JP2757089B2 - Work machine interference prevention device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to the time of work in excavating vehicle loading, such as excavators, it relates to the work machine interference prevention equipment to prevent interference with the cab of the work machine.

[0002]

2. Description of the Related Art In an excavator loading vehicle such as a power shovel, a driver's cab is generally provided on the upper revolving unit on the left side.
A work machine including a boom, an arm, a bucket, and the like is provided on the right side. During the operation, the boom is raised and lowered with respect to the upper revolving structure, and the arm provided at the tip of the boom and the bucket at the tip thereof are configured to rotate in the front-rear direction. It does not interfere with the driver's cab. However, when digging to the side of the vehicle, the above-mentioned working machine cannot dig, so that the conventional boom is divided into upper and lower booms as shown in FIG. 32 can be offset from the lower boom 31 in the left-right direction. In the excavation loading vehicle having such a mechanism, when the upper boom 31 is offset to the cab 33 side, that is, to the left, there is a risk that the working range of the arm 34 and the bucket 35 may interfere with the cab 33. In order to prevent such interference, it has been considered to automatically stop the work when entering an interference area. That is, as prior arts, Japanese Patent Application Laid-Open Nos.
Japanese Patent Application Laid-Open No. 2-33030 and the like.
Japanese Patent Publication No. 256722 discloses that deceleration and stop are performed by respective directional control valves by a signal of a deceleration means.
Japanese Unexamined Patent Publication (Kokai) No. Hei 3-233030 discloses a system in which a pilot pump 36 and control valves 37, 38, and 39 for switching a boom, an arm and an offset direction switching valve by respective pilot pressures as schematically shown in FIG. A single solenoid valve 41 is provided in the circuit 40 between the
There is one in which the operation of a work machine that has entered the interference area by switching between N and OFF is stopped. In addition, the conventional automatic stop is to decelerate at the same deceleration rate from just before the automatic stop position in any case, and only one stop area is provided in a wide range. Was supposed to.

[0003]

However, in the case of the device as shown in FIG. 8, since the source pressure of the control circuit 40 is cut off, the operation of the solenoid valve 41 stops all operations. For example, at the time of simultaneous operation with turning, etc., the operation stops until turning, resulting in extremely poor workability. Since the work machine approaching the cab is suddenly stopped in the stop area, the load is spilled and the impact is large. Overrun due to a time lag from when a stop command is issued until the vehicle actually stops is increased, and there is a disadvantage that the stop distance is large due to a slow and full engine, which causes a variation. The avoidance operation after the stop requires a new avoidance button, and has a problem that the operation is troublesome. Also, if sufficient deceleration performance is not obtained even if deceleration is performed before stopping, if operated fast, the speed will be too slow and the speed will be too slow,
When operated slowly, there is a problem that the vehicle enters the stop area and the deceleration cannot be completed in time.In addition, when there is only one stop area, despite the stop command being issued due to dust clogging of the solenoid valve, etc. There was a danger that the working machine would enter the stop area without switching the solenoid valve.

[0004] In view of the above, the present invention can prevent the spillage of the load, and also stops only the operation to be stopped to facilitate the avoidance operation. In the deceleration region before the automatic stop, the deceleration rate is changed according to the bucket blade speed. And stop area 2
It has been made the aim to eliminate the drawbacks possessed by the prior art to provide a working machine interference prevention equipment which attained safety as heavy.

[0005]

