JP2017133261A - Working machine and interference avoidance method of working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working machine which can secure a working range while approaching a working machine main body, and can improve productivity by speedily operating a working implement.SOLUTION: A working machine comprises: a working implement 5 having a first working implement 51 which is movably provided at a working machine main body 4, and a second working implement 54; first control means which sets a first control objective face SF1 at a position apart from the working machine main body 4 by a prescribed distance, and restrains and prohibits the excess of a reference of the working implement 5 to the working machine main body 4 side rather than the first control objective face SF1 over the working implement 5; and second control means which sets a second control objective face SF2 at a position apart from the first control objective face SF1, and when a rise operation signal of the first working implement 51 is detected, avoids the interference of the reference of the working implement 5 and the working machine main body 4 by an intervention command to the operation command of the second working implement 54 on the basis of a distance between the second control objective face SF2 and the reference of the working implement 5.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a work machine and a work machine interference avoidance method.

When operating a work machine such as a hydraulic excavator in a narrow area such as a residential area, the bucket is often operated as close as possible to the swinging body of the hydraulic excavator in order to avoid interference with an installation object or the like.
However, when a bucket or the like is brought close to the revolving structure, there is a possibility of interfering with a driver's seat such as a cab of a hydraulic excavator depending on the posture of the working machine.
For this reason, in Patent Document 1, a check surface is set in front of the cab that covers the driver's seat, the speed of the actuator is reduced as the bucket approaches the check surface, and when the bucket enters beyond the check surface, the actuator is A technique for stopping and preventing interference with the driver's seat is disclosed.
Further, in Patent Document 1, when an operator at the driver's seat performs an operation to raise the boom while the bucket is positioned on the check surface, an actuator that drives the arm drives the arm in the dump direction and automatically In particular, a technique for avoiding bucket interference is disclosed.

JP 2000-160587 A

However, in the technique disclosed in Patent Document 1, when a check surface is set near the cab, excavation can be performed near the driver's seat. However, when the bucket approaches the cab during the boom raising operation, Therefore, it is difficult to operate at high speed. When operating at a high speed during the boom raising operation, the operator becomes more uneasy than the bucket is closer to the cab.
On the other hand, when the check surface is set far away, it is possible to operate the work equipment at high speed by controlling so that the bucket does not interfere when the boom moves up, and the operator's anxiety is also eliminated. However, when excavating near the driver's seat, the work machine cannot be moved to the vicinity of the cab, and the work range is limited.
In such a known technique, there is a problem that it is difficult to simultaneously improve the productivity by operating at a high work speed and to secure the work range by moving as close to the cab as possible.

  The object of the present invention is to make the work machine reference close to the work machine main body during excavation, to secure a work range, improve workability, and operate the work machine at a high speed during the boom raising operation. An object of the present invention is to provide a work machine and a work machine interference avoidance method capable of improving both workability and productivity.

The work machine according to the first aspect of the present invention includes:
A work machine having a first work machine operably provided in the work machine body, and a second work machine;
An operation command detection means for detecting an operation command by an operation means for operating the work implement;
A first control target surface is set at a position away from the work machine main body by a predetermined distance, and the reference of the work machine is restrained so that the work machine does not exceed the work machine main body side from the first control target surface. First control means for blocking,
When the second control target surface is set at a position further away from the work machine main body than the first control target surface, and the ascending operation command of the first work machine is detected by the operation command detection means, Second control means for avoiding interference between the reference of the work machine and the work machine main body by an intervention command to the operation command of the second work machine based on the distance between the surface to be controlled and the reference of the work machine It is characterized by having.

The work machine according to the second aspect of the present invention is:
A traveling body, and a revolving body provided on the traveling body so as to be able to swivel;
A work machine having a first work machine and a second work machine operably provided on the revolving structure;
An operation command detection means for detecting an operation command by an operation means for operating the work implement;
A first control target surface is set at a position away from the swivel body by a predetermined distance, and the work machine reference is restrained so that the work machine does not exceed the work machine main body side from the first control target surface. First control means to block,
When the second control target surface is set at a position further away from the work machine main body than the first control target surface, and the ascending operation command of the first work machine is detected by the operation command detection means, Second control means for avoiding interference between the reference of the work machine and the work machine main body by an intervention command to the operation command of the second work machine based on the distance between the surface to be controlled and the reference of the work machine It is characterized by having.

A work machine interference avoidance method according to a third aspect of the present invention includes:
A work machine interference avoiding method including a first work machine operably provided in a work machine body and a work machine having a second work machine,
A procedure for detecting an operation command by an operating means for operating the work implement;
A first control target surface is set at a position away from the work machine main body by a predetermined distance, and the reference of the work machine is restrained so that the work machine does not exceed the work machine main body side from the first control target surface. Steps to block,
When the second control target surface is set at a position further away from the work machine main body than the first control target surface, and the ascending operation command of the first work machine is detected, the second control target surface and the work A step of avoiding interference between the work machine reference and the work machine main body by an intervention command to the operation command of the second work machine based on a distance from the machine reference. To do.

  According to the present invention, since the work machine includes the first control means, the reference of the work machine is prevented from interfering with the work machine main body, and the second control means performs the first operation when the first work machine is raised. The work can be continued based on the second control target surface by the intervention command of the two work machines. Furthermore, by providing the second control target surface farther than the first control target surface, it is possible to secure a work range during excavation and to operate the work machine at a high speed during the boom raising operation, thereby achieving both workability and productivity. Can be achieved.

The side view showing the working machine which concerns on 1st Embodiment of this invention. The top view showing the working machine in the said embodiment. The circuit diagram showing the structure of the hydraulic circuit of the working machine in the said embodiment. The block diagram showing the control unit of the working machine in the said embodiment. The side view showing the interference prevention surface, interference avoidance surface, and correction avoidance surface in the said embodiment. The top view showing the interference avoidance surface in the said embodiment. The graph for demonstrating decelerating the raising speed of a boom as it approaches the interference prevention surface in the said embodiment. The graph for demonstrating decelerating the excavation speed of an arm as it approaches the interference prevention surface in the said embodiment. The graph for demonstrating the approach limitation speed with respect to the working machine main body of the reference | standard of the working machine in the said embodiment. The block diagram showing the structure of the approach direction speed calculating part in the said embodiment. The block diagram showing the structure of the arm control switching part in the said embodiment. The functional block diagram of a control unit in the case of calculating the correction avoidance surface in the said embodiment. The side view showing the correction avoidance surface used as the deformation | transformation of the said embodiment. The flowchart for demonstrating the effect | action of the said embodiment. The flowchart for demonstrating the effect | action of the said embodiment. The flowchart for demonstrating the effect | action of the said embodiment. The side view for demonstrating the effect of the said embodiment. The circuit diagram showing the structure of the hydraulic circuit of the working machine which concerns on 2nd Embodiment of this invention.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[1] Overall Configuration In FIGS. 1 and 2, a hydraulic excavator 1, which is a work machine, includes a work machine body including a traveling body 2, a revolving body 3, and a driver's seat 4, and a work machine 5. The The work machine main body in the interference avoidance control according to the present embodiment includes at least the driver's seat 4. In the description of the present invention, the front, rear, left and right directions are defined with the driver's seat 4 as a reference and the line-of-sight direction when the operator is seated as the front. The front-rear direction is defined as the x-axis, the left-right (width) direction is defined as the z-axis, and the vertical direction is defined as the y-axis.
The traveling body 2 is a crawler type, and a track frame (not shown) provided immediately below the revolving body 3 and a pair of traveling devices 21 provided at both ends of the track frame in the vehicle width direction orthogonal to the traveling direction. And is configured. The traveling device 21 includes a drive wheel protruding from the track frame and a crawler belt 22 wound around the idle wheel, and the hydraulic excavator 1 is driven along the extending direction of the crawler belt 22 by driving the drive wheel. Move forward and backward.

