinder 13, left avertence is put (be biased and reduce with cylinder 13), dipper regains (dipper cylinder 14 extends), the operation detection sensor of each operation that dipper stretches out (dipper cylinder 14 reduces).And, these swing arm angular transducers 41, angle of eccentricity sensor 42, dipper angular transducer 43 and each operation detection sensor 44 ~ 49 that swing arm moves upward, swing arm moves downward, right-hand offset, left avertence are put, dipper is regained, dipper stretches out are connected with the input side of control part 34, and are connected with the electromagnetic proportional valve 28 ~ 33 of described swing arm elongate sides, swing arm reduced side, biased elongate sides, biased reduced side, dipper elongate sides, dipper reduced side at the outlet side of control part 34.In addition, described swing arm angular transducer 41, angle of eccentricity sensor 42, dipper angular transducer 43, swing arm moves upward operation detection sensor 44, swing arm moves downward operation detection sensor 45, right-hand offset operation detection sensor 46, left avertence puts operation detection sensor 47, dipper recovery operation detecting sensor 48, dipper stretches out operation detection sensor 49, control part 34, swing arm elongate sides electromagnetic proportional valve 28, swing arm reduced side electromagnetic proportional valve 29, biased elongate sides electromagnetic proportional valve 30, biased reduced side electromagnetic proportional valve 31, dipper elongate sides electromagnetic proportional valve 32, and dipper reduced side electromagnetic proportional valve 33 forms the anti-locking apparatus of interference of the present invention.Further, described control part 34 forms speed reduction control unit of the present invention.
At this, move upward as described swing arm, swing arm moves downward, right-hand offset, left avertence is put, dipper is regained, each operation detection sensor 44 ~ 49 that dipper stretches out, in the present embodiment, use to detect respectively and use from dipper, biased use, each pilot valve 22 ~ 24 of dipper is to the elongate sides of control valve 19 ~ 21, reduced side pilot port 19a, 19b ~ 21a, the pressure sensor (being illustrated in Fig. 2) of the output of the pilot pressure of 21b, but, be not limited to this, such as, use at swing arm, biased use, when each action bars of dipper is electric bar, also can use and detect the direction of operating of this electric bar and the sensor of operational ton.
Below, the situation preventing region A close to interference to be made accessory 11 by dipper recovery operation, the flow chart according to Fig. 4 prevents control to be described to the interference that described control part 34 carries out.
First, some disturbing prevents from controlling to start, then the control part 34 input swing arm angle [alpha], angle of eccentricity β, the dipper angle γ that utilize swing arm angular transducer 41, angle of eccentricity sensor 42, dipper angular transducer 43 to detect and utilize swing arm to move upward, the operation signal (step S1) of swing arm moves downward, right-hand offset, left avertence are put, dipper is regained, dipper stretches out each operation detection sensor 44 ~ 49 detection.
Then, according to the front position P(of described swing arm angle [alpha], angle of eccentricity β, dipper angle γ computing accessory 11 hereinafter referred to as accessory position P) (step S2).In this case, for the pendulum angle of accessory 11 relative to dipper 10, be not use actual pendulum angle, but the front end of accessory 11 is closest to the pendulum angle disturbed when preventing region A, computing accessory position P like this.In addition, in the present embodiment, utilize and be initial point with the swing pivot of the first swing arm 6 base end part, be x-axis with the fore-and-aft direction of pulpit 4, be y-axis with above-below direction, be that the coordinate of z-axis represents described accessory position with left and right directions.In addition, the data in advance such as the first swing arm 6 length required for the computing of accessory position P, the second swing arm 7 length, dipper 10 length are input to control part 34.
Then, control part 34 is according to the accessory position P calculated in described step S2, and computing prevents the distance r(step S3 of region A from this accessory position P to interference).In addition, in the present embodiment, set by carrying out representing on the coordinate being initial point with the swing pivot of described first swing arm 6 base end part outer side edges boundary line AL, the BL that interference prevents region A and decelerating area B.
Then, whether control part 34 judges (step S4) described accessory position P in the B of decelerating area.