[ MEANS FOR SOLVING THE PROBLEMS]
, Arm, and offset boom motion actuators
Boom direction switching valve for supplying hydraulic pressure to the arm, arm direction switching
Valve, offset boom directional control valve, pilot pressure
Boom operation to switch the directional control valves by pointing
Working pilot pressure control valve, pilot pressure control for arm operation
Control valve and pilot pressure control valve for offset boom operation
Equipped with a pilot pressure operation type work machine operation device
In the excavated loading vehicle, the directional control valves and the respective
Of the pilot circuit that connects the pilot pressure control valve,
Boom raising operation side of boom pilot pressure control valve and boom
Pilot pressure connecting the boom-up switching side of the directional valve
Arm excavation during circuit and arm pilot pressure control valve
Connect the operation side and the arm excavation switching side of the arm direction switching valve
The switching valve is switched and pressed halfway through the pilot pressure circuit.
The pilot pressure to reduce the valve position in the neutral direction.
To control the driving fluid flow of the actuator
A proportional valve is installed and the bucket edge interferes with the cab
The forward direction of the cab in the moving direction
Set the deceleration / stop area for deceleration and automatic stop of
Ports provided at the pivot points of the
Within the deceleration / stop area by the signal from the tension meter
Calculate the moving speed of the bucket blade edge in
Outputs a control signal and a stop control signal for bucket blade approach
The controller controls the solenoid proportional valve
By controlling the operation, the boot in the deceleration / stop area can be controlled.
Automatic deceleration and automatic stop of arm raising and arm excavation operation
It has a configuration. Also, as another configuration, boom,
Supply hydraulic pressure to each actuator
Boom directional control valve, arm directional control valve, and
To the boom directional control valve and pilot pressure
Boom operation pilot that switches each directional control valve
Pressure control valve, pilot pressure control valve for arm operation, and off
Pilot with pilot pressure control valve for set boom
Excavation loading vehicle equipped with a work pressure operation system
Oite, wherein said respective directional control valves each pilot pressure control valve
Of the pilot circuit connecting the boom pilot pressure
On the boom raising operation side of the control valve and on the boom directional control valve boom
In the pilot pressure circuit connecting the switching side and the arm
Disconnect the arm excavation operation side and arm direction of the pilot pressure control valve.
Pilot pressure circuit connecting arm excavation switching side of valve exchange
In the meantime, the pilot pressure for switching and pressing the switching valve is reduced.
To displace the position of the valve in the neutral direction.
Solenoid proportional valve to control the drive fluid flow of the
Boom pilot pressure control valve left offset operation side and off
Connect the left offset switching side of the set boom directional switching valve
In the middle of the pilot pressure circuit, shut off the pilot pressure flow.
To prevent switching of the offset boom directional control valve
Install a magnetic valve and the bucket edge interferes with the cab.
Forward of the cab in the direction of travel
Set the deceleration / stop area for deceleration and automatic stop, and
Ports provided at the pivot points of the
With a tension meter, the
Calculates the moving speed of the cutting edge and controls the speed deceleration control signal.
And a control signal for outputting a stop control signal for approaching the bucket blade edge.
The controller controls the proportional operation of the proportional valve.
Control, the boom can be raised and decelerated in the deceleration / stop area.
Automatically decelerates and stops the excavation operation of the beam and left offset
The work machine operation is made inoperable. Above
In the configuration, the moving speed of the bucket edge in the deceleration area
Is based on the bucket blade speed set in the controller.
If the speed is slower than the reference value, deceleration control is not performed and the moving speed is set to the reference value.
When it is faster, there is a deceleration enable / disable means that performs deceleration control.
You. In addition, the bucket blade deceleration set in the controller
When the moving speed of the bucket edge exceeds the deceleration reference value of the moving speed,
Fast time, the acceleration and the deceleration rate in response to the large and small of the speed
It has variable deceleration control means. Also, from the stop area,
When avoiding the bucket edge in the free area, the bucket edge
While in the speed range, the proportional solenoid valve is kept at the pressure reduction limit
Then, move the bucket edge from this state to the stop area side.
Even if you move at a slow speed,
Has all means. And a pilot hydraulic pump
To each pilot pressure control valve
The operation of the work machine is blocked by interrupting the flow of pilot pressure fluid
Emergency stop solenoid valve for emergency stop
An emergency stop area is provided within the stop area of the
When the cutting edge enters the emergency stop area, turn off the emergency stop solenoid valve.
It is equipped with safety means to be activated.