On the track frame of the traveling body 2, a revolving body 3 is provided so as to be able to turn. The revolving structure 3 is provided with a driver's seat 4 as a work machine body, and an operator gets on the driver's seat 4 to operate the hydraulic excavator 1. An operator seat 41 is provided in the driver's seat 4, and the driver's seat 4 is provided with operating levers 71 and 73, which are not shown in FIG. The driver's seat 4 of the present embodiment is a canopy type, but may be a cab type.
If the operation lever 71 is operated back and forth, the first boom 51 can be lowered and raised, and if operated left and right, the bucket 55 can be excavated and dumped.
The operation lever 73 can perform a dumping operation and excavation operation of the arm 54 by operating back and forth, and can rotate the revolving structure 3 left and right by operating left and right. Although not shown in FIGS. 1 and 2, the floor 42 of the driver's seat 4 is provided with travel pedals 74 and 75 for travel operation and an offset pedal 72 for offset operation. A working machine 5 is provided on the side of the driver's seat 4. That is, the driver's seat 4 and the work implement 5 are disposed adjacent to each other in the vehicle width direction on the revolving structure 3 with the front of the revolving structure 3 facing the traveling direction of the traveling structure 2.

[2] Configuration of Work Machine 5 The work machine 5 includes a first boom 51, a second boom 52, a bracket 53, an arm 54, and a bucket 55, a boom cylinder 51A for operating these elements, an offset cylinder 52A, An arm cylinder 54A and a bucket cylinder 55A are provided.
Here, each of the cylinders 51A, 52A, 54A, and 55A is a hydraulic cylinder, and its hydraulic source is a hydraulic pump 30 (see FIG. 3) that is driven by a prime mover such as an engine (not shown) provided in the revolving structure 3. .

The first boom 51 as the first work machine is provided so that the base end side can be pivoted to the swing body 3 by the foot pin 51 </ b> B, and the distal end portion of the first boom 51 and the swing body 3 are connected below the first boom 51. The boom cylinder 51 </ b> A can be moved up and down by the expansion and contraction. Although not shown in FIG. 1, the first boom 51 is provided with a potentiometer 81 (see FIG. 4) that is an angle detector, and detects the boom angle of the first boom 51 with respect to the swing body 3. The detected boom angle is output to the control unit 8 described later.
And the 1st boom 51 is equipped with the chamfering part 511 where the part bent in the up-down direction of the 1st boom 51 was chamfered in the front end side.

The 2nd boom 52 is provided in the front-end | tip of the 1st boom 51 of such a structure so that it can operate | move horizontally by the pin 51C.
The second boom 52 as the third working machine in the present invention is a so-called offset boom, and the offset boom is provided so as to be operable left and right with respect to the first boom 51.

The tip of the second boom 52 and the first boom 51 are connected to each other on the left side, that is, on the driver's seat 4 side by an offset cylinder 52A. That is, the tip of the rod of the offset cylinder 52A is operably provided on the tip of the second boom 52 by the pin 52C, and the cap of the offset cylinder 52A is operably provided on the first boom 51 by the pin 51D. . In the present embodiment, the second boom 52 is configured to be offset in the vehicle width direction, but the present invention is provided as a second boom so as to be operable up and down with respect to the first boom 51. A work machine is also included, and a boom configuration combining both forms may be employed.
Further, in the second boom 52, among the hydraulic piping, the hydraulic piping for the arm cylinder 54 </ b> A and the bucket cylinder 55 </ b> A is inserted into the second boom 52. A bracket 53 is connected to the tip of the second boom 52.

The bracket 53 is provided by a pin (not shown) so as to be movable in the horizontal direction at the tip of the second boom 52. The bracket 53 and the first boom 51 are connected to each other by a link rod 52D on the left side. Yes. That is, one end of the link rod 52D is operably provided on the bracket 53 by the pin 53A, and the other end is operably provided on the first boom 51 by the pin 51D.
The first boom 51, the second boom 52, the bracket 53, and the link rod 52D constitute a four-joint parallel link mechanism, and by the expansion and contraction of the offset cylinder 52A that connects the tip portions of the first boom 51 and the second boom 52, The bracket 53 operates with respect to the axis of the first boom 51. Although not shown in FIG. 1, the second boom 52 is provided with a potentiometer 82 (see FIG. 4), and the offset angle of the second boom 52 with respect to the first boom 51 is detected and detected. The offset angle is output to the control unit 8 described later.
An arm 54 is connected to the tip of the bracket 53.

The arm 54 as the second working machine is provided at the tip of the bracket 53 so as to be movable in the vertical direction. An arm cylinder 54A is attached in the vicinity of the connecting portion of the arm 54. The arm cylinder 54A is provided on the bracket 53 on the main body side, and the rod side of the arm cylinder 54A is provided on the cylinder mounting portion 541. The arm 54 moves up and down by the expansion and contraction of the arm cylinder 54A. Although not shown in FIG. 1, the arm 54 is provided with a potentiometer 83 (see FIG. 4), detects the arm angle of the arm 54 with respect to the second boom 52, and the detected arm angle is It is output to the control unit 8 described later.
A bucket 55 is connected to the tip of the arm 54.

The bucket 55 is a part for actually excavating or loading excavated earth and sand on a dump truck or the like, and is attached to the tip of the arm 54 so as to be operable around the horizontal axis.
The bucket 55 and the cylinder mounting portion 541 of the arm 54 are connected by a bucket cylinder 55A, and the bucket 55 operates by expanding and contracting the bucket cylinder 55A.

[3] Configuration of Hydraulic Circuit of Hydraulic Excavator 1 FIG. 3 shows a hydraulic pilot type hydraulic circuit and control unit 8 of the hydraulic excavator 1 according to the present embodiment. The excavator 1 includes a hydraulic pump 30 and hydraulic motors 23, 24, and 31 in addition to the boom cylinder 51A, the offset cylinder 52A, the arm cylinder 54A, and the bucket cylinder 55A described above.
The hydraulic pump 30 supplies hydraulic oil to drive the hydraulic cylinders 51A, 52A, 54A, and 55A to expand and contract, and supplies hydraulic oil to drive the hydraulic motors 23, 24, and 31 to rotate. The hydraulic motor 31 is a turning motor that turns the turning body 3, and the hydraulic motors 23 and 24 are driving motors that rotate the driving wheels of the traveling device 21.
Such a hydraulic circuit is provided with flow control valves 61, 62, 63, 64, 65, 66, 67 that drive the spool by pilot pressure from the pilot line. In the pilot line, an electromagnetic control valve 63C, proportional electromagnetic control valves 61C, 64C and 64D, a shuttle valve 64E, and a hydraulic pump 30A for generating a pilot pressure are provided.