When the judgement of described step S4 is "No", when being namely judged as that accessory position P is outside the B of decelerating area, by counter O reset described later (step S5), then, the initial deceleration table preset is set to deceleration table (step S6).This initial deceleration table (represents initial deceleration table with single dotted broken line in Fig. 5 (B), Fig. 6 (A), Fig. 6 (B)) as Suo Shi Fig. 5 (A), represent from the accessory position P in the B of decelerating area prevent the distance r of region A to disturbing and for the table to the relation the close deceleration instruction value disturbing the movement in the direction (for dipper regains direction the control shown in the flow chart of Fig. 4) preventing region A, stop for not making the accessory 11 invaded from the B of decelerating area in the B of decelerating area and make accessory to the situation preventing the direction movement of region A close to interference.And, in the present embodiment, set initial deceleration table as follows, that is: if the outer side edges boundary line BL of decelerating area B then deceleration instruction value be zero (the aperture amount of dipper elongate sides electromagnetic proportional valve 32 is maximum), and distance r is shorter then with certain slope deceleration instruction value larger (the aperture amount of dipper elongate sides electromagnetic proportional valve 32 reduces), arrive the time point disturbing and prevent the outer side edges boundary line AL of region A, deceleration instruction value is maximum value (the aperture amount of dipper elongate sides electromagnetic proportional valve 32 is zero).Namely be set as, if enter in the B of decelerating area from the B of decelerating area, then prevent region A to be then more decelerated (deceleration quantitative change is large) close to interference, prevent the time point of the outer side edges boundary line AL of region A from stopping in arrival interference.And, carried out the arranging of initial deceleration table in this step S6 after, enter step S13 described later.
On the other hand, when the judgement of described step S4 is "Yes", when being namely judged as that accessory position P is in the B of decelerating area, then, judge whether dipper operating parts 27 is not regained side operation (dipper operating parts 27 does not operate dipper and regains side) (step S7) to dipper according to the operation signal inputted from dipper recovery operation detecting sensor 48.
Further, when the judgement of described step S7 is "Yes", when being namely judged as that dipper operating parts 27 is not regained side operation to dipper, 1 counting (step S8) is added to counter.
Then, whether the value judging counter is more than the setting C (step S9) preset.At this, afore mentioned rules value C is in order to confirm that dipper operating parts 27 is not regained to dipper side operation, i.e. accessory 11 stop this situation, time of having needed counts and the value that presets, when the value of counter is more than setting C, be judged as that accessory 11 stops.
When the judgement of described step S9 is "Yes", namely the value of counter is more than setting C when being judged as that accessory 11 stops, counter is being arranged to setting C(step S10) after, enter step Sl1.
In step s 11, control part 34 makes and reacceess and uses deceleration table, and reacceesing of this making is set to deceleration table with deceleration table.Namely, when being judged as that in described step S4 accessory position P is in the B of decelerating area, and be judged as that dipper operating parts 27 does not operate dipper and regains side in the step s 7, and, the value of counter is that more than setting C is when being judged as that accessory 11 stops in step s 9, enter into step S11, but, the mobile starting position that if accessory position P is at this moment accessory 11 when again starting mobile, thus be called that accessory moves starting position SP, then control part 34 sets in step s 11 and moves the virtual decelerating area VB of starting position SP as outer side edges boundary line with this accessory, make reacceesing in the virtual decelerating area VB of this setting to show with deceleration.And, reacceesing of this making is set to deceleration table with deceleration table.This reaccees with deceleration table be represent prevent from the accessory position P in described virtual decelerating area VB to interference as shown in Figure 5 (B) the distance r of region A with for the table to the relation the close deceleration instruction value disturbing the movement in the direction (dipper withdrawal direction) preventing region A, in present embodiment, be set as, the deceleration instruction value at SP place, mobile starting position is zero (the aperture amount of dipper elongate sides electromagnetic proportional valve 32 is maximum), and distance r is shorter then with certain slope deceleration instruction value larger (the aperture amount of dipper elongate sides electromagnetic proportional valve 32 reduces), arrive the time point disturbing and prevent the outer side edges boundary line AL of region A, deceleration instruction value is maximum value (the aperture amount of dipper elongate sides electromagnetic proportional valve 32 is zero).Namely, be set as, speed during mobile beginning is not decelerated, but identically with outside the B of decelerating area corresponding with the dipper recovery operation amount of dipper operating parts 27 speed, and, prevent region A to be then more decelerated close to interference, prevent the time point of the outer side edges boundary line AL of region A from stopping in arrival interference.And, make in this step S11 and be provided with and reaccees with after deceleration table, enter step S13 described later.
