JP2000144791A - Interference-avoidance controller for working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To conduct smooth avoidance operation when operation is controlled so as to be able to be continued while avoiding an interference in a cab and an attachment when the attachment is brought near to the cab during operation. SOLUTION: When control signals to electromagnetic proportional decompression valves 20A, 20B for an arm are set for conducting the automatic avoidance operation of the arm, an arm-angle control arithmetic means arithmetically operating the control of an arm angle on the basis of an angular deviation Δβof an arm critical angle βLT and an actual arm angle βact and an arm angular-velocity control arithmetic means arithmetically operating the control of an arm angular velocity on the basis of actual boom angular velocity dαact/dt and actual arm angular velocity dβact/dt are installed. Control signals are set on the basis of the arithmetic results of these control arithmetic means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of a hydraulic control circuit for a working machine such as a hydraulic shovel.

[0002]

2. Description of the Related Art Generally, a working unit mounted on a working machine such as a hydraulic excavator includes an offset type boom that swings up and down and right and left, and an arm that is connected to the tip of the boom so as to swing back and forth. Although there is an attachment such as a bucket connected to the tip of the arm, the attachment may contact (interfere with) the driver's seat when the boom or the arm is swung. In such a case, care must be taken to avoid contact between the attachment and the driver's seat. Therefore, conventionally, a posture detecting means for detecting the posture of the working unit, and a control unit for determining whether the attachment is within a predetermined range of the driver's seat portion based on a detection signal from the posture detecting means, If it is determined that the attachment is within a predetermined range of the driver's seat,
There is a configuration in which a control command is output from a control unit to a hydraulic circuit of a working unit hydraulic actuator to stop the working unit. As such a device, for example, a device as shown in FIG. 14 is known, which is a pilot-type control for controlling the supply of pressurized oil to a working unit hydraulic actuator 59 such as an arm cylinder. Between the valve 60 and pilot valves 61A and 61B that output pilot pressure oil based on the operation of the operating tool,
Electromagnetic proportional pressure reducing valve 6 that operates based on a command from a control unit
2A and 62B are provided. When the attachment is away from the driver's seat, the electromagnetic proportional pressure reducing valves 62A and 62B are opened to allow the supply of pilot pressure oil to the control valve 60, while the attachment approaches the driver's seat. Has an electromagnetic proportional pressure reducing valve 62
A and 62B are closed to cut off the supply of pilot pressure oil to the control valve 60, thereby stopping the working unit.

[0003]

However, as described above, when the attachment approaches the driver's seat, the electromagnetic proportional pressure reducing valve is closed to stop the working unit. Work part will be stopped halfway through. In this case, once the attachment is moved away from the driver's seat, the operation of continuing the interrupted work must be restarted, which is troublesome and troublesome, and has a problem that the work efficiency is reduced. There was a problem to be solved by the present invention.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has been created with the object of solving these problems. In a working machine including an arm pivotally connected to a tip of a boom and an attachment connected to the tip of the arm, the attachment is prevented from entering a preset interference avoidance area. In providing the interference avoidance control means for the, the interference avoidance control means,
An arm limit angle for inputting a signal from boom angle detection means for detecting a swing angle of the boom with respect to the machine body, and setting an arm limit angle for preventing the attachment from entering the interference avoidance area based on the input boom angle. A signal from the setting means and an arm angle detection means for detecting a swing angle of the arm with respect to the boom is input, an angle deviation between the input arm angle and the arm limit angle is obtained, and the arm is determined based on the angle deviation. Angle control calculation means for performing angle control calculation, an arm calculated based on a boom angular velocity calculated based on a boom angle input from the boom angle detection means, and an arm calculated based on an arm angle input from the arm angle detection means Angular velocity control computing means for performing control computation of arm angular velocity using angular velocity; Based on the calculation result of the calculating means are those constituted by a control signal setting means for setting a control signal for the arm driving means to perform an automatic interference avoidance operation of the arm. By doing so, the interference avoidance operation speed of the arm corresponding to the operation speed of the boom can be obtained, and it is possible to avoid a problem that the avoidance operation of the arm is delayed, and it is also possible to smoothly operate the arm. An interference avoiding operation can be obtained, and workability and operability are excellent. In this, the angular velocity control computing means comprises: a boom angular velocity computing means for computing a boom angular velocity based on the boom angle input from the boom angle detecting means; and an arm angular velocity based on the arm angle inputted from the arm angle detecting means. Arm angular velocity calculating means for calculating, angular velocity ratio setting means for setting an angular velocity ratio of the arm angular velocity to the boom angular velocity at the arm limit position based on the arm limit angle, and setting an arm target angular velocity from the angular velocity ratio and the boom angular velocity. Target angular velocity setting means, and control arithmetic means for performing control arithmetic of the arm angular velocity based on the arm target angular velocity and the arm angular velocity. Further, an operation signal setting means for setting an operation signal to the arm driving means based on an operation of the arm operating tool in the interference avoidance control means, an operation signal from the operation signal setting means and a control signal from the control signal setting means. And selecting means for selecting any one of them and outputting the selected signal to the arm driving means, so that an operation signal or a control signal can be selected in accordance with the operation state of the arm operating tool or the angles and angular velocities of the arm and the boom. Is done. Furthermore, when the attachment approaches the interference avoidance area at least in a state where the boom is swinging, the interference avoidance control means causes the arm to swing in a direction away from the interference avoidance area so that the arm avoids the interference avoidance area. By providing a mechanism for continuing the boom swing while avoiding the intrusion of the attachment, the work can be continued while avoiding intrusion into the interference avoidance area, and the work efficiency is improved.

[0005]

Next, embodiments of the present invention will be described with reference to the drawings. 1 and 2, reference numeral 1 denotes an offset type excavator.
Are the lower traveling unit 2, the upper revolving unit 3, the cab 4, and the working unit 5.
The working unit 5 is further connected to a rear boom 6 whose base end is supported by the upper swing body 3 so as to be able to swing up and down, and to the tip of the rear boom 6 so as to be able to swing left and right. A front boom 7, an arm 8 connected to the front end of the front boom 7 so as to be able to swing back and forth, a bucket 9 connected to a front end of the arm 8 so as to be able to swing back and forth, and a device for swinging these. Although the basic configuration such as the configuration including the boom cylinder 10, the offset cylinder 11, the arm cylinder 12, the bucket cylinder 13, and the like is the same as the conventional one, in the present embodiment, the cab 4 is 3 is provided on the left side. Further, the rear boom 6 is configured to move down as the boom cylinder 10 contracts and rise as the boom cylinder 10 extends. Also, the front boom 7
When the offset cylinder 11 is contracted, it moves in the left direction, that is, in the direction approaching the cab 4, and when the offset cylinder 11 is extended, it moves in the right direction. Further, the arm 8 includes the arm cylinder 1
2 swings to the rear side of the fuselage due to extension (arm in)
When the arm cylinder 12 contracts, it swings (arms out) to the front side of the fuselage.