The boom cylinder 51 </ b> A is connected to the hydraulic pump 30 via the flow control valve 61. The flow control valve 61 is connected to the operation lever 71 via a pilot line, and includes drive units 61A and 61B driven by pilot pressure. The pilot line for boom operation is provided with a proportional electromagnetic control valve 61C and a pressure sensor 61D as an operation command detection means.
When the operation lever 71 is operated in the front-rear direction, a pilot pressure is generated, the drive units 61A and 61B of the flow control valve 61 are driven, and the position of the flow control valve 61 is changed. Specifically, when the drive unit 61A is driven in the pushing direction, hydraulic oil is supplied to the cap side of the boom cylinder 51A, the boom cylinder 51A is expanded, and the first boom 51 performs an ascending operation. Conversely, when the drive unit 61B is driven in the pushing direction, hydraulic oil is supplied to the rod side of the boom cylinder 51A, and the first boom 51 performs a lowering operation.

The bucket cylinder 55 </ b> A is connected to the hydraulic pump 30 via the flow control valve 62. The flow control valve 62 is connected to the operation lever 71 via a pilot line, and includes drive units 62A and 62B driven by pilot pressure.
When the operation lever 71 is operated in the left-right direction, a pilot pressure is generated, the driving units 62A and 62B of the flow control valve 62 are driven, and the position of the flow control valve 62 is changed. Specifically, when the drive unit 62A is driven in the pushing direction, hydraulic oil is supplied to the cap side of the bucket cylinder 55A, the bucket cylinder 55A expands, and the bucket 55 performs an excavation operation. Conversely, when the drive unit 62B is driven in the pushing direction, hydraulic oil is supplied to the rod side of the bucket cylinder 55A, the bucket cylinder 55A contracts, and the bucket 55 performs a dumping operation.

The offset cylinder 52 </ b> A is connected to the hydraulic pump 30 via the flow rate control valve 63. The flow rate control valve 63 is connected to the offset pedal 72 via a pilot line, and includes driving units 63A and 63B driven by pilot pressure. An electromagnetic control valve 63C is provided in the pilot line for offset operation. The electromagnetic control valve 63C used here may perform a control other than the stop for the offset cylinder 52A as a proportional electromagnetic control valve.
When the operator steps on the offset pedal 72, pilot pressure is generated, the drive parts 63A and 63B of the flow control valve 63 are driven, and the position of the flow control valve 63 is changed. Specifically, when the drive unit 63A is driven in the pushing direction, hydraulic oil is supplied to the cap side of the offset cylinder 52A, the offset cylinder 52A extends, and the second boom 52 moves away from the driver seat 4. Moving. Conversely, when the drive unit 63B is driven in the pushing direction, hydraulic oil is supplied to the rod side of the offset cylinder 52A, and the second boom 52 moves in a direction approaching the driver seat 4.

The arm cylinder 54A is connected to the hydraulic pump 30 via the flow control valve 64. The flow control valve 64 is connected to the operation lever 73 via a pilot line, and includes drive units 64A and 64B driven by pilot pressure. The pilot line for operating the arm is provided with a proportional electromagnetic control valve 64C, a proportional electromagnetic control valve 64D, and a shuttle valve 64E.
When the operator operates the operation lever 73 in the front-rear direction, a pilot pressure is generated, the driving units 64A and 64B of the flow control valve 64 are driven, and the position of the flow control valve 64 is changed. Specifically, when the drive unit 64A is driven in the pushing direction, hydraulic oil is supplied to the cap side of the arm cylinder 54A, the arm cylinder 54A extends, and the arm 54 performs an excavation operation. Conversely, when the drive unit 64B is driven in the pushing direction, hydraulic oil is supplied to the rod side of the arm cylinder 54A, the arm cylinder 54A contracts, and the arm 54 performs a dumping operation.

  The control unit 8 includes an input / output unit 8A, a processing unit 8B, and a storage unit 8C. The input / output unit 8A receives the detection values from the potentiometers 81 to 83 and the on / off signals based on the operation of the interference avoidance control changeover switch 10, and the proportional electromagnetic control valves 61C, 64C, 64D, the electromagnetic control valve 63C. The command to is output. The processing unit 8B performs each calculation process in the present case control. 8 C of storage parts memorize | store the dimension of the member which comprises the working machine 5, the coordinate data of interference prevention surface SF1, interference avoidance surface SF2, and the various restriction tables used by the process part 8B.

The hydraulic motor 31 is connected to the hydraulic pump 30 via the flow control valve 65. The flow rate control valve 65 is connected to the operation lever 73 via a pilot line, and includes drive units 65A and 65B driven by pilot pressure.
When the operation lever 73 is operated in the left-right direction, a pilot pressure is generated, the drive parts 65A and 65B of the flow control valve 65 are driven, the position of the flow control valve 65 is changed, and the swing body 3 performs a swing operation.

  The hydraulic motors 23 and 24 are connected to the hydraulic pump 30 via the flow control valves 66 and 67. The flow control valves 66 and 67 are connected to the travel pedals 74 and 75 via the pilot line. When an operator steps on the travel pedals 74 and 75, pilot pressure is generated, and the positions of the flow control valves 66 and 67 are changed. Is done. The flow control valves 66 and 67 rotate the drive wheels of the left and right traveling devices 21 to cause the hydraulic excavator 1 to travel by supplying hydraulic oil to the hydraulic motors 23 and 24 according to the changed positions.

  The lever operation amount detects at least the operation amount for raising the first boom 51. As a boom raising operation detecting means, a pressure sensor 61D provided in the pilot line is used. The electrical signal detected by the pressure sensor 61D is output to the control unit 8 as an operation signal.

[4] Functional Block Configuration of Control Unit 8 FIG. 4 shows a functional block diagram of the processing unit 8B of the control unit 8.
Based on the boom angle, the arm angle, and the offset angle detected by the potentiometers 81, 82, and 83, the processing unit 8B, as shown in FIG. 5, determines the reference of the work machine 5 (for example, the tip of the blade edge of the bucket 55). The distance from the interference prevention surface SF1 as the first control target surface or the interference avoidance surface SF2 as the second control target surface is calculated. In the present invention, it is referred to as an interference avoidance surface and an interference prevention surface control target surface, but in actual control, each surface is set as a line. However, each surface may be set as a surface having width information.

Here, as shown in FIG. 6, the interference avoidance surface SF <b> 2 is also provided in the z-axis direction of the hydraulic excavator 1 (left and right direction of the hydraulic excavator 1), and from the front of the driver's seat 4 (work machine main body). However, as the work machine 5 is turned to the side where it is provided, the coordinate difference between the interference avoiding surface SF2 and the front surface of the driver's seat 4 in the x-axis direction (traveling direction of the excavator 1) is set to be small. .
This is because, after excavation, the operation of lowering the turning radius by holding the work implement 5 in the lateral direction of the driver's seat 4 by the operation of raising the boom, excavation, and offset (separation) is not performed. This is because the work implement 5 can be operated along the interference avoidance surface SF2 by the dumping operation of the arm 54 by the interference avoidance control, and the work implement 5 can be smoothly operated with a compact locus. Here, the distance between the driver's seat 4 and SF2 is set larger than the distance between the driver's seat and SF1.

  Then, the processing unit 8B restricts the ascending operation of the first boom 51, restricts the operation in the approaching direction of the second boom 52, restricts the excavating operation of the arm 54, and performs the excavating operation of the arm 54 during the ascending operation of the first boom 51. It is determined whether or not an intervention operation by deceleration or dumping operation is commanded, and commands are output to the proportional electromagnetic control valve 61C, the electromagnetic control valve 63C, the proportional electromagnetic control valve 64C, and the proportional electromagnetic control valve 64D. In addition, the reference | standard of the working machine 5 may be arbitrary positions on the working machine 5 including the arm 54, for example, the outline of the bucket 55 may be sufficient, and the reference | standard of the working machine 5 may be plural.

