JP2793954B2 - Work machine interference prevention device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an interference of a working machine, such as a hydraulic shovel, for mainly avoiding a collision by stopping the operation of each front member when the front of the working machine mainly performing excavation work approaches a cab. More particularly, the present invention relates to an interference prevention device for a working machine that reduces the operating speed of a predetermined front member when the front approaches a predetermined danger area.

[0002]

2. Description of the Related Art An interference prevention device for a working machine of this type is disclosed, for example, in Japanese Patent Laid-Open No. 4-1128. According to this conventional technique, a first interference risk area and a second interference risk area are provided on the front side and on the side of the cab, respectively, and a deceleration area is set outside the interference risk area. . And in the 1st interference danger area | region and the 2nd interference danger area | region, the operation | movement of a 1st boom, a 2nd boom, an arm, and a bucket is regulated according to the distance between a bucket and a driver's cab, respectively. That is, in the second interference danger area closer to the cab than the first interference danger area, the operation to the side approaching the cab is restricted by all of the first and second booms, arms, and buckets. 1 In the interference risk area,
The operations of the first and second booms and the arms are restricted, but the operations of the buckets are not restricted.

When a bucket enters the deceleration area, the speeds of the first boom, the second boom, and the arm are gradually reduced as approaching the interference risk area. In the deceleration area and the interference risk area,
The operation toward the driver's cab is restricted, but the operation toward the away direction is not restricted.

Therefore, in the above-mentioned prior art, when the operator's cab approaches the bucket, the operating speed of each front member is gradually reduced, and when the operator approaches the bucket, the front operation is regulated. In addition, the work area can be widened because the width of the danger area can be reduced.

[0005]

In the above-described prior art interference preventing apparatus, when the bucket enters the deceleration region, the cylinder speeds of both the arm cylinder and the first boom cylinder are similarly reduced. . However, comparing a) when the first boom is operated independently b) when the arm is operated independently c) when the first boom and the arm are operated in a combined manner In the case of b), the pin rotates about 0 to 180 degrees with respect to the first boom about the pin connection near the tip of the first boom, while the pin rotates about ± 90 degrees about the fulcrum. Therefore, the horizontal speed at the tip of the bucket is more likely to be higher in the case of b) than in the case of a). Furthermore, it goes without saying that the horizontal speed of the tip of the bucket is more likely to be higher in the case of c) than in the case of b). Therefore, there is a higher risk of colliding with the cab when the arm is operated than when the first boom is operated near the interference danger area. Further, when the first boom and the arm are operated in combination, the tip speed of the bucket becomes the highest, which is more dangerous. Therefore, it is a matter of course that the first boom and the arm are simultaneously decelerated in the combined operation, and in the case of the independent operation, the speed of the arm is reduced more than the first boom in order to prevent interference with the cab. Then it is effective.

It is not a problem to set a large deceleration area for the boom as a deceleration area of the arm, although there is no problem in setting the stop of the bucket approaching in front of the eyes with a sense of security. When it is necessary to operate the inside in the interference direction, the speed becomes slower than necessary, and the working efficiency may be significantly impaired. In other words, the area where the speed of the first boom is reduced does not necessarily have to be the same as the arm, and providing the same deceleration area for all the front members as in this prior art is more than necessary. Will cause a decrease in speed,
In addition to poor operability, there is a problem that work efficiency is reduced.

SUMMARY OF THE INVENTION The present invention has been made in view of such problems of the prior art, and has as its object to reduce the operating speed of a predetermined front member in accordance with the approach state between the driver's cab and the front, thereby improving work efficiency. It is an object of the present invention to provide a work implement interference prevention device capable of performing work with peace of mind without impairing the work.

[0008]

In order to achieve the above object, the present invention provides a front boom, a second boom connected to the first boom movably in a lateral direction by an offset cylinder, and a front including an arm. When the first boom and the arm are simultaneously driven between the front and the working machine body including the driver's seat in the working machine driven by the operating means provided in the driver's seat through the driving means to perform work. A combined deceleration area for reducing the moving speed of the first boom and the arm, an arm decelerating area for reducing the moving speed of the arm when the arm is driven alone, and a deceleration area for the first boom when the first boom is driven alone. A boom deceleration area for reducing the moving speed and an interference danger area for stopping the operation of the first boom, the second boom and the arm so that the front never enters. And control means for controlling the driving means when a part of the front enters each of these areas and performing a deceleration and / or stop control set in advance according to each area. .