The boom cylinder 10, the offset cylinder 11, and the arm cylinder cylinder 12 extend and contract with hydraulic oil supplied from a main pump 14, and a circuit for supplying hydraulic oil to these cylinders 10 to 12 is provided. Since they are the same, the arm cylinder 12 will be described as an example with reference to FIG. In FIG. 3, 14 is a main pump, 15 is a pilot hydraulic pressure source, 16 is an oil tank, 17 is a control valve, 18A and 18B are expansion side and reduction side pilot valves, and 19A and 19B are expansion side and reduction side switching valves. , 20A and 20B are expansion-side and reduction-side electromagnetic proportional pressure reducing valves, 21A and 21B are expansion-side and reduction-side pressure sensors, and the control valve 17 is
It comprises a pilot-operated three-position switching valve having an extension-side pilot port 17a and a reduction-side pilot port 17b. And the control valve 1
7 is an arm cylinder 1 when the pilot pressure oil is not supplied to both pilot ports 17a and 17b.
Although it is located at the neutral position N where the supply of pressure oil to the cylinder 2 is stopped, the supply of pilot pressure oil to the extension-side pilot port 17 a supplies pressure oil to the extension-side oil chamber of the arm cylinder 12. By switching to the extension side position X and supplying pilot pressure oil to the reduction side pilot port 17b, the configuration is switched to the reduction side position Y for supplying pressure oil to the reduction side oil chamber of the arm cylinder 12. ing.

The expansion and contraction side pilot valves 18A and 18B, the switching valves 19A and 19B, the electromagnetic proportional pressure reducing valves 20A and 20B, and the pressure sensors 21A and 21B correspond to the extension and contraction side pilot valves of the control valve 17. The expansion side and the reduction side pilot oil passages for supplying pilot pressure oil to the ports 17a and 17b are provided respectively. However, since they are the same, the expansion side pilot valve 18A will be described first. By operating the arm operation tool 22 to the extension side, the pilot pressure oil having a pressure corresponding to the operation amount is output from the output port 18a.
Is output from the device.

The extension-side switching valve 19A is a five-port two-position switching valve disposed on the secondary side of the extension-side pilot valve 18A. The first port 19a is connected to the oil tank 16, and the second port 19a is connected to the second port. Reference numeral 19b denotes an output port 18a of the expansion-side pilot valve 18A, a third port 19c is connected to the pilot hydraulic pressure source 15, a fourth port 19d is connected to a first port 20a of a later-described expansion-side electromagnetic proportional pressure reducing valve 20A, and a fifth port 19e. Are connected to the second port 20b of the extension side electromagnetic proportional pressure reducing valve 20A, respectively. The expansion-side switching valve 19A is provided with a pilot port 19f. The pilot port 19f is connected to a pilot oil passage connecting the expansion-side pilot valve output port 18a and the expansion-side switching valve second port 19b. The pilot pressure oil is also supplied to the pilot port 19f as the pilot pressure oil is output from the extension side pilot valve 18A. When the pilot pressure oil is not supplied to the pilot port 19f, the extension side switching valve 19A closes the first port 19a by the urging force of the armature 19g and closes the second port 19a.
b is located at a first position X where a valve path connecting the fourth port 19d is open and a valve path connecting the third port 19c and the fifth port 19e is open.
Is supplied to the extension side electromagnetic proportional pressure reducing valve second port 20b, and oil from the extension side electromagnetic proportional pressure reducing valve first port 20a is supplied to the extension side pilot valve 18A.
Through the oil tank 16.
On the other hand, when the pilot pressure oil is supplied to the pilot port 19f, the third port 19c is closed, the valve connecting the first port 19a and the fourth port 19a is opened, and the second port 19b is connected to the fifth port 19b. The valve is switched to the second position Y in which the valve path communicating with the port 19e is opened, and the pilot pressure oil from the pilot valve output port 18a is supplied to the expansion-side electromagnetic proportional pressure-reducing valve second port 20b. The oil from the pressure valve first port 20a can be discharged to the oil tank 16.

The extension side electromagnetic proportional pressure reducing valve 20A is disposed between the extension side switching valve 19A and the control valve extension side pilot port 17a.
The third port 20a, 20b, 20c and the solenoid 20d are provided, the first port 20a is connected to the extension side switching valve fourth port 19d, the second port 20b is connected to the extension side switching valve fifth port 19e, The port 20c is connected to the control valve extension side pilot port 17a. The extension side electromagnetic proportional pressure reducing valve 20
A indicates that when the solenoid 20d is not excited, the valve path connecting the first port 20a and the third port 20c is opened and the second port 20b is closed. Solenoid 20d based on command
Is excited to open an output valve path communicating between the second port 20b and the third port 20c. When the output valve path is opened, the pilot hydraulic pressure source 1 via the extension side switching valve 19A at the first position X is opened.
5 or the pilot pressure oil from the extension side pilot valve 18A via the extension side switching valve 19A at the second position Y is output to the control valve extension side pilot port 17a. The output pressure increases and decreases in response to a control command output from the control unit 23 to the drive circuit of the solenoid 20d.

The extension-side pressure sensor 21A detects the pressure of the pilot pressure oil output from the extension-side pilot valve 18A. The detection signal of the extension-side pressure sensor 21A To be entered.

On the other hand, the control unit 23 is constituted by using a microcomputer or the like, and includes a relative angle (actual boom angle α _act described later) of the rear boom 6 with respect to the upper swing body 3. A boom angle sensor 24 for detecting, an offset angle sensor 25 for detecting a relative angle of the front boom 7 with respect to the rear boom 6 (actual offset angle γ _act described later), and a relative angle of the arm 8 with respect to the front boom 7 (actual angle described later). The arm angle sensor 26 for detecting the arm angle β _act ), the extension side and reduction side pressure sensors 21A and 21B provided in the extension side and reduction side pilot oil passages of the arm cylinder 12 described above, respectively, are used in the same manner. The extension-side and reduction-side pressures respectively provided in the extension-side and reduction-side pilot oil passages of the boom cylinder 10. Capacitors 27A, 27B, extending side of the offset cylinder 11, extended side respectively provided in the pilot oil path on the reduction side, reduction side of the pressure sensor 28
Signals from various sensors and switches such as A and 28B are input, and based on these input signals, setting, calculation, selection, and the like are performed by various setting units, arithmetic units, selectors, and the like, which will be described later. And the above-described arm cylinder 1
2, expansion-side and reduction-side electromagnetic proportional pressure reducing valves 20A, 20B provided in the expansion-side and reduction-side pilot oil passages, respectively.
Similarly, the extension-side and reduction-side electromagnetic proportional pressure reducing valves 29A and 29B provided in the extension-side and reduction-side pilot oil passages of the boom cylinder 10, respectively, and the offset cylinder 1
1 is configured to output control commands to the expansion-side and reduction-side electromagnetic proportional pressure reducing valves 30A and 30B provided in the expansion-side and reduction-side pilot oil passages, respectively.

