JP2014163156A - Interference prevention device of construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an interference prevention device of a construction machine to enable setting of an interference prevention range in which the movement of an attachment is controlled depending on the position of the end of the attachment and the details of operation.SOLUTION: An interference prevention device of a construction machine comprises: a detection means that detects a position of an attachment; and a control means that controls the detection means and a hydraulic circuit. The control means: sets an interference prevention range based on a position of the attachment detected by the detection means and an operation direction input by an operation lever so that a hydraulic cylinder that drives the attachment is decelerated or stopped by a hydraulic circuit when the attachment enters the interference prevention range; and sets a region excluding a prescribed region above a cab as an interference prevention range so that the hydraulic cylinder is not decelerated or stopped during lifting of a boom in the prescribed region when the detected position of the attachment is above the cab and an input operation direction is a boom lifting direction.

Description

  The present invention relates to a construction machine interference prevention apparatus.

  In construction machines, the attachment may be operated in front of and above the cab. At this time, it is necessary for the construction machine to limit the operation of the hydraulic cylinder that drives the attachment so that the attachment (for example, bucket) does not contact (or collide) with the cab.

  In Patent Document 1, in order to prevent the bucket (attachment) from colliding with the cab during work when there is an area that interferes with the cab (cab) within the operation range of the work machine (construction machine). Discloses a technique for decelerating or stopping the working speed of a hydraulic cylinder that drives an attachment when a bucket enters a set interference area (quasi-dangerous area, dangerous area).

Japanese Patent Laid-Open No. 03-156037

  However, in the technique disclosed in Patent Document 1, even when an attachment operation (for example, a boom raising operation) is performed in an area where the cab and the attachment do not interfere (for example, above the cab), the hydraulic cylinder for driving the attachment ( ) Is restricted. For this reason, in the technique disclosed in Patent Document 1, the operable range of the attachment is reduced, and the operability of the attachment is lowered. In addition, the technique disclosed in Patent Document 1 does not describe a control method that can release the limitation of the boom raising operation when the attachment is operated above the cab.

  The present invention is made under such circumstances, and provides an interference prevention device for a construction machine that can set an interference prevention range that restricts the operation of the attachment according to the position of the tip of the attachment and the operation content of the attachment. The purpose is to provide.

  According to one aspect of the present invention, an operation lever that receives an operation direction and an operation amount of an attachment, and a hydraulic pressure that controls an operation of the attachment based on the operation direction and the operation amount input by the operation lever. An interference preventing apparatus for restricting an operation of the attachment mounted on a construction machine including a circuit, the detection means detecting a position of the attachment, and a control means for controlling the detection means and the hydraulic circuit. The control means sets an interference prevention range based on the position of the attachment detected by the detection means and the operation direction input by the operation lever, and based on the position of the attachment detected by the detection means. To determine whether the attachment has entered the interference prevention range, and the attachment is When entering the stopping range, the hydraulic cylinder that drives the attachment is decelerated or stopped using the hydraulic circuit, and the position of the attachment detected by the detecting means is above the cab, and the operation When the operation direction input by the lever is the boom raising direction, an area excluding the predetermined area above the cab is set as the interference prevention range, and the position of the attachment corresponds to the boom raising operation in the predetermined area. There is provided an interference prevention device for a construction machine, wherein the hydraulic cylinder is not decelerated or stopped. The interference prevention range includes a stop range in which the hydraulic cylinder is stopped at the outer periphery of the cab, and a deceleration range in which the hydraulic cylinder is decelerated at the outer periphery of the stop range. When the position of the attachment detected by the detecting means is above the cab and the operation direction input by the operation lever is a boom raising direction, the stop region and the deceleration region are included in the predetermined region. It is also possible to use a construction machine interference prevention device characterized by not setting. When the attachment enters the interference prevention range, the control means controls the pilot pressure input to the direction control valve of the hydraulic circuit using the pressure reducing valve of the hydraulic circuit, and controls the operation of the attachment. It may be a construction machine interference prevention device characterized by limiting. The control means corrects the input operation direction and the operation amount when the attachment enters the interference prevention range, and restricts the operation of the hydraulic cylinder that drives the attachment. The feature may be a construction machine interference prevention device. The detection means may be a construction machine interference prevention device, characterized in that the position of the tip of the attachment is detected as the position of the attachment. The detection unit may be an interference prevention device for a construction machine that detects an angle of the attachment and detects a position of the attachment. The detection means may be a construction machine interference prevention device, wherein the position of the attachment is detected based on the operation direction and the operation amount input by the operation lever.

  According to the interference prevention device for a construction machine according to the present invention, it is possible to set an interference prevention range that restricts the operation of the attachment in accordance with the position of the tip of the attachment and the operation content of the attachment.

1 is a schematic external view showing an example of a construction machine according to an embodiment of the present invention. It is explanatory drawing explaining the example of the remote control circuit of the construction machine which concerns on embodiment of this invention. It is a flowchart explaining an example of operation | movement (interference prevention control) of the control means of the construction machine which concerns on embodiment of this invention. It is explanatory drawing explaining the example of the interference prevention range (for boom operation) which the control means of the construction machine which concerns on embodiment of this invention sets. It is explanatory drawing explaining the example of the interference prevention range (for arm and offset operation) which the control means of the construction machine which concerns on embodiment of this invention sets. It is explanatory drawing explaining the example of the attachment used for the construction machine which concerns on embodiment of this invention.

  Non-limiting exemplary embodiments of the present invention will be described with reference to the accompanying drawings. In the description of all attached drawings, the same or corresponding members or parts are denoted by the same or corresponding reference numerals, and redundant description is omitted. Also, the drawings are not intended to show the relative ratio between members or parts. Accordingly, specific dimensions can be determined by one skilled in the art in light of the following non-limiting embodiments.

  Hereinafter, the present invention will be described using the construction machine 100 according to the embodiment. Note that the present invention is not limited to this embodiment, as long as the operation of the attachment is controlled (for example, restricted) in order to prevent the cab and the attachment from interfering with each other according to the operation of the attachment. Can also be used. Construction machines that can use the present invention include hydraulic excavators, crane trucks, bulldozers, wheel loaders and dump trucks, pile driving machines, pile removers, water jets, mud drainage treatment equipment, grout mixers, deep Includes foundation and drilling machines.

  The present invention will be described in the following order using the construction machine 100 according to the present embodiment.

1. Construction machine construction 2. Hydraulic circuit 3. Construction machine operation Example of attachment [1. Construction machine construction]
A schematic configuration of the construction machine 100 according to the embodiment of the present invention will be described with reference to FIGS. 1 and 2.

  As shown in FIG. 1, the construction machine 100 according to the present embodiment includes an upper swing body 10Up on which a cab (cab) 10Cb is mounted, and a lower traveling body 10Dw that moves the construction machine 100 using wheels and the like. Prepare. In addition, the construction machine 100 includes, as an attachment, a boom 11 that is pivotally supported by the upper swing body 10Up on the base end (for example, Ob in FIG. 4), an arm 12 that is pivotally supported at the tip of the boom 11, and And a bucket 13 pivotally supported at the tip. Further, the construction machine 100 is a hydraulic cylinder, and a boom cylinder 11c that drives the boom 11, an arm cylinder 12c that drives the arm 12, a bucket cylinder 13c that drives the bucket 13, and the position of the attachment are the construction machine. 100 offset cylinders 12o that are offset (moved) in the width direction.

  In addition, the construction machine which can use this invention may use attachments other than a bucket as an attachment (end attachment) attached to the front-end | tip of an arm. For example, [4. A lifting magnet 13A or a fork 13B described in the example of attachment may be used. The construction machine that can use the present invention may not include the offset cylinder 12o.

  The construction machine 100 according to the present embodiment expands and contracts the boom cylinder 11c in the longitudinal direction by supplying hydraulic oil (pressure oil) to the boom cylinder 11c using a hydraulic circuit 30C (FIG. 2) described later. . At this time, the boom 11 is driven in the vertical direction in front of and above the cab 10Cb by expansion and contraction of the boom cylinder 11c. Further, the construction machine 100 controls the boom direction control valve in accordance with the operation amount (and operation direction) of the operation lever of the operator (driver, operator) in the cabin of the cab 10Cb, and is supplied to the boom cylinder 11c. Control the hydraulic oil. As a result, the construction machine 100 can perform a desired work according to the operation amount of the operation lever of the operator.

  As in the case of the boom 11, the construction machine 100 drives the arm 12 and the bucket 13 in front of and / or above the cab 10Cb by expansion and contraction of the arm cylinder 12c and the bucket cylinder 13c. As in the case of the boom cylinder 11c, the construction machine 100 controls the hydraulic oil supplied to the arm cylinder 12c and the bucket cylinder 13c by the arm direction control valve and the bucket direction control valve.

  In addition, the construction machine 100 according to the present embodiment travels (moves back and forth, right and left) and rotates (turns and the like) of the construction machine 100 using the wheels and the turning device of the lower traveling body 10Dw. Further, the construction machine 100 may further use a traveling direction control valve or the like to travel the construction machine 100 according to the amount of operation of the operation lever of the operator.

  Furthermore, in the construction machine 100 according to the present embodiment, the attachment and the cab 10Cb interfere with each other based on the position and the operation direction of the attachment (11, 12 and 13) using the control unit 20 (FIG. 2) described later. To prevent that. The control means 20 decelerates or stops, for example, a hydraulic cylinder that drives the attachment in order to prevent the attachment and the cab 10Cb from interfering with each other. That is, the control means 20 of the construction machine 100 according to the present embodiment is used as an interference prevention device that prevents the attachment and the cab 10Cb from interfering with each other. Note that a method (interference prevention control) in which the control unit 20 (the construction machine 100) restricts the operation of the attachment in accordance with the position of the attachment will be described later [3. The operation of the construction machine] will be described.

[2. Hydraulic circuit]
FIG. 2 shows a hydraulic circuit 30C used in the construction machine 100 according to the embodiment of the present invention. Here, the solid line described in FIG. 2 indicates an oil passage (pressure oil passage). In addition, a solid line added with // indicates an electric control system.

  In FIG. 2, a remote control circuit is mainly shown to explain the present invention, and other parts are omitted. Further, the construction machine according to the present invention may be any hydraulic circuit that can restrict the operation of the hydraulic cylinder (attachment) in order to prevent interference with the cab 10Cb other than the hydraulic circuit 30C shown in FIG. It can also be used for things.

  As shown in FIG. 2, the hydraulic circuit 30C includes a boom directional control valve Vcb to which pressure oil discharged from a hydraulic pump (not shown) is supplied, and a boom directional control valve Vcb. And a boom cylinder Cb (11c in FIG. 1) to which oil is supplied (inflow). In the present embodiment, the hydraulic circuit 30C includes a boom pressure reducing valve Vpb in an oil passage for inputting a pilot pressure for raising the boom 11 (FIG. 1) to the control port of the boom direction control valve Vcb. Further, the hydraulic circuit 30C is similar to the boom direction control valve Vcb and the boom cylinder Cb. The arm direction control valve Vca, the arm cylinder Ca (12c in FIG. 1), the arm pressure reducing valve Vpa, and the offset circuit A direction control valve Vco, an offset cylinder Co (12o in FIG. 1), and an offset pressure reducing valve Vpo are provided. Furthermore, the construction machine 100 according to the present embodiment is connected to the hydraulic circuit 30C with control means 20 that controls the overall operation of the hydraulic circuit 30C. In addition, the construction machine 100 is connected to the control unit 20 with a detection unit 31 that detects the position of the attachment (such as the boom 11 in FIG. 1).

  The hydraulic circuit 30C according to the present embodiment supplies the pressure oil discharged from the hydraulic pump to the direction control valves (Vcb, Vca, Vco) by controlling the operation of the hydraulic pump. The hydraulic circuit 30C controls the flow rate and direction of the pressure oil supplied from the direction control valve to the hydraulic cylinders (Cb, Ca, Co) by controlling the operation of the direction control valve (Vcb or the like). Further, the hydraulic circuit 30C controls the operations of the boom pressure reducing valve Vpb, the arm pressure reducing valve Vpa, and the offset pressure reducing valve Vpo by the control means 20 when the operation of the attachment is restricted based on the detection result of the detecting means 31. Is done. The hydraulic circuit 30C reduces, for example, the pilot pressure in the boom raising direction and the pilot pressure in the arm closing direction using the boom pressure reducing valve Vpb and the arm pressure reducing valve Vpa.

  The direction control valve (Vcb or the like) controls the pressure oil supplied to the hydraulic cylinder (Cb or the like). The direction control valve controls the flow rate and flow direction of the pressure oil supplied to the hydraulic cylinder. Specifically, the directional control valve is switched in the spool position according to the input pilot pressure, and the path of the internal passage is changed. The directional control valve receives, for example, a pilot pressure corresponding to an operation amount (and operation direction) of an operation lever (Lvb, Lva, Lvo) operated by an operator, and a flow rate of pressure oil (operating oil) supplied to the hydraulic cylinder. (Operation amount) and flow direction (operation direction) are changed.

  The hydraulic cylinder (Cb, etc.) drives the attachment (11, etc. in FIG. 1) by its expansion / contraction operation. The hydraulic cylinder expands and contracts in the longitudinal direction using pressure oil (operating oil) supplied from the direction control valve. The return oil (hydraulic oil) from the hydraulic cylinder is discharged to a tank (not shown) via a direction control valve or the like. The hydraulic cylinder can be composed of, for example, a cylinder container and a piston.

  The pressure reducing valve (Vpb or the like) controls the pilot pressure input to the direction control valve. In this embodiment, the opening of the pressure reducing valve is changed based on an input signal of the control means 20. That is, the pressure reducing valve can reduce the pressure in the downstream oil passage (pilot pressure input to the direction control valve) by changing the opening. As the pressure reducing valve, for example, a proportional valve, a pressure adjusting valve, or the like may be used.

  The detection means 31 is a means for detecting the position of the attachment. In this embodiment, the detection means 31 detects and detects the boom, arm, and offset angles (for example, θa and θb in FIG. 4) using the boom sensor 31b, the arm sensor 31a, and the offset sensor 31o, respectively. The position of the attachment is calculated based on the angle. The detection means 31 calculates the position of the tip of the arm 12 (FIG. 1) based on the detected angle as the position of the attachment. Thereby, even when a different end attachment (attachment) is attached to the tip of the arm 12, the detection means 31 (construction machine 100) can use a common calculation formula for calculating the position of the tip.

  The construction machine that can use the present invention switches the calculation formula in accordance with the type of the end attachment (attachment) attached to the tip of the arm 12 so that the position of the interference end of each end attachment (attachment). May be detected as the position of the attachment. The construction machine that can use the present invention may detect (calculate) the position of the attachment (the tip) based on the operation direction and the operation amount of the operation lever input by the operator.

  The control means 20 is a means for controlling the overall operation of the hydraulic circuit 30C. The control unit 20 controls the hydraulic pump and the pressure reducing valve (Vpb, etc.) according to the operation amount (and the operation direction) of the operation lever (Lvb, etc.). For example, the controller 20 may use a controller mounted to control the operation of the construction machine 100. Here, the controller can be composed of an arithmetic processing unit including a CPU and a memory (ROM, RAM, etc.).

  In this embodiment, the control means 20 prevents the attachment and the cab 10Cb from interfering with each other based on the position and the operation direction of the attachment (11, 12 and 13 in FIG. 1). That is, the control means 20 decelerates or stops the hydraulic cylinder (Cb or the like) that drives the attachment in order to prevent the attachment and the cab 10Cb from interfering with each other.

  Specifically, the control unit 20 first determines the interference prevention range (FIG. 4 described later) based on the position of the attachment (11, etc.) detected by the detection unit 31 and the operation direction input by the operation lever (Lvb, etc.). Rc1, Rd1) are set. Next, the control means 20 determines whether or not the attachment has entered the interference prevention range based on the position of the attachment detected by the detection means 31 during operation.

  At this time, when the control unit 20 determines that the attachment has entered the interference prevention range, the flow rate of hydraulic oil supplied to the hydraulic cylinder Cb and the like that drives the attachment using the pressure reducing valve Vpb and the like of the hydraulic circuit 30C and the like. Or the supply of hydraulic oil to the hydraulic cylinder Cb or the like is stopped. That is, the control means 20 uses the pressure reducing valve Vpb and the like of the hydraulic circuit 30C to reduce the pilot pressure input to the control port such as the direction control valve Vcb, and decelerates or stops the hydraulic cylinder Cb and the like that drive the attachment. In addition, when it is determined that the attachment has been operated in a direction in which the attachment is retracted outside the interference prevention range, the control unit 20 releases the deceleration or stop of the hydraulic cylinder that drives the attachment.

  Here, the interference prevention range is a stop range (for example, Rc1 in FIG. 4 or Rc2 in FIG. 5 described later) that stops the hydraulic cylinder (11c in FIG. 1, Cb in FIG. 2, etc.) on the outer periphery of the cab 10Cb. And a deceleration range (Rd1 in FIG. 4 or Rd2 in FIG. 5) that is the outer periphery of the stop range and decelerates the hydraulic cylinder. The control means 20 sets a stop range and a deceleration range according to the position of the attachment. The stop range and the deceleration range are not limited to those shown in FIGS. That is, the construction machine 100 to which the present invention can be used can appropriately set the stop range and the deceleration range according to the type of attachment and the operation method.

  A method (interference prevention control) in which the control means 20 (the construction machine 100) restricts the operation of the attachment in accordance with the position of the attachment will be described later [3. The operation of the construction machine] will be described.

[3. Construction machine operation]
A method in which the construction machine 100 (control unit 20) according to the embodiment of the present invention controls the operation of the attachment will be described with reference to FIGS. FIG. 3 is a flowchart for explaining an example of the operation (interference prevention control) of the control means 20 of the construction machine 100. FIG. 4 is an explanatory diagram for explaining an example of an interference prevention range (for boom raising operation) set by the control means 20 of the construction machine 100. FIG. 5 is an explanatory diagram for explaining an example of the interference prevention range (for arm and offset operation) set by the control means 20 of the construction machine 100.

  As shown in FIG. 3, the control means 20 of the construction machine 100 according to the present embodiment first responds to the operation direction (and the operation amount) of the operation lever (Lvb in FIG. 2) operated by the operator in step S301. Then, the operation of the attachment (such as the boom 11 in FIG. 1) is started.

  Thereafter, the control means 20 proceeds to step S302.

  Next, in step S302, the control means 20 calculates the work posture of the construction machine 100 based on the detection result detected by the detection means 31 (FIG. 2). Specifically, the control means 20 determines the position (posture) of the attachment based on the boom 11, the arm 12, and the offset angle detected by the boom sensor 31b, the arm sensor 31a, and the offset sensor 31o (FIG. 2). Is calculated. For example, the control unit 20 detects the angle θb of the boom 11 and the angle θa of the arm 12 shown in FIG. 4 and calculates the angle θas of the tip of the arm 12 as the work posture of the construction machine 100.

  After the calculation, the control unit 20 proceeds to step S303.

  Next, in step S303, the control means 20 calculates the position of the tip of the arm 12. Specifically, the control means 20 uses the angle of the boom 11 detected by the boom sensor 31b and the like and the length in the longitudinal direction of the boom 11 and the arm 12 stored in advance, so that the position of the tip of the arm 12 is determined. Is calculated.

  After the calculation, the control means 20 proceeds to step S304.

  In step S304, the control means 20 calculates a separation distance (hereinafter referred to as “safety distance”) between the tip of the arm 12 and the outer shape of the cab 10Cb. Specifically, the control means 20 calculates the safety distance based on the position of the tip of the arm 12 calculated in step S303 and the shape of the cab 10Cb stored in advance.

  After the calculation, the control unit 20 proceeds to step S305.

  In step S305, the control means 20 determines whether or not it is a boom raising operation permission area. Here, the control means 20 first determines whether or not the tip of the arm 12 is above the cab 10Cb based on the position of the tip of the arm 12 calculated in step S303. Next, the control means 20 determines whether or not the operation direction of the operation lever input in step S301 is the boom raising direction.

  Specifically, as shown in FIG. 4, the control means 20 divides the peripheral area of the cab 10Cb into areas R1 to R6, and is the tip of the arm 12 positioned in the area R1 or the area R2 (predetermined area)? Judge whether or not. Further, when the tip of the arm 12 is located in the region R1 or the region R2, the control unit 20 determines whether or not the operation direction of the operation lever is the boom raising direction Mb.

  The control means 20 uses the drive angle θa of the arm 12 and the drive angle θb of the boom 11 as shown in FIG. You may judge that it is above the cab 10Cb. Here, in the following equation, θc is the angle of the upper front corner of the cab when the base end Ob of the boom 11 pivotally supported by the upper swing body 10Up is the center.

(Equation 1)
θas> θc
Further, the control means 20 is configured so that the following expression is established with respect to the coordinates (xa, ya) of the tip of the arm 12 when the base end Ob of the boom 11 pivotally supported by the upper swing body 10Up is centered. May be determined to be above the cab 10Cb. Here, in the following expression, xc and yc are the coordinates of the front upper corner of the cab 10Cb.

(Equation 2)
ya / xa> yc / xc
When the tip of the arm 12 is located in the region R1 or the region R2 and the input operation direction is the boom raising direction Mb, the control unit 20 determines that the boom raising operation is permitted, and the step The process proceeds to S306A. In other cases, the control means 20 proceeds to step S306B.

  In step S306A, the control means 20 sets an interference prevention range in order to limit the operation of the attachment. At this time, the control unit 20 sets the stop range Rc1 and the deceleration range Rd1 shown in FIG. 4 as the boom raising operation interference prevention range that permits the raising operation of the boom 11 (does not restrict the raising operation of the boom 11). . That is, the control means 20 sets the interference prevention range in the area (area 3 to area 6) other than the area R1 and the area R2 in the peripheral area of the cab 10Cb.

  After the setting, the control unit 20 proceeds to step S307.

  On the other hand, in step S306B, the control unit 20 sets an interference prevention range in order to limit the operation of the attachment. At this time, the control means 20 sets the stop range Rc2 and the deceleration range Rd2 shown in FIG. 5 as the boom, arm 12 and offset interference prevention ranges for limiting the operations of the boom 11, the arm 12, and the offset, respectively. That is, the control unit 20 sets an interference prevention range in the region R1 to the region R6 in the peripheral region of the cab 10Cb.

  After the setting, the control unit 20 proceeds to step S307.

  In step S307, the control means 20 implements limiting the operation of the attachment (interference prevention control).

  Specifically, the control unit 20 first prevents the interference set by the attachment in step S306A or step S306B based on the position of the attachment (and the safety distance calculated in step S304) detected using the detection unit 31 during the work. It is determined whether or not the vehicle has entered the range (Rc1 and Rd1 in FIG. 4 or Rc2 and Rd2 in FIG. 5).

  Next, when it is determined that the attachment has entered the interference prevention range, the control unit 20 restricts the operation of the hydraulic cylinder that drives the attachment. When the attachment enters the deceleration range (Rd1 in FIG. 4 or Rd2 in FIG. 5), the control means 20 inputs a current value (Vpb etc. in FIG. 2) input to the pressure reducing valve (such as Vpb in FIG. 2) arranged in the hydraulic circuit 30C. Command signal), and the pilot pressure is reduced using a pressure reducing valve. Further, when the attachment enters the stop range (Rc1 in FIG. 4 or Rc2 in FIG. 5), the control means 20 fully closes the pressure reducing valve (Vpb, etc.) arranged in the hydraulic circuit 30C, and changes the direction. The pilot pressure input to the control valve (Vcb or the like) is stopped, and the operation of the hydraulic cylinder is stopped by neutralizing the spool position of the directional control valve. Further, the control means 20 then releases the restriction of the operation of the hydraulic cylinder that drives the attachment when the attachment is operated in the direction of retracting out of the interference prevention range. Thereby, the control means 20 can reduce the operating speed of the hydraulic cylinder that drives the attachment, and can perform the interference prevention control.

  Note that when the attachment enters the interference prevention range, the control unit 20 may correct the operation direction (and the operation amount) input by the operator and restrict the operation of the hydraulic cylinder. The control means 20 may control the position of the spool of the direction control valve based on, for example, the corrected operation direction (and operation amount). Moreover, the control means 20 may control the flow volume of the hydraulic fluid supplied to a hydraulic cylinder, for example based on the correct | amended operation direction (and operation amount).

  The control means 20 according to the present invention excludes the regions R1 and R2 (predetermined regions) above the cab 10Cb where the cab 10Cb and the attachment do not interfere when the boom 11 is raised from the interference prevention range. Thereby, the control means 20 does not decelerate or stop the hydraulic cylinder during the raising operation of the boom 11 (the boom 11 raising operation is not limited), and the position of the tip of the attachment is the region R1, R2 above the cab. . That is, the control means 20 sets a boom raising operation interference prevention range (a stop range Rc1 and a deceleration range Rd1 in FIG. 4) that permits the raising operation of the boom 11 in step S306A, and performs interference prevention control. Therefore, the control means 20 (construction machine 100) according to the present invention can improve the operability of the attachment when the attachment is operated above the cab 10Cb (when the boom 11 is raised).

  Thereafter, the control means 20 proceeds to step S308.

  In step S <b> 308, the control unit 20 determines whether to continue the attachment operation (work) according to information input to the construction machine 100 by the operator. When continuing the operation of the attachment, the control means 20 returns to step S302. When the operation of the attachment is not continued, the control unit 20 proceeds to END in the drawing, and ends the operation for controlling the attachment.

  As described above, according to the control means 20 (interference prevention device) of the construction machine 100 according to the embodiment of the present invention, the operation of the attachment (11 or the like) is restricted according to the position of the attachment (the position of the tip of the arm 12). can do. That is, according to the control means 20 (interference prevention device) according to the present embodiment, the interference prevention range is set according to the position of the tip of the arm 12, and the attachment and the cab 10Cb interfere with each other based on the set interference prevention range. Can be prevented. Thereby, according to the control means 20 (interference prevention device) according to the present embodiment, the raising operation of the boom 11 can be permitted above the cab 10Cb (regions R1, R2), and the attachment of the attachment can be performed above the cab 10Cb. Operability can be improved.

  In addition, according to the control means 20 (interference prevention device) of the construction machine 100 according to the embodiment of the present invention, the work (for example, a narrow road or other limited work space can be performed while preventing interference between the attachment and the cab 10Cb). For example, when carrying out the lifting work by the boom 11, the boom 11 can be raised above the cab 10Cb (regions R1, R2). Thereby, according to the control means 20 (interference prevention apparatus) which concerns on this embodiment, the workability | operativity of the construction machine 100 can be improved.

  Furthermore, according to the control means 20 (interference prevention device) of the construction machine 100 according to the embodiment of the present invention, for example, when the boom 11 is raised to raise the temperature of the hydraulic oil, the upper part of the cab 10Cb is used. The boom 11 can be raised in (regions R1, R2). Thereby, the construction machine 100 according to the present embodiment can easily and quickly raise the oil temperature of the working oil in a narrow work range.

[4. Example of attachment]
FIG. 6 shows another example of the attachment that can be used by the construction machine 100 according to the present embodiment. The attachment that can be used by the construction machine according to the present invention is not limited to that shown in FIG.

  As shown in FIG. 6A, the construction machine 100 can use a lifting magnet 13A as an attachment (end attachment). Here, the lifting magnet is an attachment that moves work objects such as broken materials and iron scraps using magnetic force. In the construction machine 100 using the lifting magnet 13A, the attachment work range (movable range) is generally widened. Since parts other than the lifting magnet 13A of the construction machine 100 shown in FIG. 6A are the same as those of the bucket 13 described above, description thereof is omitted.

  By using the interference prevention control according to the present invention, the construction machine 100 can prevent the attachment and the cab 10Cb from interfering with each other based on the set interference prevention range even when the attachment work range is widened. it can. In addition, the construction machine 100 can release the restriction of the raising operation of the boom 11 above the cab 10Cb (interference prevention restriction) by using the interference prevention control according to the present invention, so that the operability of the attachment is improved. Can be improved.