  The processing unit 8B includes a first distance calculation unit 84A, a second distance calculation unit 84B, a first limit value calculation unit 85, a second limit value calculation unit 86, a speed limit calculation unit 87, a boom raising operation determination unit 88, and an approach direction. Speed calculation unit 89, speed limit subtraction unit 90, arm cylinder speed limit calculation unit 91, arm control switching unit 92, boom rise limit command value output unit 93A, arm excavation limit command value output unit 93B, arm dump command value output unit 93C And an offset approach restriction command value output unit 93D.

The first distance calculation unit 84A as the first control means calculates the dimensions of the members constituting the work machine 5 called from the storage unit 8C and the boom angle, arm angle, and offset angle detected by the potentiometers 81, 82, and 83. The distance from the reference anti-interference surface SF1 of the work machine 5 is calculated from the attitude of the work machine 5 and the coordinate data of the interference prevention surface SF1. The first distance calculation unit 84A outputs the calculation result to the first limit value calculation unit 85, the second limit value calculation unit 86, and the offset approach limit command value output unit 93D.
The second distance calculation unit 84B as the second control means calls the coordinate data of the interference avoidance surface SF2 and the dimensions of the members constituting the work machine 5 from the storage unit 8C, and is detected by the potentiometers 81, 82, and 83. Using the boom angle, arm angle, and offset angle, the distance from the reference interference avoiding surface SF2 of the work machine 5 is calculated. The second distance calculation unit 84B outputs the calculation result to the speed limit calculation unit 87.

The first limit value calculation unit 85 as the first control means monitors the operation state of the interference avoidance control changeover switch 10 provided in the driver's seat 4, that is, valid / invalid, and enables the interference avoidance control changeover switch 10 to be valid, A limit value for the rising speed of the first boom 51 is calculated according to the invalid state.
Specifically, as shown in FIG. 7, a table that gives a limit value to the cylinder speed of the boom cylinder 51A corresponding to the distance from the interference prevention surface SF1 is called from the storage unit 8C to calculate the limit value.
The first limit value calculation unit 85 relaxes the restriction on the work implement 5 in accordance with the on / off state of the interference avoidance control changeover switch 10.
When the interference avoidance control changeover switch 10 is disabled (off), the first limit value calculation unit 85 applies a limit such as the graph G1 in which the cylinder speed gradually changes as the distance from the interference prevention surface SF1 increases. The table is called from the storage unit 8C. On the other hand, when the interference avoidance control changeover switch 10 is enabled (ON), the first limit value calculation unit 85 is a table such as a graph G2 in which the cylinder speed changes sharply as the distance from the interference prevention surface SF1 increases. Is called from the storage unit 8C.
The first limit value calculation unit 85 outputs the calculation result to the approach direction speed calculation unit 89 and the boom rise limit command value output unit 93A.

The second limit value calculation unit 86 as the first control means determines the speed of the excavation operation speed of the arm 54 based on the distance between the reference of the work machine 5 calculated by the first distance calculation unit 84A and the interference prevention surface SF1. Calculate the limit value.
Specifically, as shown in FIG. 8, the second limit value calculation unit 86 stores a table that gives a limit value to the cylinder speed of the arm cylinder 54A according to the distance from the interference prevention surface SF1, as shown in FIG. Called from to calculate the limit value. The second limit value calculation unit 86 outputs the calculation result to the arm control switching unit 92.

The speed limit calculation unit 87 as the second control means calculates a reference approach speed limit of the work machine 5.
Specifically, as illustrated in FIG. 9, the speed limit calculation unit 87 is configured to operate the work implement according to the distance between the reference of the work implement 5 and the interference avoidance surface SF2 calculated by the second distance calculation unit 84B. As the distance between the reference number 5 and the interference avoidance surface SF2 becomes smaller, a table in which the speed limit becomes smaller is called from the storage unit 8C to calculate the approach speed limit. Speed limit calculation unit 87 outputs the calculation result to speed limit subtraction unit 90. Here, the approach limit speed is a speed that limits the speed in the direction in which the reference of the work machine 5 approaches the work machine body.
The boom raising operation determination unit 88 determines whether or not the raising operation of the first boom 51 has been performed based on the pilot pressure associated with the operation of the first boom 51 detected by the pressure sensor 61D. Output to the control switching unit 92.

The approach direction speed calculation unit 89 as the second control means performs the boom raising operation based on the raising operation amount of the first boom 51, the change amount of the offset angle of the second boom 52, and the posture of the work implement 5. The approaching direction speed at the reference position of the work machine 5 by the offset operation is calculated.
Specifically, as shown in FIG. 10, the approach direction speed calculation unit 89 includes a boom raising operation amount calculation unit 89A, a comparator 89B, a boom operation approach speed calculation unit 89C, and an offset operation approach speed calculation unit. 89D and a calculation result output unit 89E.

The boom raising operation amount calculation unit 89A calculates the boom raising operation amount based on the pilot pressure in the raising operation of the first boom 51 detected by the pressure sensor 61D.
The comparator 89B compares the boom raising operation amount calculated by the boom raising operation amount calculating unit 89A with the limit value of the rising speed of the first boom 51 calculated by the first limit value calculating unit 85, and calculates the minimum value. A value is selected and output to the boom operation approach speed calculation unit 89C.
The boom operation approach speed calculation unit 89 </ b> C includes the minimum value selected by the comparator 89 </ b> B, the boom angle of the first boom 51 detected by the potentiometers 81 to 83, the arm angle of the arm 54, and the offset angle of the second boom 52. Based on the above, the reference approaching speed of the work machine 5 by the boom raising operation is calculated.

Based on the boom angle of the first boom 51, the arm angle of the arm 54, and the offset angle of the second boom 52 detected by the potentiometers 81 to 83, the offset operation approach speed calculation unit 89D The approach direction speed at the reference position is calculated.
The calculation result output unit 89E is adapted to the reference approaching direction speed of the work implement 5 by the boom raising operation calculated by the boom operation approach speed calculation unit 89C, and the work implement 5 by the offset operation calculated by the offset operation approach speed calculation unit 89D. Are added to the reference speed in the approach direction and output to the speed limit subtraction unit 90.
The speed limit subtraction unit 90 as the second control means subtracts the approach direction speed calculated by the approach direction speed calculation unit from the approach speed limit calculated by the speed limit calculation unit 87. This is because the approaching direction speed by the work machine 5 other than the arm 54 is subtracted to prevent the work machine 5 from approaching the work machine body at a speed faster than the approach limit speed. The speed limit subtraction unit 90 outputs the subtraction result to the arm cylinder speed limit calculation unit 91.

The arm cylinder speed limit calculation unit 91 as the second control means includes a boom angle of the first boom 51 detected by the potentiometers 81 to 83, an arm angle of the arm 54, an offset angle of the second boom 52, and a speed limit subtraction unit. Based on the subtraction result calculated in 90, the speed limit at the reference position of the work machine 5 of the arm 54 is converted into the speed limit of the arm cylinder 54A in consideration of the posture of the work machine 5.
Specifically, when operating the arm 54 in the excavation direction, the arm cylinder speed limit calculating unit 91 converts the arm cylinder 54A into an arm excavation limit value 91A that extends the arm cylinder 54A, and when operating the arm 54 in the dumping direction, This is converted into an arm dump limit value 91B for contracting the cylinder 54A.
The arm cylinder speed limit calculation unit 91 outputs the converted arm excavation limit value 91A or the arm dump limit value 91B to the arm control switching unit 92.