Next, various setting units, arithmetic units, selectors and the like provided in the control unit 23 will be described with reference to FIGS. 5 to 11. In the block diagram of FIG.
Reference numeral 1B denotes an extension-side / reduction-side arm operation signal setting device, which is an extension-side / reduction-side pressure sensor 21 provided in a pilot oil passage of the arm cylinder 12.
A, 21B, input the detection signals, and based on the detection signals, the electromagnetic proportional pressure reduction 20A, 20A,
An arm operation signal for 0B is set and output. In this case, the arm operation signal setting devices 31A, 31B
As shown in the characteristic graphs (A) and (B) of FIG. A signal of 0 to 100% to be generated in 20A and 20B is set. Reference numeral 32 denotes an arm limit angle calculator, which is a boom angle sensor 2
The arm limit angle β _LT is calculated and output based on the actual boom angle α _act detected in step 4 and the actual offset angle γ _act detected by the offset angle sensor 25.
The calculation of the arm limit angle β _LT will be described later. 3
Reference numeral 3 denotes a first subtractor, which subtracts the actual arm angle β _act detected by the arm angle sensor 26 from the arm limit angle β _LT calculated by the arm limit angle calculator 32, and performs the subtraction. The result is output as the angle deviation Δβ. Reference numeral 34 denotes a first coefficient setting unit which sets and outputs a coefficient j (j = 0 to 1) based on the angle deviation Δβ output from the subtractor 33. In this case, as shown in the characteristic diagram of FIG. 7, the first coefficient setting unit 34 outputs the coefficient “1” when the angle deviation Δβ is equal to or smaller than a preset value D (Δβ ≦ D), and When the set value is equal to or greater than the set value E (Δβ ≧ E), the coefficient “0” is output. When the set value is between the set values D and E (D <Δβ <E),
The coefficient j is set so as to decrease as the angle deviation Δβ increases (however, D and E are both positive values and D <E). 35
Is a limit position calculator, which is an actual boom angle α _act detected by the boom angle sensor 24, an actual offset angle γ _act detected by the offset angle sensor 25,
Based on the arm limit angle β _LT calculated by the arm limit angle calculator 32, the limit position coordinates (X _LT , Y _LT ) of the arm tip c are calculated and output. The calculation of ( _LT , Y _LT ) will be described later. 36
Is an angular velocity ratio setting device, which is based on the limit position coordinates (X _LT , Y _LT ) of the arm tip c output from the limit position calculator 35 and which is the ratio of the arm angular velocity to the boom angular velocity at the limit position. The ratio i is set and output. The setting of the angular velocity ratio i will be described later. A first multiplier 37 multiplies a coefficient j output from the first coefficient setter 34 by an angular velocity ratio i output from the angular velocity ratio setter 36, and multiplies the result by: Output as the target angular velocity ratio k. Numeral 38 denotes an angle control signal setting device, which outputs an angle control signal based on the angle deviation Δβ output from the subtracter 33. In this case, as shown in the characteristic diagram of FIG. 8, the angle control signal setting unit 38 outputs a positive set value F in which the angle deviation Δβ is set in advance.
When (Δβ ≧ F), a signal of 100% is output. However, as the angle deviation Δβ decreases, the output signal value also decreases. When the angle deviation Δβ is a value close to “0” and “0”, 0% is output. And outputs a signal of -100% when the preset value is equal to or less than a preset negative value G (Δβ ≦ G). Reference numeral 39 denotes a boom differential operation unit, which calculates and outputs an actual boom angular velocity dα _act / dt from an actual boom angle α _act detected by the boom angle sensor 24. Reference numeral 40 denotes an arm differential calculator which calculates and outputs an actual arm angular velocity dβ _act / dt from the actual arm angle β _act detected by the arm angle sensor 26. Reference numeral 41 denotes a second multiplier, which calculates the actual boom angular velocity dα _act / dt output from the boom differential calculator 39,
Multiplying by the target angular velocity ratio k output from the first multiplier 37,
The product of the multiplication is output as an arm target angular velocity dβ _set / dt. Reference numeral 42 denotes a feedforward signal setter which sets and outputs a feedforward signal based on the arm target angular velocity dβ _set / dt output from the second multiplier 41. In this case, the feedforward signal setting unit 42, as shown in the characteristic diagram of FIG.
Arm target angular velocity dβ _set / dt is “0” or more (dβ _set
/ Dt ≧ 0), a signal of “0” is output, and a signal that increases to the negative side as the arm target angular velocity dβ _set / dt increases to the negative side is output. Reference numeral 43 denotes a second subtractor, which calculates the actual arm angular velocity dβ _act / dt calculated by the arm differential calculator 40 from the arm target angular velocity dβ _set / dt set by the second multiplier 41. The difference is output, and the difference is output as the angular velocity deviation Δdβ / dt. Reference numeral 44 denotes a switch which is turned on / off based on the output signal of the boom differential calculator 39. When the output of the boom differential calculator 39 is "0", the switch 44 is turned off. The signal of the second subtractor 43 is switched to the OFF side where the signal of the second subtractor 43 is not output to the third multiplier 45, and when the output of the boom differential calculator 39 is not “0”, the signal of the second subtractor 43 is output to the third multiplier 45. Switch to ON side to output. Third multiplier 45
Multiplies the output of the switching unit 44 by the coefficient j output from the first coefficient setting unit 34, and outputs the product as an angular velocity deviation control signal. Reference numeral 46 denotes a first signal limiter, which cuts the positive side of the angular velocity deviation control signal output from the third multiplier 45. 47
Is a first PI control calculator, which is based on the angular velocity deviation output from the first signal limiter 46.
An I control (proportional-integral control) operation is performed, and a proportional gain setter 47a, an integral gain setter 47b,
Although it is configured using an integration calculator 47c and an adder 47d that adds the proportional component and the integration component, the integration calculator 4c is used.
7c is set so as to be reset when the reduction-side arm operation signal is output from the reduction-side arm operation signal setter 31B. 48 is a second coefficient setter, which is an angular deviation Δβ output from the first subtractor 33.
Is set from "1" to "0". In this case, as shown in the characteristic diagram of FIG. 10, the second coefficient setting unit 48 sets the angle deviation Δβ equal to or larger than a preset set value J (Δβ
≧ J), a coefficient “0” is output and “0” or less (Δ
When β ≦ 0), a coefficient “1” is output. When the set value J is between “0” (J>Δβ> 0), a coefficient that approaches “1” as the angle deviation Δβ approaches “0”. Is output. A fourth multiplier 49 multiplies the angle deviation Δβ output from the first subtractor 33 by a coefficient output from the second coefficient setter 48, and outputs the result. 50
Is a second PI control calculator which performs a PI control (proportional-integral control) calculation based on the angle deviation outputted from the fourth multiplier 49, and is a proportional gain setter. 50a, an integral gain setter 50b, an integral calculator 50c, and an adder 5 for adding a proportional component and an integral component
0d, but the integration calculator 50c
Are set to be reset when the reduction-side arm operation signal is output from the reduction-side arm operation signal setting unit 31B. Reference numeral 51 denotes a second signal limiter, which cuts the plus side of the signal of the PI control arithmetic unit 50. Reference numeral 52 denotes a first adder, which adds a speed feedforward signal output from the feedforward signal setting device 42 and an angle control signal output from the angle control signal setting device 38 and outputs the result. . Reference numeral 53 denotes a second adder, which adds the output of the first adder 52, the output of the first PI control calculator 47, and the output of the second signal limiter 51 and outputs the result. An extension side arm control signal setter 54 sets and outputs a control signal to the arm extension side (arm-in side) electromagnetic proportional pressure reducing valve 20A based on the output of the second adder 53. I do. In this case, the extension side arm control signal setting unit 54
Is the second adder 53 as shown in the characteristic diagram of FIG.
When the output value P is equal to or less than “0” (P ≦ 0), a signal of 0% for completely closing the output valve path of the extension side electromagnetic proportional pressure reducing valve 20A is output, and the output value P is set to a predetermined value. Is greater than or equal to the set value K (P ≧ K), a 100% signal for fully opening the output valve path is output. When the output value P is between “0” and K (0 <K <D), It is set so as to output a signal exceeding 0% and less than 100%, which is set so that the output pressure increases as the output value P increases. Reference numeral 55 denotes a reduction side arm control signal setting unit which sets a control signal for the reduction side (arm out side) electromagnetic proportional pressure reducing valve 20B for the arm based on the output of the third adder 53. Output. In this case, the reduction-side arm control signal setting device 55 is configured as shown in FIG.
As shown in the characteristic diagram, when the output value P of the second adder 53 is equal to or greater than "0" (P≥0), a 0% signal for fully closing the output valve path of the reduction side electromagnetic proportional pressure reducing valve 20B is output. When the output value P is equal to or less than a preset negative value M (P ≦ M), the output valve path is fully opened.
%, And when the output value P is between the set value M and “0” (M <P <0), as the output value P increases to the negative side, the electromagnetic proportional pressure reducing valve 2
The output pressure is set so as to output a signal of more than 0% and less than 100%, which is set to increase the output pressure of 0A. Reference numeral 56 denotes a MIN signal selector, which includes an extension-side arm operation signal output from the extension-side arm operation signal setter 31A and an extension-side arm control signal setter 5.
Then, a minimum value is selected from the extension-side arm control signals output from 4 and the selected signal value is output to the drive circuit of the extension-side electromagnetic proportional pressure reducing valve for arm 20A as an extension-side arm drive signal. Reference numeral 57 denotes a MAX signal selector, which is a reduction side arm operation signal output from the reduction side arm operation signal setting unit 31B and a reduction side arm control signal output from the reduction side arm control signal setting unit 55. Is selected, and the selected signal value is output to the drive circuit of the arm reduction side electromagnetic proportional pressure reducing valve 20B as a reduction side arm drive signal.

