JP2004162283A - Interference preventive control method and control device for hydraulic excavator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent the work machine tip from interfering with a cab while continuously lifting a boom of a micro-turing type hydraulic excavator. <P>SOLUTION: This interference prevention control device of the hydraulic excavator has an elevation angle θ<SB>1</SB>detecting means of a base end boom 3, an offset angle θ<SB>3</SB>detecting means and a rocking angle θ<SB>2</SB>detecting means of an arm 5, and has an arithmetic operation means 7 for calculating a position of an arm point 5a and a distance from the origin 31 by inputting these angles. This control device controls so as to stop the movement of an arm cylinder 5a and an offset cylinder 4a when a distance R up to an arm point 5b from the origin 3a approaches a required value or less until the position of the arm point 5a becomes the required height H<SB>1</SB>when continuously lifting the base end boom 3, and controls so as to forwardly rock the arm 5 so that a horizontal distance L up to the arm point 5b from the origin 3a does not approach the required value or less when the position of the arm point 5b exceeds the required height H<SB>1</SB>. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a control method and a control device for preventing interference of a so-called ultra-small turning hydraulic excavator.
[0002]
[Prior art]
BACKGROUND ART A working machine mounted on a hydraulic excavator has an offset type boom that swings up and down, left and right, an arm that is swingably connected to the front end of the boom back and forth, and is connected to a tip end of the arm. Although there is a bucket equipped with a bucket, the bucket may contact (interfere with) the cabin of the driver's seat when the boom or the arm is swung. In such a case, the bucket Care must be taken to avoid contact with the driver's cabin. Therefore, conventionally, a posture detecting means for detecting the posture of the work machine, and a control unit for determining whether the bucket is approaching within a predetermined range of the driver's seat cabin based on a detection signal from the posture detecting means, If it is determined that the bucket is approaching the predetermined range of the cabin of the driver's seat, the control unit outputs a control command to the hydraulic circuit of the hydraulic actuator for the working machine to stop the working machine. There is a technique for causing such a situation (for example, Patent Document 1).
[0003]
[Patent Document 1]
JP-A-3-217523
[Problems to be solved by the invention]
However, in the above-described conventional apparatus, the work machine is stopped when the bucket approaches the cabin of the driver's seat as described above, so that the work is interrupted in the middle of the work. In this case, once the bucket is moved away from the cabin of the driver's seat, an operation to continue the interrupted work must be performed, and there is a problem that work efficiency is reduced.
[0005]
In order to solve such a problem, it has been proposed that, when the tip of the bucket approaches the cabin of the driver's seat and enters the danger area, this is detected and control is performed so that the arm is automatically released forward ( For example, Patent Document 2).
[0006]
[Patent Document 2]
Japanese Patent No. 3153192
However, putting the arm in an operation mode in which the arm is automatically released forward while driving to pull the arm will give a sense of incongruity to the driver.
[0008]
The present invention has been made in view of the above-described problems of the related art.When preventing interference during a boom ascent, an area where the arm is released forward and an area where the movement of the arm and the offset are simply stopped are provided. It is an object of the present invention to provide a hydraulic shovel interference prevention control method and a control device that can distinguish and reduce the area to escape forward as much as possible to reduce driver discomfort.
[0009]
[Means for Solving the Problems]
To achieve the above object, an interference prevention control method for a hydraulic shovel according to claim 1 of the present application comprises a base end boom pivotally supported so as to be able to ascend and descend to a side of a driver's seat, and a left and right swinging end of the base end boom. In an excavator provided with an offset boom pivotally supported, an arm pivotally supported at the tip of the offset boom so as to swing back and forth, and a bucket pivotally supported at the tip of the arm so as to swing back and forth. , An elevation angle detecting means of the base end boom, an offset angle detecting means of the offset boom, and an arm swinging angle detecting means. A calculating means for calculating a position of the support pin on the side view and a distance on the side view from the base boom pivot pin, and when the base boom is continuously raised, the bucket pivot pin Is Until the required height is reached, the arm cylinder and / or the offset cylinder move in the interference direction when the side view distance from the proximal boom pivot pin to the bucket pivot pin is approaching a required value or less. And stop the arm so that the horizontal distance from the base boom pivot pin to the bucket pivot pin on the side view does not approach the required value when the bucket pivot pin position exceeds the required height. It swings forward.
