JP2000170202A - Interference preventing device for working apparatus of construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To safely work without worry of interference preventing control at the time of working in a state that a tip end of a working apparatus is brought near a main body. SOLUTION: This device is provided with a coordinate calculating part 34e for calculating a relative distance of a working apparatus 7 and a revolving body 2 on the basis of an input signal from angle detectors 18, 19 and 20, a control region calculating part 34f for calculating relative positions of interference avoidable regions set around the slewing body 2, a comparison calculating part 34h for judging whether a tip end of the working apparatus invades in either region of the interference avoidable regions on the basis of a result calculated in the coordinate calculating part 34e, a control switch 33 which can change a deceleration region of the interference avoidable regions set by the control region calculating part 34f. Then, by operating the control switch 33, the deceleration region of the interference avoidable regions set when usual interference prevention is controlled is shortened to make to 0, for performing region change processing to change this region shortened to a safety region.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work machine interference prevention device for a construction machine which automatically controls the operation of the work machine when the tip of the work machine approaches a main body having a cab, thereby avoiding collision between the two. .

[0002]

2. Description of the Related Art Generally, in a construction machine such as a hydraulic shovel, when a working machine including a boom, an arm and a bucket is operated in a direction approaching the cab, the tip of the working machine contacts the cab. Therefore, it is necessary to provide a work implement interference prevention device for preventing collision between the two.

In this type of work machine interference prevention device, a stop area, a deceleration area, and a safety area are sequentially set around the cab from inside to outside, and the tip of the work machine is in the outermost safety area. In this case, the work machine was operated at normal speed, and when the tip of the work machine entered the deceleration area inside the safety area, the operating speed of the work machine was reduced, and the tip of the work machine entered the innermost stop area. In this case, the operation of the work equipment is stopped automatically, and the tip of the work equipment is automatically stopped at a position in front of the driver's cab, regardless of the operation of the operation lever. There is an advantage that it can be secured.

However, if such interference prevention control is always executed, for example, when performing fine work in a state where the tip of the working machine is close to the cab, the work machine automatically stops every time the tip of the working machine enters the stop area. Therefore, the operator may feel troublesome in the interference prevention control. In order to improve such inconvenience, there has been proposed a work implement interference prevention device which can temporarily cancel the interference prevention control, and examples thereof are disclosed in Japanese Patent No. 2739358 and Japanese Patent Laid-Open No. 7-109746. It is disclosed in gazettes and the like. The work implement interference prevention devices described in these publications are provided with a release switch capable of releasing the interference prevention control, and the interference is prevented while the operator continues to operate the release switch or for a predetermined time after the release switch is operated. By canceling the prevention control, detailed work in the vicinity of the driver's cab is performed without bothering the interference prevention control.

[0005]

However, in the above-mentioned prior art, when the operator operates the release switch, the interference prevention control is completely released while the release switch is kept being operated or for a predetermined time. If the tip of the work implement is moved in a direction approaching the cab in this released state, the tip of the work implement may collide with the cab. In particular, when starting the operation of the work equipment, if the release switch is operated with the operation lever being operated in the direction where the work equipment and the cab interfere, the work equipment will suddenly move toward the cab Therefore, there is a problem that it is very dangerous.

[0006]

According to the present invention, instead of completely canceling the interference prevention control by the release switch, an area change process for reducing only the deceleration area of the interference avoidance area by the operation switch is performed. When such an operation switch is provided, the operator operates the operation switch to reduce the deceleration area set by the normal interference prevention control, so that the user can work without being bothered by the deceleration area during the area change processing. In addition, since the stop area remains set around the main body, fine work in the vicinity of the driver's cab can be performed safely without bothering with interference prevention control.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of an apparatus for preventing interference of a working machine of a construction machine according to the present invention. A detecting means and an operation for storing a stop area, a deceleration area, and a safety area sequentially set from inside to outside around the main body, and determining which of the respective areas the tip of the work machine has entered. Means, when the tip of the working machine enters the safety area, operates the working machine at a normal speed without performing interference prevention control, when the tip of the working machine enters the deceleration area, The work machine slows down a work operation in a direction approaching the main body, and when the tip of the work machine enters the stop region, stops the work in a direction approaching the body. Work machine interference prevention for construction machinery In location, the provided a deceleration region modifiable operation switch region width, area change process of reducing the region width of the reduced area is configured to be performed by operating the operation switch.