[0006]

According to the structure of the first aspect, the vehicle interferes with the cab.
During the boom raising operation and arm excavation operation, the bucket
When entering the deceleration area from the free area,
The activated boom raise or arm
Ratio of the operating pilot circuit for drilling or both operations
Example: Output a signal to the valve to reduce the pilot pressure fluid and turn it off.
Boom raising switching position of the boom direction switching valve being replaced,
Opening of fluid inflow at arm excavation switching position of arm directional switching valve
Change boom to raise boom and reduce arm excavation
Speed control. In addition, the bucket edge entered the stop area.
When both solenoid proportional valves are depressurized,
The lot pressure fluid circuit is shut off and both switching valves are neutral.
Return to the position and operate in the direction that interferes with the cab.
I am trying to get rid of it. And stop the bucket blade
When returning from the position to a free area that does not interfere with the cab,
Lower the arm and pilot the pilot circuit on the arm return side
By directing the pressurized fluid, the switching valve is moved below the boom.
To the free area by switching to the swing position and arm return position.
I can make it. According to the configuration of the second invention, interference with the cab is achieved.
In addition to the boom raising and arm excavation operations,
The movement of the left offset of the vehicle
When it does, instead of stopping it while slowing down its movement,
Left offset pyro to prevent immediate operation
Switch the solenoid valve installed on the
Switching the fset boom directional control valve to the left offset position
Disable operation. According to the third aspect of the invention,
The movement speed of the cutting edge in the deceleration area
If the moving speed is less than the reference value set in
Move at the operation speed without adding control.
When the degree is higher than the reference value, deceleration control is
Deceleration at the operating speed of
I am trying to become. According to the configuration of the fourth invention, the reference
The deceleration rate is variable according to the magnitude of the moving speed
Position can reduce the variation of the stop position
You. According to the configuration of the fifth aspect, the deceleration area is changed from the stop area.
To return the boom and arm to a free area without interference
During the crop, stop moving the bucket blade and
When an operation is performed on the dangerous side in the
Provided in the pilot operation circuit on the arm raising side and arm excavation side
Pressure limit valve while the work implement is in the deceleration range
State, the movement of the implement to the dangerous side
It can only move at a slow speed and is safe. Sixth
According to the configuration of the invention, the electromagnetic proportional valve fails and is in the stop region.
Danger of boom, arm, or offset boom interference
To the directional control valve when the movement to the side does not stop.
The pilot line supplying the pilot pressure fluid is blocked by a solenoid valve.
To return, the directional control valves return to the neutral position and the hydraulic
It is safe to stop the flow of the working fluid in the actuator.

[0007]

1 is a circuit diagram of an embodiment of a work implement interference prevention device according to the present invention, FIG. 2 is a graph showing a deceleration state of a bucket blade in FIG. 1, and FIG. 3 is an electromagnetic proportional valve corresponding to FIG. FIG. 4 is a state diagram of the command current of the solenoid proportional valve in the case of avoiding from the stop region of FIG. 3, FIG. 5 is a flowchart of control in a deceleration region before automatic stop of the present invention, and FIG. FIG. 7 shows an emergency stop area around a cab of a main part of the present invention, (a) is a side view, (b) is a plan view, and FIG. 7 is a graph showing a relationship between operation of an operation lever and speed of a work machine. .

Hereinafter, claims 1 to 6 of the present invention will be described with reference to an embodiment shown in FIGS. Working machine interference preventing apparatus directional control valve 1 ₁ for supplying hydraulic pressure to the desired actuator, not shown in FIG. _1, 1 ₂ of the present invention,
1 _3, the ... switching of the pilot pressure control valve 3 ₁ carried out at a pressure from the pilot pump _2, 3 comprises a _2, 3 _3, by the operation of the control valve, the working machine 4 that is offset to the front side of the cab in excavation loading vehicle as may be bent toward the cab, the boom control valve 3 boom-up stop solenoid proportional valve 6 circuit 5 middle ranging from ₁ up side to the boom directional control valve 1 ₁ up side, the arm the control valve 3 ₂ excavating arm directional control valve 1 ₂ reaches the excavation side circuit 7 arm excavation stop solenoid proportional valve 8 on the way from the offset stop on the way circuit from the offset control valve 33 left offset direction switching valve 13 left with connecting use electromagnetic valve 35, respectively, the output signal when the working machine each potentiometer signal 10 _1, 10 _2, 10 ₃ working machine with respect to input operation chamber approaches the deceleration region The controller 9 to emit, is composed of those connecting the respective proportional solenoid valve 6, 8 and the electromagnetic valve 35.