Next, the control procedure in the control unit 23 will be described. First, the extension side and reduction side arm operation signal setting units 31A and 31B are connected to the pressure sensors 21A and 21B.
The pilot valves 18A, 18A, 20B
The extension side and reduction side arm operation signals for generating a pressure equal to the output pressure from 8B are set and output to the MIN signal selector 56 and the MAX signal selector 57, respectively.

On the other hand, in the arm limit angle calculator 32,
And the actual boom angle α detected by the boom angle sensor 24
_act, And the actual value detected by the offset angle sensor 25.
Offset angle γ_actArm limit angle β based on_LT
Is calculated. Here, FIG. 12 shows the upper swing body 3 from the side.
The tip a of the rear boom 6 when viewed, the front boom 7
Of the tip b of the arm 8 and the tip c of the arm 8 are shown on the coordinates.
The origin O is the upper revolving superstructure 3 of the rear boom 6
, The X axis is forward with respect to the upper swing body 3
The direction facing backward, the Y axis is the direction facing up and down,
FIG. 13 is a view taken in the direction of the arrow A in FIG.
This is the direction that faces. The boom angle α is as shown in FIG.
2, the origin O and the tip b of the front boom 7
A straight line R connecting_obAnd the X axis, the arm angle
β is the straight line R in FIG._obAnd the arm 8
The offset angle γ is shown in FIG.
Between the front boom 7 that has moved to the left and the X-axis.
Angle, the boom angle sensor 24, the arm angle
Detected by degree sensor 26 and offset angle sensor 25
Boom angle α, arm angle β, offset angle γ
Is the actual boom angle α_act, Actual arm angle β_act,
Actual offset angle γ_actIt is. The boom angle of the present invention
The degree detecting means includes the boom angle sensor 24 and the boom angle sensor 24 of the present embodiment.
And / or offset angle sensor 25, and
The boom angle of the present invention is the boom angle α and the boom angle α of the present embodiment.
And / or offset angle γ. Further, in FIG.
In the illustrated interference avoidance area H, the bucket 9 is
An area set as not to approach above,
No matter what attitude the bucket 9 takes in the area H,
When the arm tip c is moved so as not to enter
Rail when the tip c of the arm 8 is closest to the cab 4
The trace with some margin (dead zone) is used to avoid interference.
Shown as field line L. And first, the arm tip c interferes
Any point on the avoidance boundary line L (X_LT, Y_LTIs located in
Arm angle (the arm angle is the arm limit angle
β_LT) And a boom angle α. In FIG.
The distance r from the origin O to the arm tip c_ocIs
It is given by the following equation. r_oc= ｛L₁ ^Two+ L_Two ^Two-2L₁L_Twocos (π-β_LT)｝^1/2 ... (1) However, L from FIG. 12 and FIG.₁Is given by the following equation. L₁= (L_b1 ^Two+ L_b2x ^Two-2L_b1L_b2xcos θ)^1/2 ... (2) L_b2x= L_b2cosγ (3) where L_b1: Length of rear boom 6 L_b2: Length B of front boom 7_Two : Length of arm 8 θ: Rear boom 6 and front boom 7 in FIG.
Angle (constant value), while the tip c of the arm 8 is
When it is on the avoidance boundary line L, the following equation holds. r_oc= (X_LT ^Two+ Y_LT ^Two)^1/2 (4) Arm limit angle β from formulas (1) and (4)_LTIs given by
Is done. β_LT= Π-cos^-1｛(L₁ ^Two+ L_Two ^Two-X_LT ^Two-Y_LT ^Two) / 2L₁L_Two｝ ・ ・ (5) Next, the arm limit angle β_LTAnd the boom angle α
Good. The following equation is established from Δobc. r_LT/ Sin (π-β) = L_Two/ Sin (α-ε) (6) where ε = cos^-1(X_LT/ R_LT) (7) r_LT= (X_LT ^Two+ Y_LT ^Two)^1/2 (8) The formula (6) is rearranged to derive the boom angle α. α = sin^-1｛R_LTsin (π-β_LT) / L_Two｝ + Ε (9) From the above equations (1) to (9), on the interference avoidance boundary line L
When the coordinates are set, the offset angle γ is used as a parameter.
Arm limit angle β with respect to boom angle α_LTAsk for
And based on this, the function table β_LT= F (α,
γ) can be created. And the arm limit angle calculator 32
Is the function table β_LT= F (α, γ) is the actual boom angle
Degree α_actAnd actual offset angle γ_actAnd enter
Field angle β _LTIs calculated and output. In addition, front boom 7
(X_b, X_b) And the tip of the arm 8
c coordinates (X_c, Y_c) Is given by the following equation. X_b= L₁cosα (10) Y_b= L₁sinα ... (11) X_c= X_b+ L_Twocos (β-α) (12) Y_c= Y_b-L_Twosin (β-α) (13)