With this configuration, the operator operates the operation switch to reduce the area width of the deceleration area set by the normal interference prevention control, so that the user can work without worrying about the deceleration area during the area change processing. In addition, since the stop area is set around the main body, it is possible to safely perform fine work near the cab without having to worry about interference prevention control.

At the time of the area change processing, the deceleration area may be left in a reduced state between the stop area and the safety area. However, the area width of the deceleration area is reduced to zero, and the reduced area is reduced. When the divided area is set as the safety area, the deceleration area is eliminated during the area change processing, and only the safety area and the stop area are provided. Therefore, the workability in the vicinity of the cab can be further improved.

In addition, there are provided timing means activated by an operation signal from an operation switch, and operation time calculating means for judging whether the time counted by the timing means is within a predetermined time set in advance. When the time measured by the timer exceeds a predetermined time set in advance, a cancel signal for invalidating the area change processing is output to the arithmetic unit. Even if the signal for instructing the area change processing is continuously output, it is possible to automatically return to the normal interference prevention control after a predetermined time.

When the operation switch is in the operating state at the start of operation of the work machine, the area change processing is invalidated, and the area change processing is enabled only when the operation switch is once turned off and operated again. With this configuration, even when the operation switch is operated while the operation lever is operated in the direction in which the operation device and the cab interfere at the start of operation of the operation device, the normal interference prevention control is performed. The machine can be prevented from suddenly moving in the direction approaching the main body.

Further, when the oil temperature is lower than a preset reference value, the area change processing is invalidated,
When the oil temperature is low, the area change process is not executed even if the operation switch is operated, so that safety can be improved.

[0013] Further, at the time of the area change processing by the operation switch, if an alarm generating means is provided for notifying that the tip of the work machine has entered the stop area before the area change processing, the operator can make the end of the work machine in the stop area. Since the proximity can be recognized by the activation of the alarm generating means, the workability near the driver's cab can be further improved.

[0014]

Embodiments will be described with reference to the drawings.
FIG. 1 is a circuit diagram showing a working machine interference prevention device according to an embodiment,
FIG. 2 is a side view of a hydraulic excavator provided with the work machine interference prevention device, FIG. 3 is a block diagram of the work machine interference prevention device, and FIG.
Is an explanatory diagram of an interference avoidance area, FIG. 5 is an explanatory diagram showing a relationship between a distance from the revolving structure to the tip of the work implement and a current value output to the solenoid valve, and FIG. .

In FIG. 2, 1 is a traveling body, 2 is a cab 2
This is a revolving superstructure having a and arranged above the traveling body 1, and the traveling body 1 and the revolving body 2 constitute a main body of the hydraulic shovel. Reference numeral 3 denotes a lower boom rotatably connected to the revolving superstructure 2 on the right side of the cab 2a. Reference numeral 4 denotes an upper boom rotatably connected to a tip of the lower boom 3. The arm 6 is a bucket rotatably connected to the tip of the arm 5. The booms 3, 4, the arm 5 and the bucket 6 constitute a working machine 7. 8 is a boom cylinder for driving the lower boom 3, 9 is an offset cylinder for driving the upper boom 4, 10 is an arm cylinder for driving the arm 5, 11 is a bucket cylinder for driving the bucket 6, and the arm 5 and the bucket are driven by the upper boom 9. 6 for lower boom 3
In the horizontal direction.