The arm control switching unit 92 switches the command value to the arm cylinder 54A according to the on / off state of the interference avoidance control switching switch 10, the state where the boom raising operation is performed, and the case where the boom raising operation is not performed.
Specifically, as shown in FIG. 11, the arm control switching unit 92 includes an adder 92A and switches 92C and 92D.
The adder 92A outputs to the switches 92C and 92D that interference avoidance control is performed when the interference avoidance control switching switch 10 is on and the boom raising operation determination unit 88 determines that there is a boom raising operation.

  The switch 92C is used when excavating with the arm 54 and has two switch positions. The output from the arm excavation limit value 91A is input to the first position. The output from the second limit value calculation unit 86 is input to the second position. When the output from the adder 92A is input, the interference avoidance control changeover switch 10 is on and the boom is raised, the first position is selected and the interference avoidance control is executed. If either of the interference avoidance control changeover switch 10 is on or the boom raising operation is not established, the second position is selected. The second position is a position using the limit value of the speed of the excavation operation of the arm 54 calculated by the second limit value calculation unit 86. The output switched by the switcher 92C is output to the arm excavation restriction command value output unit 93B.

  The switch 92D is used when a dumping operation is performed by the arm 54 by the second control means, and has two positions like the switch 92C. The first position is a position using the arm dump limit value 91B output from the arm cylinder limit speed calculation unit 91. At the second position, an arm dump operation command zero that does not perform the dump intervention of the arm 54 is input. When the output from the adder 92A is input, the interference avoidance control changeover switch 10 is on and the boom is raised, the first position is selected and the interference avoidance control is executed. If the interference avoidance control switch 10 is on or the boom raising operation is not established, the second position is selected. In this case, the dump intervention operation of the arm 54 is not performed. The output switched by the switch 92D is output to the arm dump command value output unit 93C.

The boom rise restriction command value output unit 93A outputs command values such as voltage and current to the proportional electromagnetic control valve 61C based on the rise speed limit value of the first boom 51 calculated by the first limit value calculation unit 85. (See FIG. 3). The proportional electromagnetic control valve 61C limits the pilot pressure by the lever operation that acts on the drive portion 61A of the flow control valve 61, and the hydraulic oil is supplied to the cap side of the boom cylinder 51A in the position of the flow control valve 61. Change to limit.
The arm excavation restriction command value output unit 93B outputs command values such as voltage and current to the proportional electromagnetic control valve 64C based on the output of the switch 92C (see FIG. 3). The proportional electromagnetic control valve 64C limits the pilot pressure by lever operation that acts on the drive unit 64A of the flow control valve 64, and the hydraulic oil is supplied to the cap side of the arm cylinder 54A in the position of the flow control valve 64. Change to limit.

The arm dump command value output unit 93C outputs command values such as voltage and current to the proportional electromagnetic control valve 64D based on the output of the switch 92D (see FIG. 3). The proportional electromagnetic control valve 64D applies a pilot pressure to the drive unit 64B of the flow control valve 64 via the shuttle valve 64E so that the operating oil is supplied to the rod side of the arm cylinder 54A. change.
The offset approach restriction command value output unit 93D outputs a cutoff command to the electromagnetic control valve 63C for the approaching operation of the second boom 52 toward the driver's seat 4 (see FIG. 3). The electromagnetic control valve 63C shuts off the pilot pressure due to lever operation to the drive portion 63A of the flow control valve 63, shuts off the supply of hydraulic oil to the cap side of the offset cylinder 52A, and stops the second boom 52.

[5] Functional block configuration of the control unit 8 when calculating the correction avoidance surface SF3 When calculating the correction avoidance surface SF3 as the third control target surface shown in FIG. In addition, as illustrated in FIG. 12, the processing unit 8B of the control unit 8 includes a third distance calculation unit 94, a posture acquisition unit 95, a correction avoidance surface calculation unit 96, and a fourth distance calculation unit 97.
The third distance calculation unit 94 calculates the distance from the reference interference avoidance surface SF <b> 2 of the work machine 5 at the start of the lifting operation of the first boom 51. The calculation method is performed in the same manner as the second distance calculation unit 84B.
The posture acquisition unit 95 acquires the posture of the work machine 5 at the start of the lifting operation of the first boom 51. The posture of the work machine 5 is the length dimension of the members constituting the work machine 5 stored in the storage unit 8C, the boom angle of the first boom 51 detected by the potentiometers 81, 82, 83, the arm angle of the arm 54, And based on the offset angle of the second boom 52.

The correction avoidance surface calculation unit 96 as the third control target surface calculation unit is based on the output value of the third distance calculation unit 94, the boom operation state, and the posture of the work machine 5 acquired by the posture acquisition unit 95. The surface SF3 is calculated.
Specifically, the correction avoidance surface calculation unit 96, when the boom raising operation is started, when the reference of the work machine 5 is on the driver's seat 4 side (work machine body side) with respect to the interference avoidance surface SF2, is the interference avoidance surface SF2. Based on the coordinate data, the reference coordinates of the work implement at the start of the boom raising operation, the angle of the work implement 5 and the like, the correction avoidance surface SF3 serving as a trajectory for returning the reference of the work implement 5 to the interference avoidance surface SF2 is calculated. .
In the present embodiment, the correction avoidance surface SF3 is a correction avoidance surface SF3 that smoothly returns to an arc shape as shown in FIG.

However, the present invention is not limited to this, and as shown in FIG. 13, the correction avoidance surface SF4 that is the fourth control target surface to be returned within a certain height distance H1 is used as the fourth control target surface calculation unit. The correction avoidance surface calculation unit 96 may perform the calculation.
The calculation in the correction avoidance surface calculation unit 96 is performed by the following procedure, for example.
(1) The posture acquisition unit 95 acquires the reference coordinates of the work machine 5 at the start of the boom raising operation.
(2) The coordinates on the interference avoidance surface SF2 at the height coordinates increased by the height distance H1 are obtained.
(3) A line segment based on the coordinates obtained in (1) and (2) is set as a correction avoidance surface SF4.
On the other hand, the correction avoidance surface calculation unit 96 corrects when the reference coordinates of the work machine 5 acquired by the third distance calculation unit 94 and the posture acquisition unit 95 are located outside the interference avoidance surface SF2. The avoidance surface SF3 is calculated as the interference avoidance surface SF2.
The correction avoidance surface SF3 calculated by the correction avoidance surface calculation unit 96 is output to the fourth distance calculation unit 97.

The fourth distance calculation unit 97 includes the distance between the correction avoidance surface SF3 calculated by the correction avoidance surface calculation unit 96 and the reference of the work implement 5 as the length of the member constituting the work implement 5 stored in the storage unit 8C. Calculation is performed based on the height dimension, the boom angle of the first boom 51 detected by the potentiometers 81, 82, and 83, the arm angle of the arm 54, and the offset angle of the second boom 52.
The distance between the correction avoidance surface SF3 calculated by the fourth distance calculation unit 97 and the reference of the work implement 5 is output to the speed limit calculation unit 87 as the current position.
The speed limit calculating unit 87 and the approaching direction speed calculating unit 89 calculate the speed limit and the approaching direction speed in the same manner as described above in relation to the correction avoidance surface SF3.