[0009] The right operating lever 11 the pilot pressure control valve 3 ₁ a boom, the control valve 3 ₂ is operated respectively by the left operating lever 12 in arm, also, the control valve 3
Reference numeral ₃ denotes an offset which is operated by the operation pedal 13.
These control valves _{3 1,} 3 2, _{3 3} boom directional control valve _{1 1,} respectively, the arm directional control valve _{1 2,} pilot circuit each left and right ends of the offset directional control valve _{1 3} 5,7,14,1
5, 16, 17 are connected. Further, the from the directional control valve ₁ 1, _{1 2} the main pump 18 and 19, the directional control valve _{1 3} each from the main pump 20 main circuit 21,2
Discharge oil is supplied through 2 and 23. The controller 9 operates the boom 24 during operation of the work implement.
Potentiometer signal 10 1 provided on the fulcrum portion _of potentiometer signal 10 2 provided on the fulcrum of the arm _25, being adapted to input a potentiometer signal 10 ₃ provided fulcrum portion of the offset boom 26, the working machine is operated Moving speed of the work implement when entering a preset deceleration area between
An output signal for decelerating the stop signal and an output signal for avoiding the stop signal when there is a possibility of entering the stop region are issued. The said boom control valve 3 ₁ from the boom directional control valve 1 ₁ reaches the raised side circuit 5 middle boom raising stop solenoid proportional valve 6 due to, the arm control valve 3 ₂ to the arm directional control valve 1 ₂ excavation side In the middle of the circuit 7, there are interposed electromagnetic proportional valves 8 for stopping arm excavation.
8 receives the output signal from the controller 9 and operates in proportion to the magnitude of the current. Further, the offset directional control valve 1 from the offset control valve 3 _{3
3 A} solenoid valve 35 is interposed in the middle of the circuit 16 leading to the left side.
The solenoid valve 35 is closed by an output signal from the controller 9. The electromagnetic proportional valves 6 and 8 are provided with operating levers 11 and
To operate the 12 boom directional control valve ₁ of the boom-up side path to
Pilots circuit 5, arm excavation side of the arm directional control valve 1 ₂
Was introduced into a pilot circuit 7, the directional control valve ₁ 1, _{1 2}
Electromagnetic proportional valves 6 and 8 for reducing the switching pilot pressure,
The directional control valve ₁ 1, _{1 2} of the boom raising position, the arm drilling
By reducing the pilot pressure while switching to the cutting position,
The directional control valves 1 ₁ and 1 ₂ are neutralized from the boom raising position.
To the neutral direction from the arm excavation position
In order, the actuator through the directional control valve ₁ 1, _{1 2}
The working fluid is restricted, for boom actuators and arms
Actuator operating speed can be slowed down
The valves 6 and 8 control the operation pilot pressure
The ilot pressure circuit is closed and the directional control valves ₁₁ ,
1 ₂ let me switched to the neutral position work of the actuator
Shuts off the flow of the moving fluid and stops the operation of the actuator
To reduce the operating speed of the actuator.
A shutdown can be obtained. By such a function
Bucket stop shock is reduced to prevent spillage
At the same time, the speed of deceleration is changed according to the operation speed,
Variation in bucket stop position can be reduced
You. Incidentally, each of the control valves _{3 1,} 3 2, _{3 3} and hydraulic locking electromagnetic valve in the circuit 27 midway between the pilot pump 2 2
The valve 28 is arranged to operate so as to shut off the circuit 27 upon receiving an output signal from the controller 9. From the controller 9 to the solenoid proportional valves 6, 8
Despite the stop command has been issued for
6 and 8 enter emergency stop area d without operating due to clogging
Input, the signal from the controller 9
The pilot circuit 27 is shut off by operating the valve 28,
An emergency stop can be performed by disabling the operation. However
The region d is an extremely narrow range for stopping area a
ing. In the figure, 29 is a bucket.