[0010]
When the position of the bucket pivot pin exceeds a second required height which is higher than the required height, the arm may not perform the avoiding operation.
[0011]
According to a third aspect of the present invention, there is provided a hydraulic shovel interference prevention control device, comprising: a base end boom pivotally supported so as to be able to ascend and descend to a side of a driver's seat; In a hydraulic excavator including a boom, an arm pivotally supported at the distal end of the offset boom to swing back and forth, and a bucket pivotally supported at the distal end of the arm so as to swing back and forth, the elevation angle of the proximal boom is detected. Means, an offset angle detection means of the offset boom, and an arm swing angle detection means, and inputs the angle detected by these detection means to input the angle detected by these detection means on the side view of the bucket pivot pin at the tip of the arm. A position and a calculating means for calculating a distance in a side view from the base end boom pivot pin. When the base end boom is continuously raised, the position of the bucket pivot pin is a required height. Until When the side view distance from the end boom pivot pin to the bucket pivot pin approaches the required value or less, the movement of the arm cylinder and / or the offset cylinder in the interference direction is stopped, and the position of the bucket pivot pin is stopped. When the height exceeds a required height, the arm is swung forward so that the horizontal distance in the side view from the base end boom pivot pin to the bucket pivot pin does not approach a required value or less.
[0012]
Next, the operation of the present invention will be described. The position of the bucket pivot pin at the tip of the arm can be calculated given the elevation angle of the proximal boom, the offset angle of the offset boom, and the swing angle of the arm. The distance in the side view from the pivot pin of the proximal boom to the pivot pin of the bucket, i.e., the movement, until the position of the bucket pivot pin is at the required height when continuously raising the proximal boom. The movement of the arm cylinder and / or the offset cylinder is stopped when the distance projected on the plane formed by the center line of the base boom is approaching a required value or less. In other words, if the offset angle is 90 ° when the offset boom is directed straight forward, the above-mentioned distance is reduced by movement in a direction in which the angle becomes larger than 90 °, and the swing angle of the arm, that is, the offset angle The angle formed between the boom and the arm is such that the above distance is reduced by the movement in the direction in which the boom and the arm are reduced. When moving, stop the moving cylinder so that it does not fall below the required value.
[0013]
Furthermore, after the proximal boom is raised and the height of the bucket pivot pin is equal to or higher than the required height, even if the distance from the proximal boom pivot pin to the bucket pivot pin is constant, As the horizontal distance in the side view from the base end boom pivot pin to the bucket pivot pin approaches, control is performed to increase the swing angle of the arm (movement in the arm pushing direction). In this case, it is not necessary to reduce or stop the rising speed of the base end boom.
[0014]
Next, a description will be given of how to obtain the required distance on the side view from the proximal boom pivot pin to the bucket pivot pin and the required horizontal distance on the side view from the proximal boom pivot pin to the bucket pivot pin. I do. In boom base pivot pins required on the diagram sides around the radius R ₁ draw an arc M. In this case, the shortest distance from the driver's seat cabin front of the lower end to the arc, for example, determining the R ₁ to approximately 10 cm. Further, in drawing side, when drawing from the driver's seat cabin front, for example, located several 10cm vertical line N is the horizontal distance is D ₁ of the from the origin.