Next, in the limit position calculator 35, the actual boom angle α _act detected by the boom angle sensor 24,
Based on the actual offset angle γ _{a ct} detected by the offset angle sensor 25 and the arm limit angle β _LT output from the arm limit angle calculator 32, the limit position coordinates (X _LT , Y _LT ). X _LT = L ₁ cos α _act + L ₂ cos (β _LT -α _act ) (14) Y _LT = L ₁ sin α _act -L ₂ sin (β _LT -α _act ) (15)

The control unit 23 further includes an angular velocity ratio setting unit 36
, The ratio i of the arm angular velocity to the boom angular velocity at the limit position is set based on the limit position coordinates Y _LT of the arm tip c output from the limit position calculator 35. Here, the angular velocity ratio i is set by the following relational expression (1).
Calculate using 6). The inclination of the interference avoidance boundary line L at the limit position coordinates (X _LT , Y _LT ) is the ratio h between the velocity Vx in the X-axis direction and the velocity Vy in the Y-axis direction. On the other hand, (10) to (1)
3) Differentiating and arranging the equation, the velocities Vx and Vy and the angular velocity d
The relational expression (16) of α / dt and dβ / dt is derived. (16) In the above equation (16), if Vx = 1 and Vy = h,
The ratio (dα / dt) :( dβ / dt) i is obtained.
Then, the angular velocity ratio setting unit 36 sets the angular velocity ratio i at each limit position coordinate in a function table based on the above relational expression, inputs the limit position coordinate Y _LT and calculates the ratio i of the arm angular velocity to the boom angular velocity. Then, the angular velocity ratio i is output.

Next, the control unit 23 performs a control calculation of the arm angular velocity. In this case, first, the angular velocity ratio setting device 36
Is multiplied by the coefficient j (j = 0 to 1) set by the first coefficient setting unit 34 by the first multiplier 37 to obtain the target angular speed ratio k. On the other hand, the actual boom angle α _act input from the boom angle sensor 24 is differentiated by the boom differential calculator 39 to obtain the actual boom angular velocity dα _act / dt.
Similarly, the actual arm angle β _act input from the arm angle sensor 26 is differentiated by the arm differential calculator 40 to obtain the actual arm angular velocity dβ _act / dt. further,
In the second multiplier 41, the actual boom angular velocity dα _act
/ Dt, the target angular velocity ratio k obtained by the first multiplier 37
Is multiplied to obtain an arm target angular velocity dβ _set / dt, and based on the arm target angular velocity dβ _set / dt, a feed forward signal is set by the feed forward signal setting unit 42. In the second subtractor 43, the second multiplier 41
From the arm target angular velocity dβ _set / dt obtained in the above, the actual arm angular velocity d output from the arm differential calculator 40
Subtract β _act / dt to obtain angular velocity deviation Δdβ / dt,
The angular velocity deviation Δdβ / dt is output to the switch 44. The switch 44 sets the output of the boom differential calculator 39 to “0”.
Is switched to the OFF side at the time of
The angular velocity deviation Δdβ / dt is transmitted to the third multiplier 45 when it is set to switch to the N side and when it is switched to the ON side. Further, in the third multiplier 45,
The output of the switching unit 44 is multiplied by the output of the first coefficient setting unit 34, and the output of the first coefficient setting unit 34 is limited by a first signal limiter 46 to cut a plus deviation. Then, in the first PI control calculator 47,
The proportional component is obtained by the proportional gain setting device 47a, the signal output from the integral gain setting device 47b is integrated by the integration calculator 48c to obtain the integrated component, and the proportional component and the integrated component are added by the adder 48d. . In this case, the integration calculator 48c is reset when the signal of the reduction-side arm operation signal setting device 31B is output. By the above calculation, as described later, when the arm tip c approaches the interference avoidance boundary line L, the signal of the first PI control calculator 47 and the signal of the feedforward signal setter 42 are output, and both are output by the second The control calculation of the arm angular velocity is performed by the addition by the adder 53. Note that, in the present embodiment, the angular velocity control calculation means of the present invention includes a first subtractor 33 and a first coefficient setter 3.
4. Limit position calculator 35, angular velocity ratio setter 36, first multiplier 37, boom differential calculator 39, arm differential calculator 40, second multiplier 41, feedforward signal setter 42, second subtraction Unit 43, switching unit 44, third multiplier 4
5, a first signal limiter 46, a first PI control calculator 47, and a second adder 53.

Further, the control unit 23 performs a control calculation of the arm angle. In performing the control calculation of the arm angle,
Based on the angle deviation Δβ obtained by the first subtractor 33, a coefficient from “0” to “1” is output by the second coefficient setter 48,
The coefficient and the angle deviation Δβ are multiplied by a fourth multiplier 49. In this case, the second coefficient setting unit 48 calculates the angle deviation Δβ
Is set so as to output the coefficient “1” when the value approaches “0”, so that when the angle deviation Δβ approaches “0” and the coefficient “1” is output from the second coefficient setting unit 48, The output value of the four multiplier 49 becomes equal to the angle deviation Δβ. further,
Based on the angle deviation determined by the fourth multiplier 49, a PI control calculation is performed by the second PI control calculator 50. In the second PI control calculator 50, a proportional component is obtained by a proportional gain setter 50a, and a signal output from the integral gain setter 50b is integrated by an integration calculator 50c to obtain an integral component.
Further, the proportional component and the integral component are added by the adder 50d. In this case, the integration calculator 50c is reset when the signal of the reduction-side arm operation signal setting device 31B is output. The output of the second PI control arithmetic unit 50 is limited by the second signal limiter 51 so that the plus side signal is cut off. As described later, the control signal is output from the second PI control calculator 50 when the arm tip c approaches the interference avoidance boundary line L by the above calculation. Then, after the control signal is limited by the second signal limiter 51, the second adder 53
Is added to the angle control signal output from the angle control signal setting unit 38 in the step (3), thereby performing a control calculation of the arm angle. Note that, in the present embodiment, the angle control calculation means of the present invention includes the first subtractor 33 and the angle control signal setter 3.
8, a second coefficient setter 48, a fourth multiplier 49, a second PI control calculator 50, a second signal limiter 51, and a second adder 53.