In FIG. 1, reference numeral 12 denotes a boom operating lever, 13 denotes an arm operating lever, and 14 denotes an offset operating pedal. These operating levers 12, 13 and the operating pedal 14 and the bucket operating pedal (not shown) are provided. It is arranged in the cab 2a. 15 is a control valve for a boom, 16 is a control valve for an arm, 17
Reference numeral denotes an offset control valve. When an operator operates the boom operation lever 12, pressure oil is supplied to the boom control valve 15, and the boom cylinder 8 is controlled. Similarly, when the operator operates the arm operation lever 13, the offset operation pedal 14, and the bucket operation pedal (not shown), the arm control valve 16, the offset control valve 17, and the bucket control valve (not shown). ) Is supplied with hydraulic pressure, and the cylinders 9, 10, 11 are controlled. Reference numeral 18 denotes a boom angle detection device provided at a fulcrum of the lower boom 3,
And a relative angle between the lower arm and the lower boom 3 are detected. Reference numeral 19 denotes an offset angle detection device provided at a fulcrum of the upper boom 4 and detects a relative angle between the lower boom 3 and the upper boom 4. Reference numeral 20 denotes an arm angle detection device provided at a fulcrum of the arm 5, and includes an upper boom 4 and an arm 5
Detect the relative angle with.

Reference numeral 21 denotes a solenoid valve provided on a boom raising pilot line 22 that connects the boom operation lever 12 to a chamber on the left side of the boom control valve 15. Reference numeral 23 denotes a boom operation lever 12 and the boom control valve 1.
Pilot line 2 for lowering the boom connecting the right side room of 5
4, the electromagnetic valves 21 and 23 are provided.
Adjusts the amount of pressure oil supplied to the boom control valve 15. 25 is a boom raising pilot line 22
, Which detects the oil temperature of the boom raising pilot line 22. Reference numeral 26 denotes an oil temperature detecting device connected to the boom lowering pilot line 24, and detects the oil temperature of the boom lowering pilot line 24. Reference numeral 27 denotes an electromagnetic valve provided on an arm cloud pilot line 28 connecting the arm operation lever 13 and a chamber on the right side of the arm control valve 16. adjust. Reference numeral 29 denotes an oil temperature detection device connected to the arm cloud pilot line 28, and detects the oil temperature of the arm cloud pilot line 28. Reference numeral 30 denotes an electromagnetic valve provided on an offset left pilot line 31 that connects the offset operation pedal 14 and a chamber on the right side of the offset control valve 17, and adjusts an amount of pressure oil supplied to the offset control valve 17. I do. Numeral 32 denotes an oil temperature detecting device connected to the offset left pilot line 31, which detects the oil temperature of the offset left pilot line 31. 33
Is an operation switch operated by an operator, and 35 is an alarm device having a buzzer.
3 and the alarm device 35 are arranged in the cab 2a.

Reference numeral 34 denotes each of the angle detecting devices 18, 19, 20 and the operation switch 33 and each of the oil temperature detecting devices 25, 26, 2
9 and 32, and the solenoid valves 21, 23, 2
This is a control device for controlling output signals to 7, 30 and the alarm device 35. As shown in FIG. 3, the control device 34 includes an oil temperature determination unit 34a, a switch determination unit 34b, an operation time calculation unit 34c, an operation time storage unit 34d, a coordinate calculation unit 34e,
It comprises a control area calculation section 34f, a control area storage section 34g, a comparison calculation section 34h, and a solenoid valve control section 34i. In the oil temperature determination unit 34a, the oil temperature detection devices 25, 26,
It is input to the signals from 29 and 32 to determine whether the oil temperature is above or below a preset reference value. Switch determination unit 34b
Then, the state signal of the timer output from the operation time calculation unit 34c, the determination result of the oil temperature determination unit 34a, and the operation signal output from the operation switch 33 are input, respectively. When the value is above the value and the operation switch 33 is being operated, a timer start instruction is output to the operation time calculation unit 34c. The operation time calculation unit 34c determines whether the elapsed time after the timer is started is within a predetermined time set in the operation time storage unit 34d, and determines that the elapsed time after the timer is started is within the predetermined time. If it is determined, a switch enable instruction is output to the switch determination unit 34b, and if it is determined that the elapsed time after the start of the timer exceeds a predetermined time, a switch disable instruction is output to the switch determination unit 34b. The switch determination unit 34b outputs the area change instruction of the interference prevention control to the control area calculation unit 34f only when the switch valid instruction is input from the operation time calculation unit 34c while the operation switch 33 is continuously operated, In other cases, for example, when a switch invalidation instruction is input or when the operation switch 33 is operated in a state where the oil temperature is lower than the reference value, an area change release signal of the interference prevention control is output to the control area calculation unit 34f. I do.