[0015]
It is free to pivot the bucket about the bucket pivot pin, bucket tip To prevent from entering the inside than the arc R ₁ or the vertical line D ₁ is from bucket pivot pin to a bucket tip amount corresponding distance L _6, it may do it away position of the bucket pivot pin. That is, in the drawing side, with draw a vertical line N ₁ from the vertical line N near the driver's seat cabin front apart forward by a distance L _6, the radius centered on the boom base pivot pin is R _{1 +} L ₆ arc Draw. The intersection of the arc and the vertical line is determined. The height of this intersection is the required height H ₁ as described above. Then, it will be referred to as a vertical line N ₁ and arc M ₁ of the inner and left interference regions the line P in FIG. By controlling the offset angle and the arm swing angle as described above while raising the base end boom, it is possible to prevent interference between the driver's seat cabin and the bucket tip. Furthermore, the position of the bucket pivot pin when the position of the bucket pivot pin is a distance L ₆ or higher H ₂ than the height of the driver's seat cabin may not perform an operation in the avoidance direction of the arm.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view of the hydraulic excavator. This hydraulic excavator is a so-called ultra-small turning machine. 2 is a plan view of the hydraulic shovel, FIG. 3 is an explanatory diagram of the operation of the work machine A, and FIG. 4 is a flow sheet of the hydraulic shovel interference prevention control device. In these figures, reference numeral 1 denotes a hydraulic excavator. 2 is a cabin in the driver's seat. A is a working machine. The work implement A includes a base end boom 3, an offset boom 4, and a bucket 6 of an arm 5. The proximal boom 3 is pivotally supported by a proximal boom pivot pin 3a located on the side of the driver's cabin 2. The position of the base end boom pivot pin 3a becomes the origin of measurement described later. The offset boom 4 is pivotally supported by the distal end of the base end boom 3 so as to be able to swing right and left. The offset boom 4 includes a base end-side offset boom 4b and a distal end-side offset boom 4c. The distal end-side offset boom 4c is always kept parallel to the base end boom 3 by a parallel link mechanism.
[0017]
The arm 6 is pivotally supported at the tip of the offset boom 4 so as to swing back and forth. The bucket 6 is pivotally supported by the tip of the arm 5 so as to swing back and forth. The base boom 3, the offset boom 4, and the arm 5 are operated by a boom cylinder 3a, an offset cylinder 4a, and an arm cylinder 5a, respectively. The bucket 6 is operated by a bucket cylinder 6a.
[0018]
7 is a controller, a boom sensor 7a is elevation theta ₁ of the detection means of the boom base 3, the offset sensor 7b is an offset angle theta ₂ of the detection means of the offset boom 4, the detection of the swing angle theta ₃ of the arm 5 It is connected to an arm sensor 7c as a means. Reference numeral 8 denotes an electromagnetic proportional valve that is operated by a command from the controller 7. The electromagnetic proportional valve 8a is pulled by an arm, the electromagnetic proportional valve 8b is pushed by an arm, and the electromagnetic proportional valve 8c is operated to the offset left. Reference numeral 9 denotes a remote control valve, which is a four-way switching valve that opens and closes when a driver moves a lever back and forth and left and right. 9a is a boom remote control valve for raising and lowering the base boom 3 by moving the lever back and forth, 9c is an arm remote control valve for pushing and pulling the arm by moving the lever back and forth, and 9b is an offset boom 4 which moves the lever left and right. This is an offset remote control valve that swings right and left.
[0019]
Reference numeral 10 denotes a hydraulic pressure generator. Reference numeral 11 denotes a manual switching valve which enables manual operation when the interference prevention device fails. Reference numeral 12 denotes a control valve, which is a hydraulic switching valve that controls pressure oil sent to each of the cylinders 3b, 4a, and 5a. 12a is an arm cylinder 5a, 12b is a boom cylinder 3b, and 12c is a pressure oil that is sent to each of the offset cylinders 4a. Control. The control valve 12 can be switched to three positions by an internal spool. The spool is held in a neutral position by springs on both sides and is switched to another position by sending pressure oil to the pilot port. Further, when pressure oil is sent to one side of the piston of the cylinder, the oil on the other side of the piston returns to the tank. Reference numeral 13 denotes a shuttle valve, which is a check valve that communicates with the high pressure side.
[0020]
Next, the operation of the present embodiment will be described. Position of the arms 5 the tip of the bucket pivot pin 5b (hereinafter referred to as "arm points".) Coordinates L and H, the offset angle theta ₃ and the swing angle of the arm elevation theta ₁ and offset boom 4 of the boom base 3 and theta ₂ is, when detected by the arm sensor 7c is an offset sensor 7b and the arm of the swinging angle detecting means is a boom sensor 7a and the offset angle detecting means respectively elevation detecting means, with reference to FIG. 3, From the equations (1) and (2), it can be calculated as follows. In these equations, α is the angle between the base boom 3 and the offset boom 4 in a side view.
L = L ₁ cos θ ₁ + (L ₃ sin θ ₃ + L ₄ ) sin (θ ₁ −α) −L ₅ cos (θ ₁ + θ ₂ −α) (1)
H = L ₁ sin θ ₁ + (L ₃ sin θ ₃ + L ₄ ) cos (θ ₁ −α) −L ₅ sin (θ ₁ + θ ₂ −α) (2)
[0021]
The distance R on the side view between the origin 3a and the arm point 5b is given by Expression (3). To simplify the calculation, R is obtained when θ ₁ = α.
^{R = √ (L 2 + H} 2) = √ (L 1 sin 2 α + L 1 cos 2 α + L 3 2 sin 2 θ 3 + L 4 2 + L 5 2 + 2L 1 L 3 cosαsinθ 3 + 2L 1 L 4 cosα + 2L 3 L 4 sinθ 3 - _{2L 2 L 5 cosαcosθ 2 -2L 4} L 5 cosθ 2 -2L 3 L 5 sinθ 3 cosθ 2 -2L 1 L 5 sinαsinθ 2) (3)
[0022]
When causing the boom base 3 is continuously increased, the (2) the height of the arm points 5b given by equation, the distance R is required value from the origin. 3a until H ₁ until arm point 5b ( When the vehicle approaches R ₁ + L ₆ ), the movement of the arm cylinder 5a and / or the offset cylinder 4a is stopped. That is, the remote control valve 9c is operated while the base end boom 3 is raised by operating the remote control valve 9a to operate the arm 5 in the pulling direction, or the remote control valve 9b is operated to operate the offset boom. 4 is operated leftward, the electromagnetic proportional valve 8a is interposed between the remote control valve 9a and the pilot port of the control valve 12a, and the electromagnetic proportional valve 8a is interposed between the remote control valve 9b and the pilot port of the control valve 12c. Since the proportional valve 8c is interposed and the electromagnetic proportional valves 8a and 8c are operated to shut off the pressure oil according to a command from the controller 7, the offset cylinder 4a and the arm cylinder 5a are stopped. Incidentally, provided is stopped abruptly when the arm points 5b approaches the required distance (R 1 _{+ L 6),} since shock in the inertia, deceleration range outside the predetermined distance (the bounding an arc M ₂₎ Inside the area, control is performed so as to slow down the movement of the arm point.
[0023]
Further, to rise boom base 3, from a high of arms point 5b becomes more predetermined height H _1, even distance R from the origin 3a to arm the point 5b is constant, from the origin 3a since the horizontal distance L to the arm points 5b approaching not only stops the arm cylinder 5a and the offset cylinder 4a by operating the solenoid proportional valve 8a and the electromagnetic proportional valve 8c, the oscillation angle theta ₂ of the arm 5 Control to increase. In response to a command from the controller 7, the electromagnetic proportional valve 8b is operated, and pressure oil from the hydraulic device 10 is sent to the pilot port of the control valve 12a via the electromagnetic proportional valve 8b and the shuttle valve 13 to push the arm cylinder 5a. Operate in the direction.
[0024]
Next, how to obtain the required distance (R ₁ + L ₆ ) on the side view from the origin 3a to the arm point 5b and the required horizontal distance (D ₁ + L ₆ ) on the side view from the origin 3a to the arm point 5b Will be described. In the required radius R ₁ on the diagram side about the origin 3a draw an arc M. In this case, the shortest distance from the driver's seat cabin 2 front surface of the lower end to the arc M, for example, determining the R ₁ to approximately 10 cm. Further, in drawing side, when drawing from the driver's seat cabin 2 front, for example, the vertical line N is the horizontal distance is D ₁ of the from 10cm about apart is in the origin 3a.
[0025]
Even if the bucket 6 is freely rotated around the arm point 5b, the distance from the arm point 5b to the tip of the bucket 6 is set so that the tip of the bucket 6 does not enter inside the arc M or the vertical line N. min only L _6, may do it away position of the arm points 5b. That is, in the drawing side, with draw a vertical line N ₁ from the vertical line N near the driver's seat cabin 2 front apart forward by a distance L _6, the radius about the origin 3a is an arc M ₁ of R _{1 +} L ₆ Draw. Determining an intersection of the arc _{M 1} and the vertical line _{N 1.} The height of this intersection is the required height H ₁ as described above. Incidentally, the left side of the arc M ₁ and inner and line P in Figure 2 the vertical line N ₁ is an interference area, outside of the inner arc M ₂ and the vertical line N ₂ than the interference region is decelerating region. By controlling the offset angle and the arm swing angle as described above while raising the base end boom 3, interference between the driver's seat cabin 2 and the tip of the bucket 6 can be prevented. Furthermore, without the position of the bucket pivot pin to control when the position of the bucket pivot pin is a distance L ₆ or higher H ₂ than the height of the driver's seat cabin it may not be performed avoided.