Subsequently, the control unit 23 sets and outputs a drive signal for the extension / reduction electromagnetic proportional pressure reducing valves 20A and 20B for the arms. In this case, in the first adder 52, the feedforward signal output from the feedforward signal setter 42 and the angle control signal output from the angle control signal setter 38 are added. The output of the first adder 52, the arm angular velocity control signal output from the first PI control calculator 47, and the arm angle control signal output from the second signal limiter 51 are added, and a control signal is output. When the control signal obtained by the above calculation is positive, a control signal for the electromagnetic extension pressure reducing valve 20A on the arm extension side (arm in side) is output from the extension side arm control signal setting unit 54, and when the control signal is minus, the reduction side is set. The arm control signal setting device 55 outputs a control signal to the electromagnetic proportional pressure reducing valve 20B on the arm reduction side (arm out side). Then, the MIN signal selector 56 compares the output of the extension-side arm operation signal setting unit 31A with the output of the extension-side arm control signal setting unit 54, selects the smaller signal, and sends it to the extension-side electromagnetic proportional pressure reducing valve 20A. Output and drive the valve. Similarly, the MAX signal selector 5
7 compares the output of the reduction-side arm operation signal setting device 31B with the output of the reduction-side arm control signal setting device 55, selects the larger signal and outputs the larger signal to the reduction-side electromagnetic proportional pressure reducing valve 20B. Drive.

Next, the control of the control unit 23 will be described in association with the operation of the front attachment 5. First, when the arm 8 is operated alone to the in side, the tip end c of the arm 8 is moved to the interference avoidance boundary line L. Is sufficiently distant from the bucket 9 and there is no fear that the bucket 9 will enter the interference avoidance area H, the angle deviation Δβ obtained by the first subtractor 33 is
It is a large positive value which is equal to or greater than the set values E, F and J. Therefore, the angle control signal setter 38 having the characteristics shown in FIG. 8 outputs a positive maximum signal (100%). On the other hand, since the rear boom 6 is not operating, the actual boom angular velocity dα _act / dt output from the boom differential calculator 39
Becomes "0". Therefore, the arm target angular velocity dβ _set / dt output from the second multiplier 41 is “0”, and the output of the feedforward signal setting unit 42 having the characteristic of FIG. 9 is also “0”. Further, since the arm 8 is moving inward, the actual arm angular velocity dβ _act / dt obtained by the arm differential calculator 40 is positive. On the other hand, since the arm target angular velocity dβ _set / dt is “0” as described above, the angular velocity deviation Δdβ / dt obtained by the second subtractor 43 becomes negative, but at this time, the actual boom angular velocity dα _act Since / dt is "0", the switch 44 is switched to the OFF side.
5. The outputs of the first signal limiter 46 and the first PI control calculator 47 are always "0". On the other hand, since the angle deviation Δβ output from the first subtractor 33 is a large positive value equal to or larger than the set value J as described above, the coefficient output from the second coefficient setter 48 having the characteristic of FIG. The output of the fourth multiplier 49, the second PI control calculator 50, and the second signal limiter 51 becomes "0". As a result of the above control operation, of the signals input to the second adder 53, the feedforward signal setter 42 and the first PI control operator 4
7. Since the output signal from the second signal limiter 51 is "0", the second adder 53 outputs a positive maximum signal (100%) output from the angle control signal setter 38. From the extension side arm control signal setting unit 54 (10
0%) is output. Then, the output of the extension side arm operation signal setting unit 31A and the output of the extension side arm control signal setting unit 54 are compared by the MIN signal selector 56, and a small signal is selected, but 0% is selected from the extension side arm operation signal setting unit 31A. , Up to 100% is output, the output signal of the extension-side arm operation signal setting unit 31A is smaller or equal to that of the extension-side arm control signal setting unit 54. The output signal of the unit 31A is selected by the MIN signal selector 56, and this is output as a drive signal to the extension side arm electromagnetic proportional pressure reducing valve 20A. Thus, the electromagnetic proportional pressure reducing valve 20 for the extension side arm
A outputs pilot pressure oil having a pressure equal to the output pressure of the extension side arm pilot valve 18A to the extension side pilot port 17b of the arm control valve 17. On the other hand, since the second adder 53 outputs a plus signal as described above, a 0% signal is output from the reduction-side arm control signal setter 55. Since the reduction (out) side of the arm cylinder 12 is not operated, the reduction-side arm operation signal setting unit 31B outputs a 0% signal. Therefore, the MAX signal selector 40 outputs a 0% signal, and the output valve path of the reduction side arm electromagnetic proportional pressure reducing valve 20B is fully closed. Thus, the arm control valve 17 is controlled by the pilot pressure output from the extension-side pilot valve 18A based on the operation of the arm operating tool 22 by the operator. That is, when the arm tip c is far away from the interference avoidance boundary line L, the arm-in operation is performed at a speed corresponding to the operation of the arm operating tool 22.

From the above state, when the arm tip c approaches the interference avoidance boundary line L, the actual arm angle β _act approaches the arm limit angle β _LT , and the angle deviation Δβ output from the first subtractor 33 becomes Since the output becomes gradually smaller, the output of the angle control signal setter 38 gradually approaches “0”. On the other hand, when the angle deviation Δβ approaches “0”, the coefficient output from the second coefficient setter 48 approaches “1” due to the characteristics of FIG. The PI output is output to the unit 50 and the PI control operation is performed. In this case, when the angle deviation is plus, a plus signal is output from the second PI control calculator 50, but the plus side is cut by the second signal limiter 51, so that the second signal limiter 51 outputs The output signal becomes “0”. Further, since the rear boom 6 is not operating, as described above, the output signals from the feed forward signal setting unit 42 and the first PI control calculator 47 also become “0”, and thus the second adder 53 An output signal from the angle control signal setting device 38 is output. As a result, the output signal of the extension-side arm control signal setting unit 54 gradually decreases as the angle deviation Δβ approaches “0”, and the output signal of the extension-side arm control signal setting unit 54 changes to the extension-side arm operation signal setting unit. When the output signal becomes smaller than the output signal of the extension arm 31A, the signal of the smaller extension-side arm control signal setting unit 54 is selected by the MIN signal selector 56, and this signal is output to the extension-side electromagnetic proportional pressure reducing valve 20A as a drive signal. Is done. As a result, as the actual arm angle β _act approaches the arm limit angle β _LT , the output pressure of the extension-side electromagnetic proportional pressure reducing valve 20A decreases, and the pilot pressure reduced by the extension-side electromagnetic proportional pressure reducing valve 20A. Oil is the control port extension side pilot port 17a for the arm
Will be supplied. Thus, as the arm tip c approaches the interference avoidance boundary line L, the operating speed of the arm-in is reduced and stopped.