In the coordinate calculator 34e, the angle detector 1
The relative distance between the work implement 7 and the revolving superstructure 2 is calculated based on the input signals from 8, 19 and 20. Control area calculation unit 34
At f, the position information stored in the control area storage unit 34g and the signal from the switch determination unit 34b are input, and the cab 2a
The interference avoiding area 36 (see the hatched portion in FIG. 2) is set around the revolving superstructure 2 including (a) and (b) in FIG. This interference avoidance area 36 is composed of a deceleration area 38 in contact with the safety area 37 and a stop area 39 inside the deceleration area 38. In the control area calculation unit 34f, in the case of normal interference prevention control,
The deceleration area 38 and the stop area 39 are set to the ratio as shown in FIG. 4A, and when the signal input from the switch determination unit 34b is an area change instruction, as shown in FIG. Is reduced to zero, and the reduced area is used as the safety area 37 to change the control content of the entire interference avoidance area 36. The comparison operation unit 34h outputs a stop signal to the alarm device 35 in the case of the normal interference prevention control, and outputs a start signal to the alarm device 35 in the case of the interference prevention control when the area is changed,
The buzzer provided in the alarm device 35 sounds. In addition, in the comparison operation unit 34h, based on the relative distance calculated by the coordinate operation unit 34e, the tip of the work machine 7 is positioned within the interference avoidance area 36 illustrated in FIG. 4A or 4B. It is determined whether or not the vehicle has entered, and a control value to be instructed to the electromagnetic valve control unit 34i is calculated according to the determination result. Solenoid valve controller 3
4i, based on this control value, the solenoid valves 21, 23, 2
A predetermined control signal is output to the control valves 7, 30, and the amount of pressure oil supplied to the control valves 15, 16, 17 is adjusted in proportion to the current value of the control signal.

That is, the control region calculation unit 34f
(A) The interference avoiding area 36 is set at a ratio as shown in FIG.
If normal interference prevention control is performed, as shown in FIG. 5 (A), when the tip of the working machine 7 is in a safe area 37, the working machine 7 outputs a maximum current value I ₁ operating at normal speed, when the leading end of the working machine 7 from entering the deceleration region 38, the output from the current value I ₁ at the deceleration start position in accordance with the current value I ₂ at the stop starting position to the distance between the rotating body 2 The operating speed of the working machine 7 is reduced, and the tip of the working machine 7
Once penetrated, the working machine 7 stops working machine 7 outputs the minimum current value I ₃ which does not work. On the other hand, when the control area calculation unit 34f sets the interference avoidance area 36 without the deceleration area 38 as shown in FIG. 4B and executes the area change processing of changing the stop area 39 to the safety area 37, FIG.
(B), the since the region that has spread along with the area resetting (distance L1) is the safe area 37, the distal end of the working machine 7 outputs a maximum current value I ₁ to penetrate the stopping area 39 the working machine 7 operates at normal speed Te, when the tip of the working machine 7 has penetrated the stop region 39, to stop the working machine 7 outputs the minimum current value I _3.