Next, the operation will be described. Right operating lever 11
And by the left operating lever 12 to raise the boom control valve 3 _1, the arm control valve 3 ₂ by operating the excavation side actuates the working machine, the stop region from the deceleration region of the bucket 29 cutting edge cab during operation When approaching, the controller 9 detects this and outputs a signal to both the electromagnetic proportional valves 6 and 8.
Now, both when it has received the signal, operates to lower the pressure of the electromagnetic proportional valves 6 and 8 respectively in the directional control valve 1 _1, 1 ₂ of the circuit 5 and 7. Therefore, as shown in FIG. 7, even if the operating lever increases the moving speed of the working machine, the moving speed of the working machine is reduced, and the work machine can be stopped slowly in the stop area. Interference can also be prevented. If the operating lever is operated so as to move at a lower moving speed than the working machine moving speed of the controller 9, the operating lever moves at the moving speed operated, and the moving of the working machine can be stopped. it can. Lowering the boom control valve 3 ₁ from this state, or the bucket 29 edge by operating the control valve 3 ₂ to the arm dumping
When returning to the free area, the pressure reducing action of the electromagnetic proportional valves 6, 8 is released.

[0011] moving speed of the bucket 29 edge performed before Symbol controller 9, the deceleration region b for only the command current bucket 29 cutting edge of the cab of the electromagnetic proportional valves 6 and 8 if faster than a reference value set Stop area a
In the case where the electromagnetic proportional valves 6 and 8 are stopped in the free area c from the stop area a via the deceleration area b,
Until the cutting edge of the bucket 29 comes out to the free area c, the calculation is performed so as to be maintained at the pressure reduction limit command.

In FIG. 2 and FIG.
, The movement speed of the cutting edge of the bucket 29 is calculated, and (b) the reference value of the cutting edge speed V0 = 0.3 in the deceleration region.
The proportional current of the electromagnetic proportional valves 6 and 8 is changed so as to decelerate only when the speed is higher than m / s. The deceleration rate e in this case is determined by the following equation. e = (V2-0.3 ₂₎ / K where V: cutting speed, K: if constant Thereby fast speed, the deceleration rate is increased, a slow case, to reduce the deceleration rate obtaining smoothness in deceleration Like that. If the speed is lower than the reference value, the speed is not reduced. (2) In the stop area a, when the electric current of the proportional control valves 6 and 8 is set to 0 at the time of entering the area, the proportional control valves 6 and 8 are turned off.
8 switches off the circuit 5.7, so boom direction switching
Accession valve 1 _1, arm directional control valve 1 ₂ is returned to the neutral position
The supply circuit of the tutor working fluid is also shut off, and the movement of the working machine stops. (3) When avoiding from the stop area a, as shown in FIG.
Even when the arm dump operation is performed, the electromagnetic proportional valves 6 and 8 remain held at the pressure-reducing limit command from the controller 9 until the vehicle enters the free area c. Therefore, even if the work machine is temporarily stopped within the deceleration area b during the avoidance, and then the boom is raised and the arm excavation operation is performed, the work machine can only move at a slow speed.

FIG. 5 is a flow chart of the control in the deceleration region b before the automatic stop.
(Vx2 + Vy2) ^1/2 , where Vx represents the front-back direction of the cab, and Vy represents the up-down direction of the cab. And the deceleration rate e
Is given as a function of the speed, and the determination is made depending on whether V> V0 or not.