At this, in present embodiment, as mentioned above, to reaccees and to be set as with deceleration table, the deceleration instruction value at SP place, mobile starting position is zero (amount of deceleration is zero), but, be not limited thereto, also can the reacceesing with deceleration table of the second embodiment as shown in Fig. 6 (A), the deceleration instruction value at SP place, mobile starting position is set as the value larger than zero.In this case, even if be also decelerated when mobile beginning, but amount of deceleration when this being moved beginning is set as, less than the amount of deceleration at the same position place in above-mentioned initial deceleration table.Namely, in the present invention, after stopping in the B of decelerating area, when again making it prevent the direction movement of region A to close interference, be set as that this amount of deceleration moving the translational speed of the accessory at SP place, starting position is less than the amount of deceleration at the same position place in described initial deceleration table, and, be set as in present embodiment, the amount of deceleration of mobile starting position SP is zero, in addition, in second embodiment, be set as the little amount of deceleration not having the degree of incongruity, thus, the mobile commencing speed in the B of decelerating area can be made equal with the mobile commencing speed outside the B of decelerating area, even if or be decelerated the deceleration of the degree also just not having incongruity.
On the other hand, when the judgement of described step S7 is "No", when being namely judged as that dipper operating parts 27 is regained side operation to dipper, after by counter O reset (step S12), enter step S13.
In addition, when the judgement of described step S9 is "No", namely the value of counter is less than setting C when namely can not be judged as that accessory 11 stops, directly enters into step S13.
In step s 13, control part 34 judges whether dipper operating parts 27 is regained side, namely prevented the direction operation of region A to accessory 11 close to interference to dipper.
When the judgement of described step S13 is "Yes", namely be judged as that dipper operating parts 27 is regained side (preventing the direction of region A close to interference to accessory 11) when being operated to dipper, what control part 34 was used in that described step S3 calculates prevent from accessory position P to the interference distance r of region A and the most newly-installed deceleration table (initial deceleration table or reaccees show with deceleration) computing deceleration instruction value (step S14).In addition, at this moment when accessory position P is the reduction range in the most newly-installed deceleration table outer (outside the decelerating area VB that decelerating area B is outer or virtual), do not reduce the translational speed of accessory 11, and become the speed corresponding with the operational ton of dipper operating parts 27.
Then, according to the deceleration instruction value obtained at described step S14, deceleration instruction value-electromagnetic proportional valve output valve conversion table computing that use presets is for the output valve (step S15) of dipper elongate sides electromagnetic proportional valve 32.
Further, the output valve calculated in described step S15 is exported (step S16) to dipper elongate sides electromagnetic proportional valve 32, afterwards, turn back to described step S1.
On the other hand, when the judgement of described step S13 is "No", when being namely judged as that dipper operating parts 27 is not operated to dipper withdrawal side (preventing the direction of region A close to interference to accessory 11), directly turn back to described step S1.
So, the interference undertaken by described control part 34 prevents from controlling, when accessory 11 invades in the B of decelerating area from the B of decelerating area, when not making accessory 11 stop in the B of this decelerating area, initial deceleration table according to presetting controls, make translational speed slack-off to make accessory 11 close to interference prevents region A to be then more decelerated, on the other hand, after making accessory 11 temporarily stop in the B of decelerating area, again make it to when preventing the direction of region A from moving close to interference, according to corresponding to the mobile starting position SP of this accessory 11 and to be shown with deceleration by reacceesing of making of control part 34, the mobile commencing speed of control fitting 11, equal with the mobile commencing speed outside the B of decelerating area to make accessory 11 not be decelerated, or, even if be decelerated also is do not have the deceleration of the degree of incongruity (using reacceesing by the situation of deceleration table of the second embodiment).
In addition, flow chart shown in Fig. 4 makes accessory 11 close to the control disturbed when preventing region A by dipper recovery operation as described above, but, even if when each operation moved upward by swing arm, swing arm moves downward, right-hand offset, left avertence are put, dipper stretches out makes accessory 11 prevent region A close to interference, also carry out same control.
As mentioned above and in the present embodiment formed, in hydraulic crawler excavator 1, interference between the accessory 11 installed to prevent the leading section of apparatus for work 4 and pulpit 4, and be provided with the anti-locking apparatus of interference preventing accessory 11 from preventing region A from invading to the interference preset, and, the anti-locking apparatus of this interference has the speed reduction control unit (control part 34) of the deceleration control carrying out carrying out in the B of decelerating area, this decelerating area B presets to preventing mobile deceleration the in the direction of region A close to interference to make accessory 11, but, this speed reduction control unit is configured to, make accessory 11 to when preventing the direction of region A from moving close to interference when not making accessory 11 stop in described decelerating area B, according to the deceleration of the initial deceleration table control fitting 11 preset, and after accessory 11 is stopped in the B of decelerating area, again make accessory 11 to when preventing the direction of region A from moving close to interference, according to corresponding to the mobile starting position SP of this accessory 11 and set reaccees with the deceleration of deceleration table control fitting 11, this is reacceesed and to be set as with deceleration table, make the amount of deceleration of the translational speed of the accessory 11 at SP place, described mobile starting position less than the amount of deceleration at the same position place in described initial deceleration table.