If the actual arm angle β _act becomes smaller than the arm limit angle β _LT when the arm end c approaches the interference avoidance boundary line L from the above state, the output of the second PI control calculator 50 becomes negative. Therefore, the second signal limiter 51
Outputs a negative signal. On the other hand, the output signal from the angle control signal setting unit 38 is also negative, and the output of the second adder 53 is negative. As a result, the extension-side arm control signal setter 54 outputs a 0% signal for fully closing the output valve path of the extension-side electromagnetic proportional solenoid valve 20A, that is, a stop signal for stopping the arm-in operation, The 0% signal is selected by the MIN signal selector 56 and output to the extension-side electromagnetic proportional pressure reducing valve 20A. On the other hand, as described above, since the output of the second adder 53 is negative, the reduction-side arm control signal setting unit 55
Output a signal exceeding 0% to 100%. At this time, the arm cylinder 12 is reduced (out).
Since the side is not operated, the reduction-side arm operation signal setting unit 31B outputs a 0% signal. Accordingly, the signal of the reduction-side arm control signal setting unit 55 is selected by the MAX signal selector 57, and this signal is output to the reduction-side arm electromagnetic proportional pressure reducing valve 20B as a drive signal. Thus, the arm control valve 17 is provided with a reduction side electromagnetic proportional pressure reduction 20.
The control is performed by the output pressure of B, so that it is possible to prevent the arm cylinder 12 from contracting, the arm 8 automatically coming out, and the bucket 9 from entering the interference avoidance area H.

When the arm-in operation and the boom-up operation are combined, if the arm tip c is sufficiently separated from the environmental avoidance boundary line L, the angle deviation Δβ obtained by the first subtractor 33 is As described above, the angle control signal setting unit 38 outputs a positive maximum signal (100%), which is a positive large value equal to or larger than the set values E, F, and J. On the other hand, since the coefficient output from the first coefficient setting unit 34 is “0”, the target angular velocity ratio k output from the first multiplier 37 and the arm target angular velocity dβ _set / output from the second multiplier 41 are _set . dt also becomes “0”, and the output of the feedforward signal setting unit 42 also becomes “0”. The switch 44 is switched to the ON side because the rear boom 6 is operating and the actual boom angular velocity dα _act / dt is not “0”, but the coefficient output from the first coefficient setter 34 is “0”. , The third multiplier 45 and the first signal limiter 4
The output of No. 6 is "0". Thereby, the arm tip c
Is sufficiently distant from the environment avoidance boundary line L, a signal of “0” is input to the first PI control calculator 47, and the output of the first PI control calculator 47 is “0”. "become. Similarly, since the coefficient output from the second coefficient setting unit 48 is “0”, the output of the fourth multiplier 49 is “0”, and the second PI control arithmetic unit 50 and the second signal limiter 51 The output is "0". As a result of the above control operation, the second adder 53 outputs the plus maximum signal output from the angle control signal setting device 38, and the extension side arm control signal setting device 54 While a 100% signal for fully opening the output valve path of the side arm electromagnetic pressure reducing valve 20A is output, the reduction side arm control signal setting unit 55 fully closes the reduction side arm electromagnetic proportional pressure reducing valve 20B. 0% signal is output. Thereby, the arm tip c
Is far away from the environmental avoidance boundary line L, when the arm-in and the boom-up operation are combined, the operation of the arm operating tool 22 is supported in the same manner as when the arm-in is operated alone. Arm-in operation is performed at the speed.

In the above state, when the arm tip c approaches the interference avoidance boundary line L, the angle deviation Δβ output from the first subtractor 33 decreases, so that the angle control signal setting unit 3
The output of 8 gradually approaches "0". On the other hand, the output of the first coefficient setter 34 approaches “1”, the first multiplier 37 outputs the target angular velocity ratio k, and the second multiplier 41 outputs the arm target angular velocity dβ _set / dt. Then, the arm target angular velocity dβ _set / dt is input to the feedforward signal setting unit 42, but since the feedforward signal setting unit 42 has the characteristics shown in FIG. 9, only the minus output is output. In the second subtractor 43, the actual arm angular velocity dβ _act / dt obtained by the arm differential calculator 40 is subtracted from the arm target angular velocity dβ _set / dt, and the angular velocity deviation Δdβt / dt is obtained. Further, the switch 44 is switched to the ON side since the rear boom 6 is operating and the actual boom angular velocity dα _act / dt is not “0”. Therefore, in the third multiplier 45, the angular velocity deviation Δdβt / dt Is multiplied by the coefficient of the first coefficient setting unit 34, and this is multiplied by the first P
The signal is input to the I control calculator 47, and the PI control calculation is performed. Further, when the angle deviation Δβ decreases, the coefficient output from the second coefficient setting unit 48 approaches “1”, and the angle deviation signal from the fourth multiplier 49 is input to the second PI control calculator 50, and the PI control An operation is performed. As a result of the above control operation, while the output of the angle control signal setter 38 approaches “0”, the output of the feedforward signal setter 42, the output of the first PI control calculator 47, and the output of the second PI control calculator The signal output from the second signal limiter 51 through the second signal limiter 51 is negative. As a result, the output value of the second adder 53 decreases, the output signal of the extension-side arm control signal setting unit 54 decreases, and when the output signal becomes smaller than the output signal of the extension-side arm operation signal setting unit 31A, the output value decreases. The signal of the extension-side arm control signal setting unit 54 is selected by the MIN signal selector 56 and output to the extension-side electromagnetic proportional pressure reducing valve 20A, and the operation of the arm-in is decelerated and stopped. Further, when the output of the second adder 53 becomes negative, a signal exceeding 0% is output from the reduction-side arm control signal setting unit 55, and the output signal is selected by the MAX signal selector 57, and the electromagnetic signal for the reduction-side arm is selected. Output to the proportional pressure reducing valve 20B, the arm 8 is automatically driven to the out side.

In the structure described above, the operation of the arm 8 is performed in response to the operation of the operation tool 22 when there is no fear that the bucket 9 will enter the interference avoidance area H. When the part c approaches the environmental avoidance boundary line L, the operation of the arm-in is automatically decelerated, and when the part c approaches the interference avoidance boundary line L, the arm 8 automatically operates out, and the bucket 9 enters the interference avoidance area H. Can be avoided. As a result, for example, when the bucket 9 approaches the cab 4 when performing the combined operation of the boom raising and the arm-in with the front boom 7 offset to the left to take a small turning posture, the arm 8
Automatically stops to prevent the bucket 9 from intruding into the interference avoidance area H while continuing the raising operation of the boom. There is no work efficiency.