[0014]

As described above, in claim 1,
Is a pilot pressure circuit that controls the operation that interferes with the cab
The solenoid proportional valve is provided only in the
Reduce the oil pressure in the lot pressure circuit to
The pilot oil pressure is not reduced,
Work pump operation
Even if you are operating a combination of operations other than
Operate operations that do not cause inconvenience and do not interfere with the cab.
Pilot pressure fluid to the pilot pressure circuit
And the avoidance path operation is easy. Claim 2
The operation cutoff of the bucket's left offset operation is
Interference risk due to solenoid valve instead of proportional valve
Stop immediately without decelerating the operation stop from the detection of
The safety that can be improved. In claim 3, the deceleration area
Set the deceleration speed reference value to, and decelerate at a speed less than the reference value.
When moving in the area, deceleration control is not performed
So, when there is no need to decelerate, if you enter the deceleration area, all
Can avoid the inefficient deceleration operation of speeding
You. In claim 4, the speed of the bucket blade edge in the deceleration region is set.
Since the deceleration rate can be changed according to the degree, the stop position
Can be reduced. Claim 5
The movement of the bucket edge in the deceleration area
In the meantime, until the bucket edge avoids the free area,
Since the proportional valve is kept in the reduced pressure state,
Move the bucket edge to the danger side
To the dangerous side because the directional control valve switches only slightly.
The actuator that operates the work machine moves slowly
And suddenly operate and interfere with the cab
Not so safe.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a hydraulic circuit showing an embodiment of a work implement interference prevention device according to the present invention.

FIG. 2 is a graph showing the deceleration state of the bucket blade in FIG.

FIG. 3 is an explanatory diagram of a state of a command current of the electromagnetic proportional valve corresponding to FIG. 2;

FIG. 4 is an explanatory diagram of a state of a command current of a solenoid proportional valve in a case of avoiding from a stop region in FIG. 3;

FIG. 5 is a flowchart of control in a deceleration region before automatic stop according to the present invention.

FIGS. 6A and 6B are diagrams illustrating an emergency stop area of a main part of the present invention, in which FIG.

FIG. 7 is a graph showing a relationship between operation of an operation lever and work implement speed.

FIG. 8 shows a conventional offset type excavation loading vehicle,
(A) is a side view, (b) is an explanatory view of a plane.

FIG. 9 is an explanatory view showing a part of a hydraulic circuit of a conventional work machine interference prevention device.

[Explanation of symbols]

1 _{1, 1} 2, _{1 3-way} switching valve 2 pilot pump 3 _{1, 3} 2, _{3 3} Pilot control valve 4 working machine 5 circuit 6 proportional solenoid valve 7 circuit 8 electromagnetic proportional valve 9 controller 10 _{1, 10} 2, 10 ₃ potentiometer signal 27 circuit 28 solenoid valve a stop area b deceleration area c free area d emergency stop area 35 solenoid valve

Claims (6)