Its result, after making accessory 11 temporarily stop in the B of decelerating area, again make accessory 11 to when preventing the direction of region A from moving close to interference, control in the mode that the amount of deceleration making this move SP place, starting position is less than the amount of deceleration of initial deceleration table, so, can make after accessory 11 is stopped in the B of decelerating area, make accessory 11 prevent the mobile commencing speed when A of region equal with the mobile commencing speed outside the B of decelerating area close to interference again, or just there is no the deceleration of the degree of incongruity (using reacceesing by the situation of deceleration table of the second embodiment).Thus, in the B of decelerating area, accessory 11 starts mobile to become level and smooth, can remove the incongruity that operator in the slow-footed situation starting movement in the B of decelerating area feels, can contribute to the raising of operation sense.And what set because basis is corresponding to mobile starting position SP reacceess with the deceleration of deceleration table control fitting 11, therefore, even if start gliding smoothing, the intrusion preventing region A to interference can also reliably be prevented.
In addition, the present invention is not limited to described embodiment certainly, such as, reacceesing shown in described Fig. 5 (B), Fig. 6 (A) is set as with in deceleration table, in virtual decelerating area VB accessory 11 start mobile after, make that this speed when moving beginning of velocity ratio is little slows down immediately, but, the 3rd embodiment as shown in Fig. 6 (B), also can be set as, arranges the speed maintenance period of the speed maintained when accessory 11 moves beginning.In this case, such as, to prevent the percentage of the distance of region A (such as a few % ~ 10%) from setting described speed maintenance period relative to moving starting position SP from accessory to interference.And, by such setting speed maintenance period, accessory 11 can be made to start mobile more level and smooth.
In addition, reacceesing shown in the initial deceleration table shown in described Fig. 5 (A) and Fig. 5 (B), Fig. 6 (A), Fig. 6 (B) is set as with in deceleration table, region A is prevented along with close to interference, deceleration instruction value increases with certain slope, but, be not limited to this, deceleration instruction value increased with also can being set as parabolic shape ground or multistage.
And, initial deceleration table shown in described Fig. 5 (A), and Fig. 5 (B), Fig. 6 (A), shown in Fig. 6 (B) reaccees with deceleration table be represent accessory position P in the B of decelerating area or virtual decelerating area VB to interference prevent the distance r of region A and for close to disturb the direction preventing region A movement deceleration instruction value the table of relation, but, to show with deceleration as initial deceleration table and reacceesing, be not limited to the table of the relation represented between above-mentioned distance and deceleration instruction value, such as, also can be set to and represent swing arm angle, the table of angle of eccentricity and the relation between dipper angle and deceleration instruction value.In this case, such as, if dipper angle, can will deduct the dipper angle γ a arrived when interference prevents the outer side edges boundary line AL of region A and the angle γ d(γ d=γ-γ obtained a) is set to initial deceleration table from current dipper angle γ and reacceess by the dipper angle used in deceleration table.And then, also can replace deceleration instruction value, and the aperture amount of electromagnetic proportional valve 28 ~ 33 is directly used in table.
In addition, in described embodiment, detecting sensor as the position for computing accessory 11 uses the angular transducer 41 ~ 43 of the pendulum angle of detection first swing arm 6, second swing arm 7, dipper 10, but, even if the cylinder stroke detecting sensor using the cylinder length of each cylinder 12,13,14 detecting swing arm, biased, dipper respectively also can the position of computing accessory 11.
Utilizability in industry
The anti-locking apparatus of interference that the present invention can be arranged for the interference between the accessory in order to prevent the leading section of apparatus for work from installing and machine main body in the building machineries such as hydraulic crawler excavator.
Symbol description
4 pulpits
5 apparatus for work
11 accessories
28 swing arm elongate sides electromagnetic proportional valves
29 swing arm reduced side electromagnetic proportional valves
30 biased elongate sides electromagnetic proportional valves
31 biased reduced side electromagnetic proportional valves
32 dipper elongate sides electromagnetic proportional valves
33 dipper reduced side electromagnetic proportional valves
34 control parts
41 swing arm angular transducers
42 angle of eccentricity sensors
43 dipper angular transducers
44 swing arms move upward operation detection sensor
45 swing arms move downward operation detection sensor
46 right-hand offset operation detection sensors
47 left avertences put operation detection sensor
48 dipper recovery operation detecting sensors
49 dippers stretch out operation detection sensor
A interference prevents region
B decelerating area
Claims (8)
1. the anti-locking apparatus of the interference in building machinery, is characterized in that:
The anti-locking apparatus of this interference is arranged in building machinery, this building machinery possesses the apparatus for work freely altered one's posture being provided with accessory in leading section, the interference that the anti-locking apparatus of this interference prevents described accessory from invading to prevent the interference between the machine main body of this building machinery and described accessory from presetting prevents region
The anti-locking apparatus of this interference also possesses the speed reduction control unit carrying out deceleration control in decelerating area, and this decelerating area presets to preventing the direction in region from carrying out slowing down moving close to interference to make described accessory,
And, this speed reduction control unit is configured to, make this accessory to when preventing the direction in region from moving close to interference when not making accessory stop in described decelerating area, according to the deceleration of the initial deceleration table control fitting preset, and after accessory is stopped in described decelerating area, make this accessory to when preventing the direction in region from moving close to interference again, according to corresponding to the mobile starting position of this accessory and set reaccees with the deceleration of deceleration table control fitting, this is reacceesed and to be set as with deceleration table, make the amount of deceleration of the translational speed of the accessory at described mobile starting position place less than the amount of deceleration at the same position place in described initial deceleration table.
2. the anti-locking apparatus of interference according to claim 1, wherein, make described accessory equal with the mobile commencing speed outside described decelerating area to mobile commencing speed when preventing the direction in region from moving close to interference after making described accessory stop in described decelerating area again.
3. the anti-locking apparatus of interference according to claim 1, wherein, described accessory is made to be less than the mobile commencing speed outside described decelerating area to mobile commencing speed when preventing the direction in region from moving close to interference and to be greater than the described initial deceleration table speed corresponding at same position place after making described accessory stop in described decelerating area again.
4. the anti-locking apparatus of interference according to claim 3, wherein, makes described accessory to the speed maintenance period of mobile commencing speed when preventing the direction in region from moving close to interference again after setting makes described accessory stop in described decelerating area.
5. the anti-locking apparatus of interference according to claim 4, wherein, described speed maintenance period is the percentage of the distance in the outer side edges boundary line preventing region from the mobile starting position of described accessory to described interference.
6. the anti-locking apparatus of interference according to claim 1, wherein, along with the outer side edges boundary line preventing region close to interference, the amount of deceleration of the translational speed of described accessory increases gradually.
7. the anti-locking apparatus of interference according to claim 6, wherein, prevents the outer side edges boundary line in region along with close to interference, the amount of deceleration of the translational speed of described accessory linearly increases, non-linear continuous increase or increase stage by stage.
8. the anti-locking apparatus of the interference according to any one of claim 1-7, wherein, described building machinery is hydraulic crawler excavator, and described accessory is the bailing bucket of the apparatus for work of described hydraulic crawler excavator, grab bucket, crushing engine or lifting magnet.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-124395 | 2013-06-13 | ||
| JP2013124395A JP2015001052A (en) | 2013-06-13 | 2013-06-13 | Interference prevention device in construction machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104234104A true CN104234104A (en) | 2014-12-24 |
Family
ID=52222938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410157707.3A Pending CN104234104A (en) | 2013-06-13 | 2014-04-18 | Interference preventing device in construction machinery |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2015001052A (en) |
| CN (1) | CN104234104A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107109819A (en) * | 2016-11-29 | 2017-08-29 | 株式会社小松制作所 | Equipment control device and Work machine |
| CN107614797A (en) * | 2015-05-28 | 2018-01-19 | 神钢建机株式会社 | Engineering machinery |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6316770B2 (en) | 2015-04-15 | 2018-04-25 | 日立建機株式会社 | Construction machinery |
| JP6858566B2 (en) * | 2017-01-06 | 2021-04-14 | オリエンタル白石株式会社 | Work machine |
-
2013
- 2013-06-13 JP JP2013124395A patent/JP2015001052A/en active Pending
-
2014
- 2014-04-18 CN CN201410157707.3A patent/CN104234104A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107614797A (en) * | 2015-05-28 | 2018-01-19 | 神钢建机株式会社 | Engineering machinery |
| CN107614797B (en) * | 2015-05-28 | 2020-02-21 | 神钢建机株式会社 | Construction machine |
| CN107109819A (en) * | 2016-11-29 | 2017-08-29 | 株式会社小松制作所 | Equipment control device and Work machine |
| CN107109819B (en) * | 2016-11-29 | 2020-07-28 | 株式会社小松制作所 | Work implement control device and work machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2015001052A (en) | 2015-01-05 |
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Application publication date: 20141224 |