Next, the operation of the above embodiment will be described with reference to the flowchart shown in FIG. When the operation of the work machine 7 is started, step S1 is executed in the switch determination unit 34b, and the signal state is determined from the input signal of the operation switch 33. When the input signal of the operation switch 33 is turned on in step S1, that is, when the operation switch 33 is being operated, the process proceeds to step S2 to determine whether the oil temperature is above or below a reference value. If it is determined in step S2 that the oil temperature is higher than the reference value, the process proceeds to step S3 to determine whether the operation switch timer is being activated. If it is determined in step S3 that the timer is not running, step S4 is executed, and the switch determination unit 34b sends the operation time calculation unit 34c
Outputs a timer start instruction to When the timer start instruction is output, the process returns from step S4 to step S1, and when the input signal of the operation switch 33 is turned off in step S1,
That is, when the operation switch 33 is not operated or when it is determined in step S2 that the oil temperature is lower than the reference value,
Step S5 is executed to output a timer stop command to the operation time calculation unit 34c. If it is determined in step S3 that the timer is running, it is determined in step S6 whether the timer is within a predetermined time set in advance in the operation time storage unit 34d. If it is determined that there is, a step S7 is executed to output an area change instruction of the interference prevention control to the control area calculation unit 34f. As a result, the control area calculation unit 34f calculates the relative distance between each area of the interference avoidance area 36 and the revolving unit 2, and as shown in FIG. The change processing is performed, and the interference prevention control is performed on the interference avoidance area 36 after the area change processing without the deceleration area 38.

When a timer stop command is output in step S5, or when it is determined in step S6 that the timer has exceeded a predetermined time, step S8 is executed, and the control area calculation unit 34f sends the interference avoidance area 36 Is returned to the normal area. As a result, the control area calculation unit 34f calculates the relative distance between each area of the interference avoidance area 36 and the revolving unit 2, and a predetermined distance between the safety area 37 and the stop area 39 as shown in FIG. Area width deceleration area 38
Is set, and the interference prevention control is performed on the normal interference avoidance area 36.

The interference prevention control will be described. As described above, the work machine 7 and the revolving unit 2 are controlled by the coordinate calculation unit 34e.
Is calculated, and based on the calculation result, it is determined by the comparison calculation unit 34h whether or not the tip of the work implement 7 has entered the interference avoidance area 36. Here, when it is determined that the tip of the work implement 7 is in the safety area 37 outside the interference avoidance area 36, that is, when there is no danger of the work implement 7 colliding with the revolving unit 2, the electromagnetic valve control unit 34i Valves 21, 23
The maximum current value I ₁ is output to the solenoid valves 27 and 30 and the solenoid valves 21 and
Since the valves 23, 27, and 30 are fully opened, the control valves 15, 16, and 17 are supplied with hydraulic oil according to the operation amounts of the operation levers 12, 13 and the operation pedal 14. In addition, the tip of the working machine 7 is located in the deceleration area 3 inside the safety area 37.
8, it is determined that the electromagnetic valves 21, 23, 27, 30 have been set in accordance with the distance between the tip of the work implement 7 and the revolving unit 2.
In order to output a current value smaller than the current value I _{1 and} larger than the current value I ₂ , the work implement 7 is operated at a speed lower than the operation amount of the operation levers 12 and 13 and the operation pedal 14. Further, the tip of the working machine 7 moves beyond the deceleration area 38 to the stop area 3.
9, the solenoid valve control unit 34i outputs the lowest current value I3 to the solenoid valves 21, 23, 27, and ₃₀ , and the solenoid valves 21, 23, 27, and 30 are in the fully closed state. Therefore, pressure oil is not supplied to the control valves 15, 16, 17 regardless of the operation of the operation levers 12, 13, and the operation pedal 14, and the work machine 7 stops immediately before colliding with the revolving unit 2. At this time, the deceleration area 38 does not exist in the interference avoidance area 36 during the area change processing, and the outside of the stop area 39 is the safety area 3.
7, the range in which the working machine 7 can be operated at the normal speed is widened, and the deceleration area 38 is eliminated, but the stop area 39 remains set around the revolving superstructure 2. Fine work in a state where the tip of the machine 7 is close to the revolving unit 2 can be performed safely without bothering with interference prevention control.

In the above embodiment, a case where a buzzer is used as the alarm device 35 has been described. However, a lamp (warning lamp) or a vibration device may be used instead.

In the above-described embodiment, the case where the alarm device 35 is activated during the execution of the area change processing without the deceleration area 38 has been described. The alarm device 35 may be activated only when the vehicle enters the deceleration region 38 before the change, and may be stopped when the tip of the work implement 7 is in the safety region 37.

[0026]

The present invention is embodied in the form described above and has the following effects.