[6] Interference Prevention Control and Interference Avoidance Control Method According to Embodiment Next, a work machine interference avoidance method that is an operation of the present embodiment will be described based on the flowcharts shown in FIGS. 14 to 16.
In FIG. 14, the first distance calculation unit 84A calculates the distance between the reference of the work machine 5 and the interference prevention surface SF1 (step S1).
The second distance calculation unit 84B calculates the distance between the reference of the work machine 5 and the interference avoidance surface SF2 (step S2).

The first limit value calculation unit 85 selects the table of the graph G1 or the table of the graph G2 in FIG. 7 based on the ON / OFF state of the interference avoidance control changeover switch 10 to limit the ascent speed of the first boom 51. A value is calculated (step S3).
The boom rise restriction command value output unit 93A outputs a boom command value based on the rise speed limit value of the first boom 51 calculated by the first limit value calculation unit 85 (step S4).
The second limit value calculation unit 86 calculates the speed limit value of the arm excavation operation based on the work machine reference calculated by the first distance calculation unit 84A and the distance between the interference prevention surfaces SF1 (step S5).

The speed limit calculation unit 87 calculates the reference approach speed limit of the work machine 5 based on the reference of the work machine 5 calculated by the second distance calculation unit 84B and the distance of the interference avoidance surface SF2 (step S6). .
When the approaching direction speed calculation unit 89 detects the pilot pressure of the boom raising operation by the pressure sensor 61D, the amount of raising operation of the first boom 51, the amount of change in the offset angle of the second boom 52, and the attitude of the work implement 5 Based on the above, the approach direction speed at the reference position of the work machine 5 by the boom raising operation and the offset operation is calculated (step S7).

The speed limit subtraction unit 90 uses the reference approach speed limit of the work machine 5 calculated by the speed limit calculation unit 87 to the reference speed of the work machine 5 by the operation other than the arm 54 calculated by the approach direction speed calculation unit 89. The direction speed is subtracted (step S8).
The arm cylinder speed limit calculation unit 91 calculates the arm excavation limit value 91A or the arm dump limit value 91B based on the output of the speed limit subtraction unit 90 (step S9).
Proceeding to FIG. 15, the boom raising operation determination unit 88 determines whether or not there is a boom raising operation (step S <b> 12) and whether or not the interference avoidance control switch 10 is turned on (step S <b> 15).
When it is determined that there is no boom raising operation (step S12: No) or the interference avoidance control switch 10 is off (step S15: No), the arm control switching unit 92 sets the arm excavation limit value. (Procedure S13), arm dump command = 0 is output (procedure S14: third position).

  When it is determined that there is a boom raising operation (procedure S12: Yes), and it is determined that the interference avoidance control switching switch 10 is on (procedure S15: Yes), the arm control switching unit 92 performs interference avoidance control ( Procedure S18).

Specifically, in step S18, as shown in FIG. 16, the third distance calculation unit 94 calculates the reference of the work implement 5 at the start of the boom raising operation and the distance of the interference avoidance surface SF2 (step S18A). ).
The posture acquisition unit 95 acquires the posture of the work machine 5 during the boom raising operation (step S18B).
The correction avoidance surface calculation unit 96 determines whether or not the reference of the work machine 5 is on the driver seat 4 side of the interference avoidance surface SF2 (step S18C). If it is determined that the reference of the work machine 5 is outside the interference avoidance surface SF2, the correction avoidance surface SF3 is set as the interference avoidance surface SF2 (step S18E).

If it is determined that the reference of the work machine 5 is inside the interference avoidance surface SF2, the correction avoidance surface calculation unit 96 calculates the correction avoidance surface SF3 (step S18D).
The fourth distance calculation unit 97 acquires the distance between the reference of the work machine 5 and the correction avoidance surface SF3 (step S18F).
The fourth distance calculation section 97 outputs the calculated distance between the work machine 5 and the correction avoidance surface SF3 to the speed limit calculation section 87 (step S18G) and also outputs it to the approach direction speed calculation section 89 (procedure). S18H).

The arm control switching unit 92 performs any of the arm output command values described above as an output to the arm excavation restriction command value output unit 93B (procedure S19) and an output to the arm dump command value output unit 93C (procedure S20).
The arm excavation restriction command value output unit 93B outputs commands such as voltage and current to the proportional electromagnetic control valve 64C, and the arm dump command value output unit 93C outputs commands such as voltage and current to the proportional electromagnetic control valve 64D. .

[7] Effects of First Embodiment According to this embodiment, there are the following effects.
Since the excavator 1 includes the first limit value calculation unit 85 and the second limit value calculation unit 86, when the reference of the work implement 5 reaches the interference prevention surface SF1, the first boom 51 and the arm 54 are driven. Since the operation is stopped, the work machine 5 can be prevented from interfering with the driver's seat 4.

  Since the excavator 1 includes the speed limit calculation unit 87, the reference of the work machine 5 is the distance between the reference of the work machine 5 and the interference avoidance surface SF2, and the reference speed limit table of the work machine 5 shown in FIG. Based on the above, the speed limit in the standard of the work machine 5 can be calculated. The hydraulic excavator 1 includes the approach direction speed calculation unit 89, the speed limit subtraction unit 90, and the arm cylinder speed limit calculation unit 91, so that the speed limit in the reference of the work machine 5 and the reference of the work machine 5 are work other than the arm 54 The speed limit for the arm 54 can be calculated based on the speed of approaching the driver's seat 4 by the machine. Since the excavator 1 includes the arm control switching unit 92, when the ascending operation command for the first boom 51 is detected, the arm excavation is performed according to the speed limit of the arm cylinder 54 </ b> A calculated by the arm cylinder speed limit calculating unit 91. Since the speed limit value in the direction or the speed command value in the arm dump direction is generated, when the reference of the work machine 5 is located farther than the interference avoidance surface SF2 with respect to the driver seat 4, the work machine In the case where the reference 5 is not closer to the driver's seat 4 and closer to the driver's seat 4 than the interference avoiding surface SF2, it can be automatically returned to the interference avoiding surface SF2. On the other hand, when the raising operation command for the first boom 51 is not detected, the speed limit value of the arm excavation operation calculated by the second limit value calculation unit 86 based on the distance between the reference of the work machine 5 and the interference prevention surface SF1. Therefore, the speed of the arm excavation direction can be limited, so that the reference of the work machine 5 can be prevented from approaching the driver's seat 4 from the interference prevention surface SF1.

By properly using such interference prevention control and interference avoidance control, the following actions and effects can be further enjoyed.
In a series of swivel loading processes such as excavation work, hoist swivel, and dump work, excavation work can be performed without restriction of the work machine 5 during excavation.
That is, as shown in FIG. 17, during the excavation work, the first boom 51 is not raised, so that the interference prevention control is effective, the interference avoidance control is invalid, and the arm 54 exceeds the interference avoidance surface SF2 by the excavation operation. Excavation work can be performed without being restricted by the work machine 5 to the vicinity of the interference prevention surface SF1.