  As shown in FIG. 6B, the construction machine 100 can use a fork 13B as an attachment (end attachment). Here, the fork is an attachment that moves using a pair of members (for example, a pair of fork-shaped members) sandwiching the work object. Note that portions other than the fork 13B of the construction machine 100 shown in FIG.

  By using the interference prevention control according to the present invention, the construction machine 100 can prevent the attachment and the cab 10Cb from interfering based on the set interference prevention range even when the attachment of the fork 13B is used. . In addition, the construction machine 100 can release the restriction of the raising operation of the boom 11 above the cab 10Cb (interference prevention restriction) by using the interference prevention control according to the present invention, so that the operability of the attachment is improved. Can be improved.

  As mentioned above, although preferable embodiment of this invention was described, this invention is not restrict | limited to embodiment mentioned above. The present invention can be variously modified or changed in light of the appended claims.

100: Construction machine 10Cb: Cab (cab)
10Up: Upper turning body 10Dw: Lower traveling body 11: Boom 11c: Boom cylinder 12: Arm 12c: Arm cylinder 12o: Offset cylinder 13: Bucket 13c: Bucket cylinder 13A: Lifting magnet 13B: Fork 20: Control means (Controller etc.)
30C: Hydraulic circuit 31, 31a, 31b, 31o: Detection means Lva, Lvb, Lvo: Operation lever Vca, Vcb, Vco: Direction control valve (control valve)
Vpa, Vpb, Vpo: Pressure reducing valves R1, R2, R3, R4, R5, R6: Cab peripheral area Rc1, Rc2: Stop range (interference prevention range)
Rd1, Rd2: Deceleration range (interference prevention range)

Claims (7)

It is mounted on a construction machine including an operation lever for inputting an operation direction and an operation amount of an attachment, and a hydraulic circuit for controlling an operation of the attachment based on the operation direction and the operation amount input by the operation lever. An interference prevention device for restricting the operation of the attachment,
Detecting means for detecting a position of the attachment;
Control means for controlling the detection means and the hydraulic circuit,
The control means sets an interference prevention range based on the position of the attachment detected by the detection means and the operation direction input by the operation lever, and based on the position of the attachment detected by the detection means It is determined whether or not the attachment has entered the interference prevention range, and when the attachment has entered the interference prevention range, the hydraulic cylinder that drives the attachment is decelerated or stopped using the hydraulic circuit, and An area excluding a predetermined area above the cab when the position of the attachment detected by the detection means is above the cab and the operation direction input by the operation lever is a boom raising direction. Is set as the interference prevention range, and the position of the attachment is a boom in the predetermined area. No deceleration or stop of the hydraulic cylinder relative to the lower operation,
An interference prevention device for construction machinery. The interference prevention range has a stop range for stopping the hydraulic cylinder at the outer periphery of the cab and a deceleration range for reducing the speed of the hydraulic cylinder at the outer periphery of the stop range;
When the position of the attachment detected by the detection means is above the cab and the operation direction input by the operation lever is a boom raising direction, the control means is in the predetermined area. Do not set stop area and deceleration area,
The construction machine interference prevention apparatus according to claim 1. When the attachment enters the interference prevention range, the control means controls the pilot pressure input to the direction control valve of the hydraulic circuit using the pressure reducing valve of the hydraulic circuit, and controls the operation of the attachment. Restrict,
The construction machine interference prevention device according to claim 1 or 2, The control means corrects the input operation direction and the operation amount when the attachment enters the interference prevention range, and restricts the operation of the hydraulic cylinder that drives the attachment.
The construction machine interference prevention device according to claim 1 or 2,   5. The construction machine interference prevention device according to claim 1, wherein the detection unit detects a position of a tip of the attachment as the position of the attachment. 6.   6. The construction machine interference preventing apparatus according to claim 1, wherein the detection unit detects an angle of the attachment to detect a position of the attachment.   The said detection means detects the position of the said attachment based on the said operation direction and the said operation amount input by the said operation lever, The Claim 1 thru | or 5 characterized by the above-mentioned. Interference prevention equipment for construction machinery.

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