[0026]
The present invention is not limited to the embodiments described above, and various changes can be made without departing from the gist of the invention.
[0027]
【The invention's effect】
As described above, the interference prevention control method and control device for a hydraulic shovel of the present invention, when preventing interference during boom ascent, to an area where the arm escapes forward and an area where the movement of the arm or offset is simply stopped. There is an excellent effect that the area to be diverted to the front can be reduced as much as possible to reduce the driver's discomfort.
[Brief description of the drawings]
FIG. 1 is a side view of a hydraulic shovel to which the present invention is applied.
FIG. 2 is a plan view of the same.
FIG. 3 is an explanatory diagram of an operation of a work machine.
FIG. 4 is a flow sheet of the hydraulic shovel interference prevention control device.
[Explanation of symbols]
2 Driver's seat cabin 3 Base end boom 4 Offset boom 5 Arm 6 Bucket 7 Calculation means (controller)
7a Boom elevation angle detection means (boom sensor)
7b Offset angle detecting means (offset sensor)
7c Arm swing angle detecting means (arm sensor)

Claims (4)

A base boom pivotally supported so as to be able to ascend and descend to the side of the driver's seat, an offset boom pivotally supported at the tip of the base boom so as to swing left and right, and a pivotable swingable back and forth at the tip of the offset boom. In a hydraulic shovel including a supported arm and a bucket pivotally supported at the distal end of the arm so as to be able to swing back and forth, an elevation angle detection unit of a base boom, an offset angle detection unit of an offset boom, and a swing of the arm are provided. Inputting the angles detected by these detecting means, the position of the bucket pivot pin at the tip of the arm on the side view, and the position on the side view from the base boom pivot pin. Calculating means for calculating the distance, and when continuously raising the base boom, the bucket pivot pin is moved from the base boom pivot pin until the position of the bucket pivot pin reaches a required height. On the side view up to the pin When the distance approaches the required value or less, the arm cylinder and / or the offset cylinder stop moving in the interference direction, and when the position of the bucket pivot pin exceeds the required height, the movement of the bucket boom pivot pin is stopped. An interference prevention control method for a hydraulic shovel, characterized by swinging an arm forward so that a horizontal distance in a side view to a bucket pivot pin does not approach a required value or less. 2. The hydraulic shovel interference prevention control method according to claim 1, wherein the arm does not perform the avoidance operation when the position of the bucket pivot pin exceeds a second required height which is higher than the required height. A base boom pivotally supported to the side of the driver's seat so as to be able to move up and down, an offset boom pivotally supported at the tip of the base boom so as to swing left and right, and a pivotable swingable back and forth at the tip of the offset boom. In a hydraulic shovel including a supported arm and a bucket pivotally supported at the distal end of the arm so as to be able to swing back and forth, an elevation angle detection unit of a base boom, an offset angle detection unit of an offset boom, and a swing of the arm are provided. Inputting the angles detected by these detecting means, the position of the bucket pivot pin at the tip of the arm on the side view, and the position on the side view from the base boom pivot pin. Calculating means for calculating the distance, and when continuously raising the base boom, the bucket pivot pin is moved from the base boom pivot pin until the position of the bucket pivot pin reaches a required height. On the side view up to the pin When the distance approaches the required value or less, the arm cylinder and / or the offset cylinder stop moving in the interference direction, and when the position of the bucket support pin exceeds the required height, the proximal boom support pin is stopped. An interference prevention control device for a hydraulic shovel, characterized in that the arm swings forward so that the horizontal distance from the side to the bucket pivot pin in the side view does not approach a required value or less. 4. The hydraulic shovel interference prevention control device according to claim 3, wherein the arm does not perform the avoiding operation when the position of the bucket pivot pin exceeds a second required height which is higher than the required height.

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