On the other hand, after completion of the excavation work, the worker performs the raising operation of the first boom 51. In this case, the interference avoidance control becomes effective, and based on the distance between the raising operation command of the first boom 51 and the interference avoidance surface SF2, the dump intervention command of the arm 54 by the interference avoidance control works, and the tip of the arm 54 is the interference avoidance surface. Move to SF2. As a result, the tip of the interference avoidance surface SF2 moves along the interference avoidance surface SF2 only by the raising operation command of the first boom 51.
When the first boom 51 is raised, the operator simultaneously operates the operation lever 73 to perform a turning operation, or in a narrow space, presses the offset pedal 72 to fold the second boom 52 to the driver's seat 4 side. The plurality of work machines 5 may be operated simultaneously by moving them, and a compact operation may be performed near the driver's seat 4. At this time, the dump intervention command for the arm 54 is acted on the basis of the interference avoidance surface SF2 by the interference avoidance control. Therefore, the operator performs excavation work without being restricted by the work avoidance surface SF2 due to the interference avoidance surface SF2 during excavation. Since the avoidance operation is performed, the distance between the worker and the work machine 5 can be secured, the worker's anxiety can be alleviated, and the worker can operate the work machine at high speed without worrying.

  At this time, if the interference avoidance control changeover switch 10 is turned off, it is possible to prevent an arm dump from occurring due to the interference avoidance control, so that the operator can operate up to the interference prevention surface SF1 without being restricted by the interference avoidance surface SF2. Since the work machine 5 operates in the same manner, it is possible to perform fine work near the work machine main body such as an arm crane. In addition, when the interference avoidance control changeover switch 10 is turned on, the limit table (see FIG. 7) on the interference prevention surface SF1 is changed. Productivity is also improved because it can be raised at high speed.

  Since the excavator 1 includes the correction avoidance surface calculation unit 96 and the fourth distance calculation unit 97, the reference of the work machine 5 is closer to the work machine main body side than the interference avoidance surface SF2 illustrated in FIG. In some cases, the tip of the arm 54 can be returned to the interference avoidance surface SF2 along the correction avoidance surfaces SF3 and SF4. Therefore, by performing excavation work, the work machine 5 is placed closer to the driver's seat 4 than the interference avoidance surface SF2. Even when the reference is positioned, when the first boom 51 is raised, the interference avoiding operation can be smoothly performed by performing the arm dump by the interference avoiding control based on the correction avoiding surface SF3. it can. Thereby, a sense of security can be given to the worker in the driver's seat 4. At the same time, it is possible to reduce spillage of excavated soil and the like stored in the work machine 5 during excavation.

Although there is a difference between the boom raising operation, which is an operator's operation, and the boom raising and arm dump, which are the operations of the work machine 5, since the movement is smooth, the difference between the control operation and the operation operation can be reduced. it can.
Further, since the operator can predict the movement of whether or not the arm dumping continues by observing the movement of the work machine 5 in the reference height direction, the contact between the external object and the work machine 5 can be predicted. It can reduce the mental fatigue of workers due to worry.
If the correction avoidance surface SF3 returns to the interference avoidance surface SF2 at a certain height distance H1, and the elevation distance of the work implement 5 is viewed, the reference of the work implement 5 is being moved away by interference avoidance control. It is easy to predict the movement of the working machine 5 during operation because it is known whether or not it is so.

  In this case, as shown in FIG. 13, if the reference position of the work machine 5 when the boom raising operation is started is located closer to the driver's seat 4 than the interference avoidance surface SF2, the trajectory of the arm 54 moving away is If it is steep and near the interference avoidance surface SF2, it is set gently. Therefore, the worker does not feel uncomfortable with the movement of the work machine 5 when trying to operate.

[8] Second Embodiment Next, a second embodiment of the present invention will be described. In the following description, the same parts as those already described are denoted by the same reference numerals, and the description thereof is omitted.
In the first embodiment described above, the excavator 1 includes a hydraulic pilot-type hydraulic circuit, and the interference preventing unit and the interference avoiding unit function on the control unit 8 that controls the hydraulic circuit.
On the other hand, in this embodiment, as shown in FIG. 18, the difference is that the interference preventing means and the interference avoiding means function on the control unit 8 of the hydraulic circuit of the electric lever type.

In the hydraulic circuit according to this embodiment, the proportional electromagnetic control valves 101 to 107 are connected to the boom cylinder 51A, the offset cylinder 52A, the arm cylinder 54A, the bucket cylinder 55A, the hydraulic motor 31, and the hydraulic motors 23 and 24, respectively. The electromagnetic control valves 101 to 105 change their positions by outputting electric signals to the electromagnetic drive units 101A, 101B to 105A and 105B.
Electrical signal lines from the control unit 8 are connected to the operation levers 71 and 73, the offset pedal 72, and the travel pedals 74 and 75, and the operation of the operation levers 71 and 73, the offset pedal 72, and the travel pedals 74 and 75 The signal is input to the control unit 8 through the signal line.

If the operation lever 71 is operated in the front-rear direction as in the first embodiment, a command for raising and lowering the first boom is output, and an electric signal is sent to one of the electromagnetic drive units 101A and 101B via the control unit 8. Is output, the position of the proportional electromagnetic control valve 101 is changed, and hydraulic oil is supplied to the boom cylinder 51A.
Further, if the operation lever 71 is operated in the left-right direction, a bucket excavation and dumping operation command is output, and an electric signal is output to one of the electromagnetic drive units 102A and 102B via the control unit 8 to perform proportional electromagnetic control. The position of the valve 102 is changed, and hydraulic oil is supplied to the bucket cylinder 55A.

Similarly, when the offset pedal 72 is stepped on, the drive command for the second boom 52 is output, and an electric signal is output to one of the electromagnetic drive units 103A and 103B via the control unit 8, so that the proportional electromagnetic The position of the control valve 103 is changed, and hydraulic oil is supplied to the offset cylinder 52A.
If the operation lever 73 is operated in the front-rear direction as in the first embodiment, an arm excavation and dump operation command is output, and an electric signal is sent to one of the electromagnetic drive units 104A and 104B via the control unit 8. As a result, the position of the proportional electromagnetic control valve 104 is changed, and hydraulic oil is supplied to the arm cylinder 54A.

Further, if the operation lever 73 is operated in the left-right direction, a turning operation command for the revolving structure 3 is output, and an electric signal is output to any one of the electromagnetic driving units 105A and 105B via the control unit 8 to perform proportional electromagnetic control. The position of the valve 105 is changed, and the hydraulic motor 31 turns the swing body to the left or right.
Similarly, when the travel pedals 74 and 75 are stepped on, the travel operation commands are output, the positions of the proportional electromagnetic control valves 106 and 107 are changed via the control unit 8, and the hydraulic motors 23 and 24. The hydraulic excavator travels in the front-rear direction.
The control unit 8 for controlling such a hydraulic circuit has the same configuration as the block diagram of the first embodiment described above, but, as in the first embodiment, the proportional electromagnetic control valves 61C, 62D, 64C, instead of outputting a control command to the electromagnetic control valve 63C, the command is directly output to the electromagnetic drive units 101A, 101B to 104A, 104B of the proportional electromagnetic control valves 101 to 104. For this reason, the control unit 8 in this embodiment has a function of directly outputting a command from the shuttle valve 64E in the first embodiment.
Also according to the second embodiment, it is possible to enjoy the same operations and effects as those of the first embodiment described above.

[9] Modifications of Embodiments The present invention is not limited to the above-described embodiments, but includes modifications and improvements as long as the object of the present invention can be achieved.
For example, in the embodiment, the hydraulic excavator 1 includes the second boom 52 and the arm 54 can be offset. However, the present invention is not limited to this, and the hydraulic excavator including the boom and the arm without the second boom is used. The present invention may be applied.