An operation switch for changing the width of the deceleration area in the interference avoidance area set around the main body is provided.
By operating this operation switch, the area change processing for reducing the deceleration area set by the normal interference prevention control can be performed. When the area change processing is performed, the user can work without being bothered by the deceleration area. Since is set around the main body, fine work in the vicinity of the driver's cab can be performed safely without bothering with interference prevention control.

[Brief description of the drawings]

FIG. 1 is a circuit diagram showing a working machine interference prevention device according to an embodiment of the present invention.

FIG. 2 is a side view of a hydraulic excavator provided with the work implement interference prevention device.

FIG. 3 is a block diagram of the work machine interference prevention device.

FIG. 4 is an explanatory diagram of an interference avoidance area.

FIG. 5 is an explanatory diagram showing a relationship between a distance from a revolving superstructure to a tip end of a working machine and a current value output to an electromagnetic valve.

FIG. 6 is a flowchart illustrating processing of interference prevention control.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 2 Revolving structure 2a Operator's cab 7 Work implement 12 Operating lever for boom 13 Operating lever for arm 14 Operating pedal for offset 15 Control valve for boom 16 Control valve for arm 17 Control valve for offset 18 Boom angle detector 19 Offset angle Detecting device 20 Arm angle detecting device 21, 23, 27, 30 Solenoid valve 25, 26, 29, 32 Oil temperature detecting device 33 Operation switch 34 Control device 34a Oil temperature determining unit 34b Switch determining unit 34c Operation time calculating unit 34d Operation time Storage section 34e Coordinate calculation section 34f Control area calculation section 34g Control area storage section 34h Comparison calculation section 34i Solenoid valve control section 35 Alarm device 36 Interference avoidance area 37 Safety area 38 Deceleration area 39 Stop area

 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Yusuke Kajita 650 Kandate-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. F-term in Tsuchiura Plant (reference) 2D003 AA01 AB03 AB04 AC06 BA01 BA07 BB11 DA04 DB04 FA02 2D015 GA03 GB04 GB06

Claims (6)

[Claims] 1. A main body having an operator's cab, a working machine rotatably provided on the main body, position detecting means for detecting a position of the working machine, and a periphery of the main body from inside to outside. A storage unit configured to store the sequentially set stop area, deceleration area, and safety area, and to determine which of the respective areas the tip of the work implement has entered, and the tip of the work implement is included in the safety area. When the work machine enters, the work machine is operated at a normal speed without performing the interference prevention control, and when the tip of the work machine enters the deceleration area, the work machine performs a work operation in a direction approaching the main body. In a work machine interference prevention device for a construction machine, which performs a deceleration process and stops the operation of the work machine in a direction close to the main body when the tip of the work machine enters the stop region, Operation buttons with variable width The pitch is provided, working machine interference preventing system for a construction machine, characterized in that the area changing process is performed to reduce the area width of the reduction area by operating the operation switch. 2. The method according to claim 1, wherein the area width of the deceleration area is reduced to zero at the time of area change processing by the operation switch, and the reduced area is set as the safety area. A feature of work equipment interference prevention equipment for construction machinery. 3. The time-measuring means according to claim 1, wherein said time-measuring means is started by an operation signal from said operation switch, and whether a time measured by said time-measuring means is within a predetermined time set in advance. Operating time calculating means for judging the condition, and outputting a release signal for invalidating the area change processing to the calculating means when the time counted by the time measuring means exceeds a predetermined time set in advance. A work machine interference prevention device for a construction machine. 4. The apparatus according to claim 1, wherein, when the operation of the work machine is started, if the operation switch is in an operating state, the area change processing is invalidated, and the operation switch is turned off once. A work machine interference prevention device for a construction machine, wherein the area change processing is enabled only when the operation is performed again after the operation. 5. The work machine interference prevention for a construction machine according to claim 1, wherein the region change processing is invalidated when the oil temperature is lower than a preset reference value. apparatus. 6. The alarm generating means according to claim 1, wherein at the time of an area change process by said operation switch, a warning that the tip of said working machine has entered a stop area before said area change processing. A work machine interference prevention device for a construction machine, comprising: