JP2009293288A - Offset work machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a deceleration stop control of an offset cylinder even if a work attachment is swung laterally when the work attachment is intruded into a deceleration area in which the deceleration stop control of a front mechanism is performed. <P>SOLUTION: An offset work machine comprises an instruction value calculation means 35 for interference prevention and an instruction value calculation means 44 for an offset cylinder. The offset work machine further comprises an instruction value selection means 45 for comparing the instruction value output from the instruction value calculation means 35 and the instruction value output from the instruction value calculation means 44, and when the offset cylinder 8 is driven when a bucket 12 is intruded into the deceleration area Y, the instruction value output from the instruction value calculation means 44 and the instruction value output from the instruction value calculation means 35 whichever is smaller is selected as the target instruction value for switching and controlling a solenoid valve 22. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an offset working machine such as an offset hydraulic excavator provided with a first boom capable of rotating in the vertical direction and a second boom attached to the first boom so as to be swingable in the left-right direction.

  2. Description of the Related Art Conventionally, a revolving body having a driver's cab, a front mechanism attached to the revolving body so as to be pivotable in the vertical direction, and an operating device for operating the front mechanism are provided. A first boom that is movably attached, a second boom that is pivotably attached to the first boom, an arm that is pivotably attached to the second boom, and a tip of the arm There is known an offset working machine, for example, an offset hydraulic excavator, including a bucket as a work attachment that is attached to be pivotable in the vertical direction.

  Further, in such an offset hydraulic excavator, a blocking region that prevents the bucket from entering, for example, a blocking region storage unit that stores a region that prevents the bucket tip from interfering with the cab, and the bucket serves as the blocking region storage unit. Blocking area intrusion detection means for detecting that the stored blocking area has been entered, front deceleration area storage means for storing a deceleration area that is set outside the blocking area and decelerates the front mechanism, and the bucket is a front deceleration area Some have a front mechanism deceleration area entry detection means for detecting that the vehicle has entered a deceleration area stored in the storage means.

  In addition, this conventional offset working machine is based on an electromagnetic proportional valve that controls the amount of oil to the offset cylinder that operates the second boom and a signal that is output from the above-described front mechanism deceleration region intrusion detection means. And a blocking area command value calculating means for calculating a command value to the proportional valve.

Further, this conventional offset working machine is provided with stroke position calculating means for calculating the stroke position of the offset cylinder for operating the second boom, and stores the deceleration area of the offset cylinder set before the stroke end of the offset cylinder. Offset cylinder deceleration area storage means for detecting the offset cylinder entering the deceleration area stored in the offset cylinder deceleration area storage means based on a signal output from the stroke position calculation means. The apparatus includes a detecting means and an offset cylinder command value calculating means for calculating the command value to the electromagnetic proportional valve based on a signal output from the offset cylinder deceleration region intrusion detecting means. There exists a thing shown by patent document 1 as invention corresponding to such a prior art.
Japanese Patent No. 2574050

  The above-described prior art is based on the deceleration stop control of the front mechanism based on the deceleration area set in consideration of the interference with the cab at the tip of the bucket, which is the work attachment stored in the front deceleration area storage means, and the offset There is a problem with the operation control near the stroke end based on the deceleration area of the offset cylinder that operates the second boom stored in the cylinder deceleration area storage means, that is, the deceleration reduction control of the offset cylinder is performed independently of each other. is there.

  That is, when the work attachment moves in a direction approaching the cab as the second boom swings in the left-right direction, the front mechanism decelerates based on the deceleration region and the blocking region set in the vicinity of the cab. Deceleration stop control of the front mechanism leading to stop is performed. On the other hand, when the work attachment has entered the deceleration area near the cab and the offset cylinder is operated to swing the work attachment in the left-right direction, the work attachment itself remains laterally moving forward in the cab and stays in the cab. The front mechanism's deceleration stop control itself is not carried out because it does not move in the approaching direction, and because the work attachment is in the deceleration region where the front mechanism performs deceleration stop control, the control is given priority, and the offset cylinder deceleration stop is performed. No control is performed and the offset cylinder is driven without stopping until the stroke end. Therefore, when the offset cylinder reaches the stroke end, an impact is generated in the second boom, and the impact is transmitted to the entire front mechanism. Therefore, there is a concern that the durability of the front mechanism may deteriorate.

  The present invention has been made from the actual situation in the prior art described above, and its purpose is that the work attachment is in a state where the work attachment has entered the deceleration area where the deceleration stop control of the front mechanism is performed, and the work attachment is moved by operating the offset cylinder. An object of the present invention is to provide an offset working machine that can realize deceleration stop control of an offset cylinder even when it is swung in a direction.

  In order to achieve this object, an offset working machine according to the present invention includes a swivel body having a driver's cab, a front mechanism that is rotatably attached to the swivel body, and an operation for operating the front mechanism. A first boom that is attached to the swivel body so as to be pivotable in the vertical direction, a second boom that is pivotably attached to the first boom, and a second boom. An inhibition area storage that includes an arm attached to the boom so as to be pivotable in the vertical direction and a work attachment that is pivotally attached to the tip of the arm so as to prevent entry of the work attachment. And a blocking area intrusion detecting means for detecting that the work attachment has entered the blocking area stored in the blocking area storage means, and A front deceleration area storage means for storing a deceleration area for decelerating the front mechanism set outside the stop area, and detecting that the work attachment has entered the deceleration area stored in the front deceleration area storage means. Based on a signal output from the front mechanism deceleration area intrusion detection means, an electromagnetic proportional valve for controlling the amount of oil to the offset cylinder that operates the second boom, and a signal output from the front mechanism deceleration area intrusion detection means, the electromagnetic proportionality Blocking area command value calculating means for calculating the command value to the valve, stroke position calculating means for calculating the stroke position of the offset cylinder, and storing the deceleration area of the offset cylinder set before the stroke end of the offset cylinder The offset cylinder deceleration area storage means for Offset cylinder deceleration area entry detection means for detecting that the offset cylinder has entered the deceleration area stored in the offset cylinder deceleration area storage means based on a signal output from the means, and this offset cylinder deceleration area entry detection An offset cylinder command value calculating means for calculating a command value to the electromagnetic proportional valve based on a signal output from the means, a command value output from the blocking area command value calculating means, and the offset When the offset cylinder is driven in a state where the work attachment enters the deceleration area stored in the front deceleration area storage means, the command value output from the cylinder command value calculation means is compared. Command value output from cylinder command value calculation means Command value selection means for selecting a command value having a smaller value among the command values output from the area command value calculation means as a target command value for switching the electromagnetic proportional valve is provided.

  In the present invention configured as described above, when the offset cylinder is driven in a state where the work attachment has entered the deceleration area stored in the front deceleration area storage means, the command value selection means performs the deceleration stop control of the front mechanism. The command value output from the related inhibition zone command value calculation means is compared with the command value output from the offset cylinder command value calculation means related to the offset cylinder deceleration stop control, and the front mechanism deceleration stop control is performed. When the command value output from the command value calculation means for the blocking region related to the engine is smaller than the command value output from the command value calculation means for the offset cylinder related to the deceleration stop control of the offset cylinder, Output from the command value calculation means for the blocking area related to the deceleration stop control of the front mechanism with a small value. That the command value is selected as the target command value is output to the solenoid proportional valve which controls the amount of oil to the offset cylinder. That is, the electromagnetic proportional valve is controlled so as to close in accordance with the target command value described above, the amount of oil to the offset cylinder is limited, and deceleration stop control of the offset cylinder is performed.

  As described above, the present invention provides a state where the work attachment is in a state where the work attachment has entered the deceleration region where the deceleration stop control of the front mechanism is performed and the work attachment is swung in the left-right direction by operating the offset cylinder. Deceleration stop control can be realized, and thereby the impact generated in the front mechanism including the second boom when the offset cylinder reaches the stroke end can be reduced.

  In addition, when the front mechanism deceleration stop control and the offset cylinder deceleration stop control are not performed at the same time and are performed independently, normal front mechanism deceleration stop control or offset cylinder deceleration stop control is performed without any problem. be able to. That is, according to the present invention, normal front mechanism deceleration stop control and offset cylinder deceleration stop control can be performed independently, and front mechanism deceleration stop control and offset cylinder deceleration stop control are performed simultaneously. It is possible to ensure high controllability when being performed.

  Further, the offset type working machine according to the present invention is the above-described invention, wherein the blocking area storage means includes an interference prevention area storage means for storing a region for blocking interference of the tip of the work attachment to the cab. The blocking area command value calculation means includes an interference prevention command value calculation means related to the deceleration area stored in the front deceleration area storage means in consideration of blocking interference of the work attachment with the cab. The command value selection means compares the command value output from the interference prevention command value calculation means with the command value output from the offset cylinder command value calculation means, and the work attachment is When the offset cylinder is driven while entering the deceleration area stored in the deceleration area storage means, the offset cylinder Of the command value output from the command value calculation means for use and the command value output from the command value calculation means for interference prevention is selected as a target command value for switching control of the electromagnetic proportional valve. It is characterized by that.

  In the offset working machine according to the present invention as set forth in the invention described above, the blocking area storage means stores an area for blocking movement of the work attachment accompanying the swinging of the second boom in the left-right direction. The inhibition area command value calculation means is stored in the front deceleration area storage means in consideration of inhibition of movement of the work attachment accompanying the swinging of the second boom in the left-right direction. The command value calculating means is related to the deceleration region, and the command value selecting means outputs the command value output from the swing prevention command value calculating means and the offset cylinder command value calculating means. The offset cylinder is driven while the work attachment enters the deceleration area stored in the front deceleration area storage means. The command value that is smaller between the command value output from the offset cylinder command value calculation means and the command value output from the swing prevention command value calculation means is set to the electromagnetic proportional valve. The target command value to be switched is selected.

  In the offset working machine according to the present invention as set forth in the invention described above, the blocking area storage means stores an interference prevention area storing means for storing an area where the tip of the work attachment is prevented from interfering with the cab, and Rocking prevention area storage means for storing an area for preventing movement of the work attachment accompanying the swinging of the second boom in the left-right direction, and the blocking area command value calculation means is provided to the cab of the bucket. In consideration of the interference prevention, the interference prevention command value calculation means related to the deceleration area stored in the front deceleration area storage means, and the movement of the bucket accompanying the swinging of the second boom in the left-right direction. In consideration of blocking, a command value calculating means for rocking prevention related to the deceleration area stored in the deceleration area storage means for front is included, and the command value selecting means includes the interference prevention finger A command value output from the value calculation means, a command value output from the swing prevention command value calculation means, and a command value output from the offset cylinder command value calculation means are compared, and the work attachment When the offset cylinder is driven in a state in which it enters the deceleration area stored in the front deceleration area storage means, the command value output from the offset cylinder command value calculation means and the interference prevention command value calculation The command value having the smallest value among the command value output from the means and the command value output from the swing prevention command value calculating means is selected as a target command value for switching and controlling the electromagnetic proportional valve. It is said.

  The offset working machine according to the present invention is characterized in that, in the above invention, the offset working machine includes a correcting means capable of correcting the deceleration area of the offset cylinder stored in the offset cylinder deceleration area storage means.

  The offset working machine according to the present invention is characterized in that, in the above invention, the offset working machine includes a blocking area variable means capable of changing a blocking area for blocking the bucket to be stored, which is stored in the swing area storage means. Yes.

  In the offset working machine according to the present invention, the front deceleration region storage means and the offset cylinder deceleration are arranged such that the faster the angular velocity at which the second boom swings, the faster the second boom is decelerated. A correction means for correcting the deceleration area stored in the area storage means is provided.

  The offset working machine according to the present invention further comprises angle detection means for detecting a rotation angle of the first boom in the above invention, and the offset cylinder command value calculation means is detected by the angle detection means. The command value to the electromagnetic proportional valve is calculated so that the deceleration of the second boom is changed according to the angle of the first boom.

  The present invention relates to a command value output from a blocking area command value calculating means related to deceleration stop control of a front mechanism and a command value output from an offset cylinder command value calculating means related to offset cylinder deceleration stop control. In comparison, when the offset cylinder is driven with the work attachment entering the deceleration area stored in the front deceleration area storage means, the command value output from the offset cylinder command value calculation means and the inhibition area command value Since command value selection means for selecting a command value having a smaller value among the command values output from the calculation means as a target command value for switching and controlling an electromagnetic proportional valve for controlling the flow rate to the offset cylinder is provided, When the work attachment has entered the deceleration area that performs deceleration stop control of the front mechanism, Even when the bucket is swung in the left-right direction by actuating, it is possible to realize the deceleration stop control of the offset cylinder, and the second boom when the offset cylinder, which has conventionally been a concern, reaches the stroke end. The impact generated in the including front mechanism can be reduced, and the durability of the front mechanism can be improved.

  In addition, normal front mechanism deceleration stop control and offset cylinder deceleration stop control can be performed independently, respectively, and front mechanism deceleration stop control and offset cylinder deceleration stop control are performed simultaneously. An offset type work machine that can ensure highly accurate controllability and has a function superior to that of the prior art can be obtained.

  Hereinafter, the best mode for carrying out an offset working machine according to the present invention will be described with reference to the drawings.

  FIG. 1 is a side view of an offset hydraulic excavator showing a first embodiment of an offset working machine according to the present invention, and FIG. 2 is a plan view of an essential part of FIG.

  As shown in FIGS. 1 and 2, the offset hydraulic excavator according to the first embodiment of the present invention is a traveling body 1, a revolving body 3 disposed on the traveling body 1 and having a cab 2, A front mechanism 4 that is attached to the revolving body 3 so as to be rotatable in the vertical direction is provided.

  The front mechanism 4 includes a first boom 5 attached to the swing body 3 so as to be pivotable in the vertical direction, a boom cylinder 6 for pivoting the first boom 5 in the vertical direction, and a swinging motion in the horizontal direction on the first boom 5. A second boom 7 that is movably attached, an offset cylinder 8 that swings the second boom 7 in the left-right direction, a stay 9 that is attached to the second boom 7, and a second boom 7 that can be pivoted in the vertical direction. An arm 10 attached to the arm 10, an arm cylinder 11 that is held by the stay 9 and rotates the arm 10 in the vertical direction, a work attachment that is attached to the tip of the arm 10, for example, a bucket 12, and the bucket 12 is rotated in the vertical direction. The bucket cylinder 13 to be moved is included. An operation device 14 for operating the front mechanism 4 is disposed in the cab 2.

  FIG. 3 is a block diagram showing a control system of the offset cylinder provided in the first embodiment of the present invention.

  As shown in FIG. 3, the hydraulic pump 20 that supplies pressure oil to the offset cylinder 8 that operates the second boom 7 described above, and the flow of pressure oil that is supplied from the hydraulic pump 20 to the offset cylinder 8 are controlled. A directional control valve 21 and an electromagnetic proportional valve 22 that is disposed between the hydraulic pump 20 and the directional control valve 21 and controls the amount of oil to the offset cylinder 8 are provided.

  The controller C1 included in the control system of the offset cylinder 8 includes the following.

  That is, as shown in FIG. 3, the first boom angle sensor 23 that detects the vertical rotation angle of the first boom 5 and the second boom angle sensor 24 that detects the horizontal swing angle of the second boom 7. , And an A / D converter 26 to which a signal from an arm angle sensor 25 for detecting the vertical rotation angle of the arm 10 is input, and the bucket 12 based on the signal output from the A / D converter 26 And a calculating means 27 for obtaining the tip coordinates.

  Further, a blocking area storage means for storing a blocking area for blocking the penetration of the bucket 12, for example, an interference prevention area storage means 28 for storing the blocking area X shown in FIG. The signal output from the computing means 27 and the signal output from the interference prevention area storage means 28 are compared to detect that the bucket 12 has entered the blocking area X stored in the interference prevention area storage means 28. A blocking area intrusion detection means 29 is provided.

  Further, the front deceleration area storage means 30 for storing the deceleration area Y shown in FIG. 1 which is set outside the blocking area X and decelerates the front mechanism 4, the signal output from the computing means 27 and the front deceleration area storage means 30 is provided with a front mechanism deceleration region entry detection means 34 for detecting that the tip of the bucket 12 has entered the deceleration region Y.

  Further, based on the signal output from the front mechanism deceleration area intrusion detecting means 34, the above-described blocking area command value calculating means for calculating the command value to the electromagnetic proportional valve 22, that is, the interference preventing command value calculating means 35 is provided. When the signal connected to the interference prevention command value calculating means 35 and output from the blocking area detecting means 29 is a signal indicating that the tip of the bucket 12 has not entered the blocking area X, the ON state is set. And a switching means 36 that is switched to the OFF state when the signal indicates that the tip of the bucket 12 has entered the blocking region X.

  Further, based on a signal output from the second boom angle sensor 24, the stroke position calculation means 37 for calculating the stroke position of the offset cylinder 37 and the offset cylinder for the offset cylinder set before the left and right stroke ends of the offset cylinder 8, respectively. Deceleration area storage means 38, 39, correction means 40 capable of arbitrarily correcting the left and right deceleration areas stored in these offset cylinder deceleration area storage means 38, 39, and correction values output from the correction means 40 Are added to the left and right deceleration areas stored in the offset cylinder deceleration area storage means 38 and 39, respectively.

  Further, the stroke signal output from the stroke position calculating means 37 and the deceleration area output from the adding means 41 and 42 are compared to detect that the offset cylinder 8 has entered the deceleration area. Means 43 and offset cylinder command value calculating means 44 for calculating the command value to the electromagnetic proportional valve 22 described above based on the signal output from the offset cylinder deceleration region intrusion detecting means 43.

  Further, the first embodiment is configured such that the command value output from the blocking area command value calculating means, that is, the command value calculating means 35 for preventing interference through the switching means 36 in the ON state, and the command value calculating for the offset cylinder When the offset cylinder 8 is driven in a state where the bucket 12 enters the deceleration area Y stored in the front deceleration area storage means 30, the command value output from the means 44 is compared. A command for selecting a command value having a smaller one of the command value output from the means 44 and the command value output from the interference prevention command value calculating means 35 as a target command value for switching the electromagnetic proportional valve 22. Value selection means 45 is provided. The target command value output from the command value selection means 45 is converted into a current value by the calculation means 46, this current value is converted into a control signal by the D / A converter 47, and this control signal is converted to the electromagnetic proportional valve 22. Is given to the drive unit.

  In the first embodiment configured as described above, for example, the front mechanism 4 is held at the center of the swing range of the second boom 7 as shown by the solid line in FIG. When the first boom 5 or the arm 10 is rotated so that the tip of 12 is directed to the cab 2, signals from the first boom angle sensor 23 and the arm angle sensor 25 are A / D converters shown in FIG. 26, the position of the tip of the bucket 12 is calculated by the calculation means 27. The calculated position of the tip of the bucket 12 is input to the front mechanism deceleration area intrusion detection means 35 and compared with the deceleration area Y stored in the front deceleration area storage means 30. At this time, when it is determined that the tip of the bucket 12 has entered the deceleration region Y, the boom cylinder 6 or the arm cylinder 11 is decelerated by the control means (not shown), and the first boom 7 or the arm 10 is more than before. Operation is slow. When the tip of the bucket 12 calculated by the calculation means 27 reaches the blocking area X stored in the interference prevention area storage means 28, the boom cylinder 6 or the arm cylinder 11 is stopped, for example, by the control means not shown. Then, the rotation of the first boom 5 or the arm 10 is stopped. This prevents interference of the tip of the bucket 12 with the cab 2.

  As described above, when the front mechanism deceleration region intrusion detection unit 34 determines that the tip of the bucket 12 has entered the deceleration region Y, the interference prevention command value calculation unit 35 responds to the tip position of the bucket 12. A command value for the electromagnetic proportional valve 22 is obtained. The obtained command value is input to the command value selection means 45 through the switching means 36 that is kept in the ON state. The command value selection unit 45 compares the above-described command value with the command value output from the offset cylinder command value calculation unit 44. Since the deceleration / stop control of the offset cylinder 8 is not currently performed, the command value of the interference prevention command value calculation means 35 is set as the target command value. This target command value is output to the electromagnetic proportional valve 22 via the calculating means 46 and the D / A converter 47. Since the offset cylinder 8 is substantially in the stopped state now, the electromagnetic proportional valve 22 is basically not involved in the operation of the offset cylinder 8, but in a direction to reduce the amount of oil from the hydraulic pump 20 to the offset cylinder 8. Drive controlled.

  Further, as described above, when the tip position of the bucket 12 reaches the blocking region X, the switching unit 36 is switched from the previous ON state to the OFF state by the signal output from the blocking region intrusion detection unit 29. Accordingly, the electromagnetic proportional valve 22 shuts off the pipe line connecting the hydraulic pump 20 and the offset cylinder 8.

  Further, for example, in the front mechanism 4, the direction control valve 21 shown in FIG. 3 is switched outside the deceleration region X stored in the front deceleration region storage means 30, and the pressure oil from the hydraulic pump 20 is opened. 2 is supplied to the offset cylinder 8 via the electromagnetic proportional valve 22, and the operation of the offset cylinder 8 causes the second boom 7 to swing in the left-right direction as indicated by the two-dot chain line in FIG. When 4 swings in the left-right direction, the deceleration stop control of the front mechanism 4 based on the blocking region X as described above is not performed.

  At this time, as shown in FIG. 3, the signal of the second boom angle sensor 24 is input to the stroke position calculating means 37, and the stroke position of the offset cylinder 8 is obtained. In the offset cylinder deceleration area intrusion detecting means 43, it is determined whether or not this stroke position has entered the deceleration area for the offset cylinder 8 input via the adding means 41 and 42.

  When it is determined that the vehicle has entered the deceleration region, a command value set smaller than before is output from the offset cylinder command value calculation means 44 to the command value selection means 45. The command value selection means 45 outputs a command value smaller than that as the target command value to the drive part of the electromagnetic valve 22 via the calculation means 46 and the D / A converter 47. Thus, the electromagnetic proportional valve 22 is driven and controlled in the closing direction, the amount of oil supplied to the offset cylinder 8 is reduced, and the offset cylinder 8 is decelerated. From such a state, when the stroke position of the offset cylinder 8 reaches the stroke end, the above-mentioned target command value becomes 0, and the electromagnetic proportional valve 22 is closed. Thereby, the supply of the pressure oil to the offset cylinder 8 is stopped, and the operation of the offset cylinder 8 is stopped. Accordingly, the front mechanism 4 including the second boom 7 stops at the swingable limit.

  For example, when the offset cylinder 8 is driven to swing the bucket 12 in the left-right direction while the bucket 12 has entered the deceleration area Y stored in the front deceleration area storage means 30, the command value selection means 45, the command value output from the interference prevention command value calculation means 35 related to the deceleration stop control of the front mechanism 4 and the offset cylinder command value calculation means 44 related to the deceleration stop control of the offset cylinder 8. The command value output from the interference prevention command value calculation means 35 related to the deceleration stop control of the front mechanism 4 is compared with the command value for offset cylinder command value calculation related to the deceleration stop control of the offset cylinder 8. When the state becomes smaller than the command value output from the means 44, the interference prevention command having a small value is used. Command value output from the calculation means 35 is selected as the target command value is output to the electromagnetic proportional valve 22 to control the amount of oil to the offset cylinder 8. That is, the electromagnetic proportional valve 22 is controlled to be closed in accordance with the target command value described above, the oil amount to the offset cylinder 8 is controlled, and deceleration stop control of the offset cylinder 8 is performed.

  As described above, in the first embodiment, when the bucket 12 has entered the deceleration region Y where the deceleration stop control of the front mechanism 4 is performed, the offset cylinder 8 is operated to swing the bucket 12 in the left-right direction. Even when this is done, the deceleration stop control of the offset cylinder 8 can be realized. Thereby, the impact which arises in the front mechanism 4 containing the 2nd boom 7 when the offset cylinder 8 reaches a stroke end can be relieved, and durability of this front mechanism 4 can be improved.

  Further, when the deceleration stop control of the front mechanism 4 and the deceleration stop control of the offset cylinder 8 are not performed at the same time and are performed independently, the normal deceleration stop control of the front mechanism 4 or the deceleration stop control of the offset cylinder 8 is performed. It can be carried out without hindrance. That is, according to the present invention, the normal deceleration control of the front mechanism 4 and the deceleration stop control of the offset cylinder 8 can be carried out independently, and the deceleration stop control of the front mechanism 4 and the deceleration stop control of the offset cylinder 8 are possible. Therefore, an offset excavator having an excellent function can be obtained.

  FIG. 4 is a block diagram showing a control system of an offset cylinder provided in the second embodiment of the present invention.

  The control system of the offset cylinder 8 shown in FIG. 4 is also provided in the offset hydraulic excavator shown in FIGS. In the controller C2 included in the second embodiment, a blocking area storage means, for example, a blocking area WX shown in FIG. 2 for blocking the horizontal movement of the bucket 12 accompanying the swinging of the second boom 7 in the left-right direction is provided. The bucket 12 is stored in the rocking prevention area storage means 50 by comparing the rocking prevention area storage means 50 to be stored with the signal output from the computing means 27 and the signal output from the rocking prevention area storage means 50. And a blocking area intrusion detecting means 51 that detects that the blocking area WX has entered and outputs a signal for turning off the switching means 36.

  Further, a blocking area variable means capable of changing the blocking area WX stored in the swing blocking area storage means 50, for example, stores the current position, and the stored current position in the swing blocking area storage means 50 is set as the blocking area WX. Current position storage means 52 to be stored, calculation means 53 for calculating a deceleration area based on the current position stored by the current position storage means 52, and front for storing the calculation result of the calculation means 53 as a deceleration area WY And a deceleration area storage means 54.

  Further, the second boom 7 is moved in the left-right direction by the offset cylinder 8 in a state where the first boom 5 is raised and the arm 10 is clouded (the arm 10 is held in the first boom 5 side). 7 is accompanied by a downward movement, the movement speed of the second boom 2 to the left and right due to the weight of the second boom 7, the arm 10 and the bucket 12 reduces the first boom 5 (see FIG. 1). As shown, the second boom 7 becomes horizontal. Therefore, even when the deceleration is set based on the state of FIG. 1, the set deceleration is obtained when the second boom 7 is moved in the left-right direction in the posture in which the first boom 5 is raised as described above. There is a risk that an impact may occur due to a sudden stop at the stroke end or the blocking area WX without being able to slow down in the area. Therefore, in the present embodiment, the calculation unit 31 that calculates the offset angular velocity based on the signal output from the second boom angle sensor 24 and the distance corresponding to the offset angular velocity calculated by the calculation unit 31 are calculated. The calculation means 32 and the addition means 33 for adding the distance calculated by the calculation means 32 to the deceleration area WY stored in the front deceleration area storage means 54 to obtain a new deceleration area WY1 are provided. The calculating means 31 and 32 and the adding means 33 described above are deceleration areas stored in the front deceleration area storage means 54 so as to accelerate the deceleration of the second boom 7 as the angular velocity at which the second boom 7 swings is faster. Correction means for correcting the WY to obtain a new deceleration area WY1 is configured.

  The front mechanism deceleration area entry detection means 55 compares the signal output from the computing means 27 with the corrected deceleration area WY1 output from the addition means 33, and detects that the bucket 12 has entered the deceleration area WY1. To do. In addition, based on a signal output from the front mechanism deceleration area entry detecting means 55, a blocking area command value calculating means 56 for calculating a command value to the electromagnetic proportional valve 22, that is, a swing preventing command value calculating means 56 is provided. I have. The switching means 36 connected to the swing prevention command value calculation means 56 is configured so that the signal output from the prevention area intrusion detection means 51 does not enter the prevention area WX in the left and right swing directions. When the signal indicates that the bucket 12 has entered the blocking area WX, the signal is switched to OFF. The command value setting means 57 receives the command value output from the swing prevention command value calculation means 56 via the switching means 36 in the ON state and the command value output from the offset cylinder command value calculation means 44. In comparison, when the offset cylinder 8 is driven in a state where the bucket 12 has entered the deceleration area WY1 stored in the front deceleration area storage means 54, the command value output from the offset cylinder command value calculation means 44 and the fluctuation are not detected. The command value with the smaller value among the command values output from the motion prevention command value calculation means 56 is selected as a target command value for switching and controlling the electromagnetic proportional valve 22. Other configurations are the same as those of the first embodiment described above.

  In the second embodiment configured as described above, when there is any obstacle such as a pillar or a building in the left-right direction of the front mechanism 4, for example, the current position of the front mechanism 4 driven to the front of the obstacle is the current position. Stored in the storage means 52. The current position stored in the current position storage means 52 is stored in the swing prevention area storage means 50 as a prevention area WX. When the operation by the front mechanism 4 is performed in such a state, a signal from the second boom angle sensor 24 is input to the calculation means 27 via the A / D converter 26 shown in FIG. The position of the bucket 12 of the front mechanism 4 is calculated. In the state where the second boom 7 is raised, the moving speed of the second boom 7 to the left and right is increased as described above. Therefore, the moving speed (angular speed) of the second boom 7 is calculated by the calculating means 31, and the speed is increased. The distance according to the speed is calculated by the calculating means 32 so that the deceleration is accelerated as the speed increases (the deceleration start position is advanced), and this calculated distance is preset in the front deceleration area storage means 54 by the adding means 33. A new deceleration area WY1 is set in the front mechanism deceleration area intrusion detection means 55 by adding to the deceleration area. The calculated position of the bucket 12 is input to the front mechanism deceleration area intrusion detection means 55 and compared with the corrected deceleration area WY1 output from the addition means 33. When it is determined that the bucket 12 has entered the deceleration region WY1, the offset cylinder 8 is decelerated, and the second boom 7, that is, the front mechanism 4, operates slower than before. When the bucket 12 calculated by the calculating means 27 reaches the blocking area WX in the left and right swinging direction stored in the swing blocking area storage means 50, the switching means is determined by a signal from the blocking area intrusion detection means 51. 36 is switched OFF, the electromagnetic proportional valve 22 is closed, and the pipe line connecting the hydraulic pump 20 and the offset cylinder 8 is shut off. Thereby, the offset cylinder 8 is stopped, for example, the driving of the front mechanism 4 including the second boom 7 is stopped, and the front mechanism 4 is prevented from contacting an obstacle.

  As described above, when the front mechanism deceleration region intrusion detection unit 55 determines that the bucket 12 has entered the deceleration region WY1, the swing prevention command value calculation unit 56 performs electromagnetic proportionality according to the position of the bucket 12. A command value for the valve 22 is obtained. The obtained command value is input to the command value selection means 57 via the switching means 36 that is kept in the ON state. The command value selection means 57 compares the above command value with the command value output from the offset cylinder command value calculation means 44. In this case, when deceleration stop control is performed when the bucket 12 of the front mechanism 4 swings in the left-right direction, the current position of the front mechanism 4 that avoids an obstacle is usually before the swing limit of the front mechanism 4. Therefore, the command value of the swing prevention command value calculating means 56, which is a small value, is set as the target command value. This target command value is output to the electromagnetic proportional valve 22 via the calculating means 46 and the D / A converter 47. At this time, the electromagnetic proportional valve 22 is driven to reduce the amount of oil from the hydraulic pump 20 to the offset cylinder 8.

  Therefore, when the bucket 12 enters the deceleration region WY1 in the left and right swing direction and the front mechanism 4 tries to stop from deceleration, the command value output from the swing prevention command value calculation means 56 becomes the target command value. The offset cylinder 8 is decelerated and stops.

  As described above, in the second embodiment, when the bucket 12 enters the deceleration region WY1 of the front mechanism 4 and the front mechanism 4 tries to stop from deceleration, the offset cylinder 8 is not affected regardless of the posture of the front mechanism 4. By appropriately decelerating, the impact generated in the front mechanism 4 including the second boom 7 when the offset cylinder 8 reaches the stroke end can be mitigated, and the durability of the front mechanism 4 can be improved.

  Further, similarly to the first embodiment described above, the normal deceleration stop control of the front mechanism 4 and the deceleration stop control of the offset cylinder 8 can be independently performed, and the deceleration stop control and offset of the front mechanism 4 can be performed independently. An offset hydraulic excavator having an excellent function can be ensured with high controllability when the deceleration stop control of the cylinder 8 is performed simultaneously.

  In the present embodiment, the offset region is corrected by the angular velocity of the second boom 7 to correct the deceleration region in the horizontal movement prevention control of the bucket 12 as the second boom 7 swings in the left-right direction. The deceleration area in the deceleration stop control of 8 can also be corrected by the angular velocity of the second boom 7 as described above. Further, instead of the correction by the angular velocity of the second boom 7, the first boom angle is detected by the first boom angle sensor 23 that detects the rotation angle of the first boom 5, and the first boom angle is reduced according to the detected boom angle. The speed may be changed, or the deceleration start position may be changed as described above. Specifically, as the first boom angle increases, the output of the command value per unit time to the electromagnetic proportional valve 22 is further decreased to increase the rate of decrease in the amount of oil supplied to the offset cylinder 8, In the same manner as described above, the deceleration start position is advanced.

  FIG. 5 is a block diagram showing a control system of an offset cylinder provided in the third embodiment of the present invention.

  The control system of the offset cylinder 8 shown in FIG. 5 is also provided, for example, in the offset hydraulic excavator shown in FIGS. The controller C3 included in the third embodiment includes both the A portion of the controller C1 in the first embodiment and the B portion of the controller C2 in the second embodiment.

  The designated value selection means 60 includes a command value output from the interference prevention command value selection means 35 related to the deceleration stop control of the front mechanism 4 related to prevention of interference of the bucket 12 of the front mechanism 4 with the cab 2, The command value output from the swing prevention command value calculating means 56 related to the deceleration stop control of the front mechanism 4 related to the prevention of contact with the obstacle located in the left and right swing direction of the mechanism 4, and the offset cylinder 8 A state in which the bucket 12 enters the deceleration areas Y and WY1 stored in the front deceleration area storage means 30 and 54 by comparing with the command value output from the offset cylinder command value calculation means 44 related to the deceleration stop control. When the offset cylinder 8 is driven, the command value output from the offset cylinder command value calculation means 44 and the interference prevention command value calculation means 35 A command value output, to select a smaller command value most value among the command value output from the swing blocking command value calculating unit 56 as the target command value. According to the selected target command value, the electromagnetic proportional valve 22 is controlled to be switched in the closing direction, the oil amount to the offset cylinder 8 is controlled, and the offset cylinder 8 is controlled to be decelerated and stopped. Other configurations are the same as those in the first and second embodiments described above.

  According to the third embodiment configured as described above, the operation effect obtained by combining the operation effect of the first embodiment and the operation effect of the second embodiment can be obtained. That is, when the offset cylinder 8 reaches the stroke end when preventing the front mechanism 4 from interfering with the cab 2 of the bucket 12 or avoiding contact with an obstacle located in the left-right swing direction of the front mechanism 4. The impact generated in the front mechanism 4 including the second boom 7 can be mitigated, and thereby the durability of the front mechanism 4 can be improved.

  Similarly to the first and second embodiments, the normal deceleration stop control of the front mechanism 4 and the deceleration stop control of the offset cylinder 8 can be independently performed, and the deceleration stop control of the front mechanism 4 A highly accurate controllability when the deceleration stop control of the offset cylinder 8 is simultaneously performed can be ensured, and an offset hydraulic excavator having an excellent function can be obtained.

1 is a side view of an offset hydraulic excavator showing a first embodiment of an offset working machine according to the present invention. It is a principal part top view of FIG. It is a block diagram which shows the control system of the offset cylinder with which 1st Embodiment of this invention is equipped. It is a block diagram which shows the control system of the offset cylinder with which 2nd Embodiment of this invention is equipped. It is a block diagram which shows the control system of the offset cylinder with which 3rd Embodiment of this invention is equipped.

Explanation of symbols

DESCRIPTION OF SYMBOLS 2 Operator's cab 3 Revolving body 4 Front mechanism 5 1st boom 7 2nd boom 10 Arm 12 Bucket 20 Hydraulic pump 22 Electromagnetic proportional valve 24 2nd boom angle sensor 27 Calculation means 28 Interference prevention area memory | storage means (blocking area memory | storage means)
29 Blocking area intrusion detection means 30 Front deceleration area storage means 31 Calculation means (correction means)
32 Calculation means (correction means)
33 Addition means (correction means)
34 Front mechanism deceleration area intrusion detection means 35 Interference prevention command value calculation means (blocking area command value calculation means)
36 Switching means 37 Stroke position calculation means 38 Offset cylinder deceleration area storage means 39 Offset cylinder deceleration area storage means 40 Correction means 41 Addition means 42 Addition means 43 Offset cylinder deceleration area entry detection means 44 Offset cylinder command value calculation means 45 Command value selection means 50 Oscillation prevention area storage means (inhibition area storage means)
51 Blocking area intrusion detection means 52 Current position storage means (correction means)
53 Calculation means 54 Front deceleration area storage means 55 Front mechanism deceleration area entry detection means 56 Swing prevention command value calculation means (blocking area command value calculation means)
57 Command value selection means 60 Command value selection means C1 controller C2 controller C3 controller

Claims (8)

A revolving body having a driver's cab, a front mechanism attached to the revolving body so as to be vertically rotatable, and an operating device for operating the front mechanism;
The front mechanism includes a first boom attached to the swinging body so as to be pivotable in the vertical direction, a second boom attached to the first boom so as to be swingable in the left-right direction, and a vertical boom attached to the second boom. An arm that is pivotably attached, and a work attachment that is pivotably attached to the tip of the arm in the vertical direction;
A blocking area storing means for storing a blocking area for blocking the entry of the work attachment; a blocking area intrusion detecting means for detecting that the work attachment has entered the blocking area stored in the blocking area storage means;
A front deceleration area storage means for storing a deceleration area that is set outside the blocking area and decelerates the front mechanism, and detects that the work attachment has entered the deceleration area stored in the front deceleration area storage means. Front mechanism deceleration area intrusion detecting means for
An electromagnetic proportional valve that controls the amount of oil to the offset cylinder that operates the second boom;
Based on a signal output from the front mechanism deceleration area intrusion detection means, a command value calculation means for blocking area that calculates a command value to the electromagnetic proportional valve;
Stroke position calculating means for calculating the stroke position of the offset cylinder;
An offset cylinder deceleration area storage means that is set before the stroke end of the offset cylinder and stores the deceleration area of the offset cylinder, and the offset cylinder is decelerated based on a signal output from the stroke position calculation means. Offset cylinder deceleration region entry detection means for detecting that the vehicle has entered the deceleration region stored in the region storage means;
An offset cylinder command value calculating means for calculating a command value to the electromagnetic proportional valve based on a signal output from the offset cylinder deceleration region intrusion detecting means;
The command value output from the blocking area command value calculation means is compared with the command value output from the offset cylinder command value calculation means, and the work attachment is stored in the front deceleration area storage means. When the offset cylinder is driven in a state of entering the deceleration region, the value of the command value output from the offset cylinder command value calculating means and the command value output from the blocking region command value calculating means is small. An offset working machine comprising command value selection means for selecting one command value as a target command value for switching and controlling the electromagnetic proportional valve. In the offset type work machine according to claim 1,
The blocking area storage means comprises interference prevention area storage means for storing a region for blocking interference of the tip of the work attachment with the cab.
The blocking area command value calculation means includes an interference prevention command value calculation means related to the deceleration area stored in the front deceleration area storage means in consideration of blocking interference of the work attachment with the cab. Consisting of
The command value selection means compares the command value output from the interference prevention command value calculation means with the command value output from the offset cylinder command value calculation means, and the work attachment is used for the front deceleration. When the offset cylinder is driven while entering the deceleration area stored in the area storage means, the command value output from the offset cylinder command value calculation means and the interference prevention command value calculation means are output. An offset working machine, wherein a command value having a smaller value among command values is selected as a target command value for switching and controlling the electromagnetic proportional valve. In the offset type work machine according to claim 1,
The blocking area storage means includes rocking blocking area storage means for storing an area for blocking the movement of the work attachment accompanying the swinging of the second boom in the left-right direction.
The blocking area command value calculation means takes into account the blocking of the deceleration area stored in the front deceleration area storage means in consideration of blocking of the movement of the work attachment accompanying the horizontal swing of the second boom. It consists of command value calculation means for motion prevention,
The command value selecting means compares the command value output from the swing prevention command value calculating means with the command value output from the offset cylinder command value calculating means, and the work attachment is used for the front When the offset cylinder is driven while entering the deceleration area stored in the deceleration area storage means, the command value output from the offset cylinder command value calculation means and the swing prevention command value calculation means are output. An offset working machine, wherein a command value having a smaller value among the command values to be controlled is selected as a target command value for switching and controlling the electromagnetic proportional valve. In the offset type work machine according to claim 1,
The blocking area storage means stores an area for blocking interference of the tip of the work attachment to the driver's cab, and movement of the work attachment accompanying the swinging of the second boom in the left-right direction. Rocking prevention region storage means for storing a region for preventing
The blocking area command value calculation means includes an interference prevention command value calculation means related to a deceleration area stored in the front deceleration area storage means in consideration of blocking of the bucket to the cab. Taking into account the prevention of the movement of the bucket accompanying the swinging of the second boom in the left-right direction, and a swing prevention command value calculating means related to the deceleration area stored in the front deceleration area storage means,
The command value selection means outputs a command value output from the interference prevention command value calculation means, a command value output from the swing prevention command value calculation means, and an output from the offset cylinder command value calculation means. When the offset cylinder is driven in a state where the work attachment has entered the deceleration area stored in the front deceleration area storage means, the command value is output from the offset cylinder command value calculation means. Of the command value output from the command value calculating means for preventing interference and the command value output from the command value calculating means for preventing swinging, the electromagnetic proportional valve An offset working machine characterized by being selected as a target command value for switching control. In the offset type work machine according to any one of claims 1 to 4,
An offset working machine comprising correction means capable of correcting a deceleration area of the offset cylinder stored in the offset cylinder deceleration area storage means. In the offset type work machine according to claim 3,
An offset working machine, comprising: a blocking area variable means capable of changing a blocking area for blocking the entry of the work attachment stored in the rocking blocking area storage means. In the offset type work machine according to any one of claims 1 to 6,
Correction means for correcting the deceleration area stored in the front deceleration area storage means and the offset cylinder deceleration area storage means so as to accelerate the deceleration of the second boom as the angular velocity at which the second boom swings is faster An offset working machine characterized by that. In the offset type work machine according to any one of claims 1 to 7,
Angle detecting means for detecting a rotation angle of the first boom;
The offset cylinder command value calculation means calculates a command value to the electromagnetic proportional valve so that the deceleration of the second boom is changed according to the angle of the first boom detected by the angle detection means. An offset working machine.

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