(57) [Claims] 1. Each of a boom, an arm and an offset boom
Supply pressure oil to the actuator to
Boom direction switching valve ( ₁₁ ) for operating the arm, arm direction
Switching valve (1 ₂ ) and offset boom directional switching valve (1
₃ ) and applying pilot pressure to each of the directional control valves.
Switching boom operation pilot pressure control valve
₍₃ 1), arm operation pilot pressure control valve ₍₃ 2),
Pressure control valve for offset and offset boom operation
(3 ₃ ) Pilot pressure operation type work machine operation
In the excavation loading vehicle equipped with a working device, each of the directional control valves is connected to each of the pilot pressure control valves.
Boom pilot pressure control valve
(3 ₁₎ boom raising operation side and the boom directional control valve
Pilot pressure circuit to connect the boom Setsu up換側of (1 ₁₎
A tracts (5), and the arm pilot control valve _{(3 2)}
Arm over arm excavating operation side and the arm directional control valve (1 ₂₎ Drilling
Pilot pressure circuit (7) connecting the cutting switching side
The pilot fluid pressure is reduced to reduce the fluid flow of the directional control valve.
Provision of electromagnetic proportional valves (6) and (8) for controlling the opening and closing amount
Along with, the front of the cab in the moving direction where the bucket edge interferes with the cab
Side, decrease the approach speed of the bucket blade and reduce the automatic stop.
Set the speed / stop area and set the boom, arm, and offset
Signal from potentiometers at each pivot point
As a result, the bucket edge in the deceleration / stop region
Detecting the moving speed and the stop position, the bucket blade moving speed
Control that outputs the deceleration control signal and the movement stop signal
(9), each deceleration from the controller (9)
Each of the electromagnetic proportional valves (6) and (8) is controlled by a control signal,
This is configured to control the amount of reduction in pilot pressure
Boom raising and arm excavation in the deceleration / stop area
Automatic deceleration control and automatic stop
Work equipment interference prevention device. 2. Each of a boom, an arm, and an offset boom.
Supply pressure oil to the actuator to
Boom direction switching valve ( ₁₁ ) for operating the arm, arm direction
Switching valve (1 ₂ ) and offset boom directional switching valve (1
₃ ) and applying pilot pressure to each of the directional control valves.
Switching boom operation pilot pressure control valve
₍₃ 1), arm operation pilot pressure control valve ₍₃ 2),
Pressure control valve for offset and offset boom operation
(3 ₃ ) Pilot pressure operation type work machine operation
In the excavation loading vehicle equipped with a working device, each of the directional control valves is connected to each of the pilot pressure control valves.
Boom pilot pressure control valve
(3 ₁₎ boom raising operation side and the boom directional control valve
Pilot pressure circuit to connect the boom Setsu up換側of (1 ₁₎
A tracts (5), and the arm pilot pressure control valve _{(3 2)}
Arm over arm excavating operation side and the arm directional control valve (1 ₂₎ Drilling
Pilot pressure circuit (7) connecting the cutting switching side
The pilot fluid pressure is reduced to reduce the fluid flow of the directional control valve.
Electromagnetic proportional valves (6) and (8) for controlling the opening and closing amount, and off
Set boom pilot pressure control valve left offset of (3 ₃₎
And preparative operation side, the left offset boom directional control valve (1 ₃₎
Pilot pressure circuit connecting offset switching side (16)
And a solenoid valve (35) for shutting off the front of the cab in the moving direction in which the bucket edge interferes with the cab.
Side, decrease the approach speed of the bucket blade and reduce the automatic stop.
Set the speed / stop area and set the boom, arm, and offset
Signal from potentiometers at each pivot point
As a result, the bucket edge in the deceleration / stop region
Detecting the moving speed and the stop position, the bucket blade moving speed
Control that outputs the deceleration control signal and the movement stop signal
(9), each deceleration from the controller (9)
Each of the electromagnetic proportional valves (6) and (8) is controlled by a control signal,
This is configured to control the amount of reduction in pilot pressure
Boom raising and arm excavation in the deceleration / stop area.
Automatic deceleration control and automatic stop, and the control
The solenoid valve (35) is controlled by the control signal from
To disable the operation of the left offset implement.
A work machine interference prevention device characterized in that it has a function. 3. A working machine according to claim 1 or claim 2.
The anti-interference device reduces the speed of movement of the bucket blade in the deceleration area.
When it is slower than the reference value of the moving speed set in the controller
Does not send a deceleration control signal and is faster than the reference value of the moving speed.
Deceleration control signal is transmitted when deceleration is possible.
A work machine interference prevention device comprising: 4. A work machine according to claim 1 or claim 2.
The anti-interference device uses the bucket blade moving speed in the deceleration area.
Movement is faster than the reference speed set in the controller
When the speed is a speed, the deceleration rate can be set according to the speed.
Characterized by having variable deceleration control means for changing
Industrial equipment interference prevention device. 5. A work machine according to claim 1 or claim 2.
The anti-interference device automatically detects the bucket edge stopped in the stop area.
When returning to the free area, the pressure reduction state of the solenoid proportional valve is set to the free area.
Safety control measures to maintain the decompression limit value until
A work machine interference prevention device comprising: 6. A working machine according to claim 1 or claim 2.
In the anti-interference device, the bucket edge enters the emergency stop area.
When the controller determines that
(2) and a plurality of pilot pressure control valves (3 ₁ , 3 ₂ , 3
₃ ) with the pilot pressure supply fluid circuit (27) between
In addition, the solenoid valve (28) that locks the hydraulic pressure is activated to stop operation.
Work characterized by having emergency stop means
Machine interference prevention device.