Further, in this embodiment, when the automatic interference avoiding operation of the arm 8 is performed, the actual boom angle α
_The arm limit angle β _LT is set based on the _act and the actual offset angle γ _act , the angle deviation Δβ between the arm limit angle β _LT and the actual arm angle β _act is determined, and the arm angle is controlled based on the angle deviation Δβ. In addition to the arm angle control that performs the calculation, the actual boom angle α _act and the actual offset angle γ _act
Boom at the limit position of the arm tip portion c (X _LT, Y _LT) asking further the limit position for the arm tip c is moved along the interference avoidance boundary line L (X _LT, Y _LT) on the basis of the An angular velocity ratio i of the arm angular velocity to the angular velocity is determined, and based on the angular velocity ratio i, when the arm tip c approaches the interference avoidance boundary line L, the actual boom angular velocity dα _act / d.
setting the arm target angular velocity dβ _set / dt according to t,
An arm angular velocity control for performing a control calculation of the arm angular velocity by feeding back the arm target angular velocity dβ _set / dt to the feed forward and the actual arm angular velocity dβ _act / dt is provided. Further, in this apparatus, in performing the control calculation of the arm angle and the arm angular velocity, the feedforward signal setting unit 42, the first signal limiter 46, and the second signal limiter 51 operate the arm 8 inward. The control signal on the plus side is set to be cut off, and thereby, the arm tip c
Is near the interference avoidance boundary line L, only the control signal for causing the arm 8 to be out is output. As a result, an interference avoidance operation speed of the arm 8 corresponding to the operation speed of the rear boom 6 is obtained, and the interference avoidance operation of the arm 8 is controlled earlier from the front of the interference avoidance boundary line L, so that the arm 8 is controlled. In this case, it is possible to reliably avoid the problem that the arm tip c enters the inside of the interference avoidance boundary line L due to the delay of the avoidance operation of the arm. Does not come and go, and a smooth interference avoiding operation of the arm 8 along the interference avoiding boundary line L is obtained.
Excellent operability.

[Brief description of the drawings]

FIG. 1 is a side view of a hydraulic excavator.

FIG. 2 is a plan view of the hydraulic excavator showing a state where the front boom is swung right and left.

FIG. 3 is a hydraulic control circuit diagram of an arm cylinder.

FIG. 4 is a block diagram showing input / output of a control unit.

FIG. 5 is a block diagram of interference avoidance control.

6A is a characteristic diagram of an extension-side arm operation signal setting device, and FIG. 6B is a characteristic diagram of a reduction-side arm operation signal setting device.

FIG. 7 is a characteristic diagram of the first coefficient setting device.

FIG. 8 is a characteristic diagram of the angle control signal setting device.

FIG. 9 is a characteristic diagram of the feedforward signal setting device.

FIG. 10 is a characteristic diagram of the second coefficient setting device.

11A is a characteristic diagram of an extension-side arm control signal setting device, and FIG. 11B is a characteristic diagram of a reduction-side arm control signal setting device.

FIG. 12 is an explanatory diagram used for control calculation.

FIG. 13 is an explanatory diagram used for control calculation.

FIG. 14 is a hydraulic control circuit diagram of a hydraulic actuator showing a conventional example.

[Explanation of symbols]

 Reference Signs List 4 cab 6 rear boom 7 front boom 8 arm 9 bucket 20A extension side electromagnetic proportional pressure reducing valve for arm 20B arm reduction side electromagnetic proportional pressure reducing valve 21A arm extension side pressure sensor 21B arm reduction side pressure sensor 23 control unit 24 boom angle sensor Reference Signs List 25 offset angle sensor 26 arm angle sensor 31A extension-side arm operation signal setting unit 31B reduction-side arm operation signal setting unit 32 arm limit angle calculator 33 first subtractor 34 first coefficient setter 35 limit position calculator 36 angular speed ratio setting Unit 37 first multiplier 38 angle control signal setting unit 39 differential operation unit for boom 40 differential operation unit for arm 41 second multiplier 42 feedforward signal setting unit 43 second subtractor 44 switching unit 45 third multiplier 46th One signal limiter 47 First PI control calculator 48 Second Number setter 49 Fourth multiplier 50 Second PI control calculator 51 Second signal limiter 52 First adder 53 Second adder 54 Extension arm control signal setter 55 Reduction arm control signal setter 56 MIN signal Selector 57 MAX signal selector H Interference avoidance area

Continued on front page (72) Inventor Nobuaki Matoba 2-5-1 Marunouchi, Chiyoda-ku, Tokyo F-term in Sanishi Heavy Industries, Ltd. (reference) 2D003 AA01 AB03 BA01 BA02 BA03 BB11 DA03 DA04 DB04 DC03 FA02 2D015 GB01 GB04 HB02 HB04

Claims (4)

[Claims] 1. A work machine comprising: a boom swingable with respect to a machine body; an arm swingably connected to a tip of the boom; and an attachment connected to a tip of the arm. In providing the interference avoidance control means for avoiding the intrusion of the attachment into the preset interference avoidance area, the interference avoidance control means comprises a boom angle detection means for detecting a swing angle of the boom with respect to the machine body. Arm limit angle setting means for setting an arm limit angle for preventing the attachment from entering the interference avoidance area based on the input boom angle, and an arm angle for detecting a swing angle of the arm with respect to the boom. A signal from the detecting means is input, an angle deviation between the input arm angle and the arm limit angle is determined, and an arc deviation is determined based on the angle deviation. Angle control calculation means for performing control calculation of an angle; boom angular velocity calculated based on the boom angle input from the boom angle detection means; and arm calculated based on the arm angle input from the arm angle detection means. Angular velocity control computing means for performing control computation of arm angular velocity using angular velocity; and a control signal for arm driving means for performing an automatic interference avoidance operation of the arm based on computation results of the angle control computing means and the angular velocity control computing means. And a control signal setting means for setting the control signal. 2. The boom angular velocity computing means according to claim 1, wherein said angular velocity control computing means computes a boom angular velocity based on a boom angle inputted from said boom angle detecting means, and an arm angle inputted from said arm angle detecting means. Arm angular velocity calculating means for calculating the arm angular velocity based on the angular velocity ratio setting means for setting the angular velocity ratio of the arm angular velocity to the boom angular velocity at the arm limit position based on the arm limit angle; and the angular velocity ratio and the boom angular velocity Target angular velocity setting means for setting an arm target angular velocity from
A control device for avoiding interference of a working machine, comprising: control arithmetic means for performing control arithmetic of the arm angular velocity based on the arm target angular velocity and the arm angular velocity. 3. An operation signal setting unit according to claim 1, wherein the interference avoidance control unit sets an operation signal to the arm driving unit based on an operation of the arm operating tool. An interference avoidance control device for a working machine, comprising: a selection unit that selects one of an operation signal and a control signal from a control signal setting unit and outputs the selected signal to an arm driving unit. 4. The interference avoiding control means according to claim 1, wherein the at least one arm swings in a direction away from the interference avoiding area when the attachment approaches the interference avoiding area while at least the boom is swinging. An interference avoidance control device for a working machine provided with a mechanism for continuing the boom swing while moving the attachment to prevent the attachment from entering the interference avoidance region.