In the above-described embodiment, the potentiometer is used for the boom angle, the offset angle, and the arm angle for the angle detection unit. However, the present invention is not limited to this, and the boom angle and offset are detected using a cylinder stroke sensor that detects the stroke amount of the hydraulic cylinder. You may obtain | require an angle and an arm angle. In calculating the reference of the work machine 5, the work machine 5 may detect the attitude of the bucket 55 with respect to the actual operation.
In addition, the specific structure, shape, and the like at the time of implementation may be other structures as long as the object of the present invention can be achieved.

  DESCRIPTION OF SYMBOLS 1 ... Hydraulic excavator, 2 ... Running body, 3 ... Turning body, 4 ... Driver's seat, 5 ... Working machine, 10 ... Interference avoidance control changeover switch, 21 ... Traveling device, 22 ... Track, 23 ... Hydraulic motor, 30 ... Hydraulic pressure Pump 30A ... Hydraulic pump 31 ... Hydraulic motor 41 ... Operator seat 42 ... Floor surface 51 ... First boom 51A ... Boom cylinder 51B ... Foot pin 51C ... Pin 51D ... Pin 52 ... Second boom , 52A ... offset cylinder, 52C ... pin, 52D ... link rod, 53 ... bracket, 53A ... pin, 54 ... arm, 541 ... cylinder mounting part, 54A ... arm cylinder, 55 ... bucket, 55A ... bucket cylinder, 61 ... flow rate Control valve, 61A ... drive unit, 61B ... drive unit, 61C ... proportional electromagnetic control valve, 61D ... pressure sensor, 62 ... flow control valve, 62A ... drive , 62B ... Driver, 63 ... Flow control valve, 63A ... Driver, 63B ... Driver, 63C ... Electromagnetic control valve, 64 ... Flow control valve, 64A ... Driver, 64B ... Driver, 64C ... Proportional electromagnetic control Valve, 64D ... Proportional electromagnetic control valve, 64E ... Shuttle valve, 65 ... Flow rate control valve, 65A ... Drive unit, 66 ... Flow rate control valve, 71 ... Operation lever, 72 ... Offset pedal, 73 ... Operation lever, 74 ... Traveling pedal , 8 ... Control unit, 81 ... Potentiometer, 82 ... Potentiometer, 83 ... Potentiometer, 84A ... First distance calculator, 84B ... Second distance calculator, 85 ... First limit value calculator, 86 ... Second limit value calculator , 87... Speed limit calculating unit, 88... Boom raising operation determining unit, 89... Approaching direction speed calculating unit, 89 A... Boom raising operation amount calculating unit, 89 B. Approach speed calculation unit, 89D ... Offset motion approach speed calculation unit, 89E ... Calculation result output unit, 8A ... Input / output unit, 8B ... Processing unit, 8C ... Storage unit, 90 ... Speed limit subtraction unit, 91 ... Arm cylinder speed limit Arithmetic unit, 91A ... arm excavation limit value, 91B ... arm dump limit value, 92 ... arm control switching unit, 92A ... adder, 92C ... switch, 92D ... switch, 93A ... boom rise limit command value output unit 93B ... Arm excavation limit command value output unit, 93C ... arm dump command value output unit, 93D ... offset approach limit command value output unit, 94 ... third distance calculation unit, 95 ... posture acquisition unit, 96 ... correction avoidance surface calculation unit, 97 ... 4th distance calculation part, 101 ... Proportional electromagnetic control valve, 101A ... Electromagnetic drive part, 102 ... Proportional electromagnetic control valve, 102A ... Electromagnetic drive part, 103 ... Proportional electromagnetic control valve, 103A ... Electromagnetic Drive unit 104 ... Proportional electromagnetic control valve 104A ... Electromagnetic drive unit 105 ... Proportional electromagnetic control valve 105A ... Electromagnetic drive unit 106 ... Proportional electromagnetic control valve 511 ... Chamfering part G1 ... Graph, G2 ... Graph, SF1 ... interference prevention surface, SF2 ... interference avoidance surface, SF3 ... correction avoidance surface, SF4 ... correction avoidance surface.

Claims (9)

A work machine having a first work machine operably provided in the work machine body, and a second work machine;
An operation command detection means for detecting an operation command by an operation means for operating the work implement;
A first control target surface is set at a position away from the work machine main body by a predetermined distance, and the reference of the work machine is restrained so that the work machine does not exceed the work machine main body side from the first control target surface. First control means for blocking,
When the second control target surface is set at a position further away from the work machine main body than the first control target surface, and the ascending operation command of the first work machine is detected by the operation command detection means, Second control means for avoiding interference between the reference of the work machine and the work machine main body by an intervention command to the operation command of the second work machine based on the distance between the surface to be controlled and the reference of the work machine A working machine characterized by comprising: The work machine according to claim 1,
The command by the second control means includes at least an intervention command for operating the second work machine in a direction away from the work machine main body. In the work machine according to claim 1 or 2,
The second control means obtains at least a current position of the first work machine at the time of starting the lifting operation of the first work machine, and the reference of the work machine is higher than the second control target surface. A work machine comprising: a third control target surface calculation unit that calculates a third control target surface for returning the reference of the work implement to the second control target surface when present on the main body side. In the work machine according to claim 1 or 2,
The second control means obtains at least a current position of the second work machine at the time of starting the lifting operation of the first work machine, and the reference of the work machine is higher than the second control target surface. A fourth control unit for calculating a fourth control target surface for returning the reference of the work implement to the second control target surface within a predetermined height distance from the current position of the reference of the work implement when present on the main body side; A work machine comprising a control target surface calculation unit. In the work machine according to any one of claims 1 to 4,
When the second control means is in an operating state, the first control means restricts the work machine when the reference of the work machine approaches the work machine main body by operating the first work machine. Work machine characterized by relaxation. In the work machine according to any one of claims 1 to 5,
A work machine, further comprising switching means for switching between valid and invalid of the second control means. In the work machine according to any one of claims 1 to 6,
The work machine and the work machine main body are provided adjacent to each other in the width direction,
The working machine includes a third working machine that is operably provided at a tip of the first working machine and moves the second working machine in a width direction,
As the distance between the second control target surface and the front surface of the work machine main body goes in the width direction from the work machine main body toward the work machine. A working machine characterized by being gradually becoming smaller. A traveling body, and a revolving body provided on the traveling body so as to be able to swivel;
A work machine having a first work machine and a second work machine operably provided on the revolving structure;
An operation command detection means for detecting an operation command by an operation means for operating the work implement;
A first control target surface is set at a position away from the swivel body by a predetermined distance, and the work machine reference is restrained so that the work machine does not exceed the work machine main body side from the first control target surface. First control means to block,
When the second control target surface is set at a position further away from the work machine main body than the first control target surface, and the ascending operation command of the first work machine is detected by the operation command detection means, Second control means for avoiding interference between the reference of the work machine and the work machine main body by an intervention command to the operation command of the second work machine based on the distance between the surface to be controlled and the reference of the work machine A working machine characterized by comprising: A work machine interference avoiding method including a first work machine operably provided in a work machine body and a work machine having a second work machine,
A procedure for detecting an operation command by an operating means for operating the work implement;
A first control target surface is set at a position away from the work machine main body by a predetermined distance, and the reference of the work machine is restrained so that the work machine does not exceed the work machine main body side from the first control target surface. Steps to block,
When the second control target surface is set at a position further away from the work machine main body than the first control target surface, and the ascending operation command of the first work machine is detected, the second control target surface and the work A step of avoiding interference between the work machine reference and the work machine main body by an intervention command to the operation command of the second work machine based on a distance from the machine reference. To avoid interference of working machines.

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