Specifically, for example, a first boom rotatably connected to a working machine body including a driver's seat by a pin, and an offset cylinder connected to the first boom movably in a lateral direction. A front having a second boom, an arm rotatably connected to the second boom by a pin, operating means for instructing operation of each front member, and driving means for driving each front member, respectively. Provided in a working machine having a relative angle between the working machine body and a front member connected to the working machine body, and an angle detecting means for detecting a relative angle between each of the front members, and from these angle detecting means. A coordinate calculating means for calculating a coordinate value of a predetermined location of the front in a predetermined coordinate system based on the signal of the front, and a work machine body including the front and a driver's seat. Dangerous area setting means for setting a dangerous area; and determining whether the front has entered a range of an interference dangerous area set in the dangerous area setting means from the coordinate values calculated by the coordinate calculating means, Comparison operation means for outputting a signal for prohibiting the operation of each of the front members toward the driver's seat when it is determined that the front has entered the danger area; and a signal from the comparison operation means and a signal from the operation means. And a drive control means for inputting an instruction signal and outputting a control signal corresponding to these signals to the drive means, wherein the interference danger area set in the danger area setting means is provided. Out of the range, a boom deceleration region for reducing the moving speed of the first boom when the first boom is driven alone, and a moving speed of the arm when the arm is driven alone. A deceleration area setting means for setting an arm deceleration area for speeding and a composite deceleration area for respectively reducing the moving speed of the first boom and the arm when the first boom and the arm are simultaneously driven; The calculating means determines that the front has entered the range of the deceleration area set by the deceleration area setting means from the coordinate values of the predetermined location of the front calculated by the coordinate calculating means, and determines that the predetermined front member The driving control means is configured to output a signal for lowering the moving speed of the driving control unit in accordance with each deceleration region to the drive control unit.

[0010]

With the above arrangement, the control means can perform the most suitable speed control and stop control in response to the approach of the front to each of the areas set as described above. .

That is, the coordinates of a predetermined location on the front are calculated by the coordinate calculating means, and based on the coordinate values, the comparison calculating means determines whether the front is within the deceleration area set in the deceleration area setting means, or , And always performs a comparison operation to determine whether or not the position is within the range of the interference risk area set in the interference risk area setting means. If the front is located within the range of any of the areas set as described above by the comparison operation means, the comparison operation means determines the deceleration area or the interference risk depending on the located area. A deceleration signal or a stop signal corresponding to the area is output. The drive control means calculates and outputs a moving speed of each front member and a control signal to the driving means corresponding to the moving speed based on the input signal from the comparison operation means and the instruction signal from the operation means.

Therefore, according to this configuration, when the front approaches the danger area of interference with the driver's cab, the speed of only a predetermined front member can be set so as to decrease in accordance with the approach situation. Work efficiency can be improved.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

FIGS. 1 to 8 illustrate a first embodiment of an interference preventing device for a working machine according to the present invention. FIG. 1 is a block diagram showing the entire structure of the interference preventing device, and FIG. Flow chart showing the flow of the arithmetic processing by the device,
FIG. 3 is a side view of a working machine which is an object of this embodiment, FIG. 4 is an operation explanatory view showing a front operation of the working machine, and FIG. 5 is a working machine for illustrating a relationship between a deceleration area and an interference risk area. FIG. 6 is an explanatory view of the same as seen from the top, and FIG. 7 is a schematic view of the front of the working machine.

As shown in FIG. 3, in this embodiment, a work machine main body 2 mounted on a traveling device 1 is provided with a first
A boom 11 and a second boom 12 for horizontally moving the arm 14 and the bucket 15 with respect to the first boom 11 by an offset cylinder 22 as shown in FIG.
And an arm 14 rotatably provided on the second boom 12.
The present invention is applied to a hydraulic shovel having a front 10 comprising a bucket 15 rotatably connected to an arm 14 by a pin 51. 3 and 4
O1 is a connection between the work machine body 2 and the first boom 11, O2 is a connection between the first boom 11 and the second boom 12, O3 is a connection between the second boom 12 and the arm 14, O4 indicates a connection between the arm 14 and the bucket 15, respectively. The first boom 11, the second boom 12, the arm 14, and the bucket 15 are each
1, 22, 23, and 24.

The body 2 and the first boom 11, the first boom 11 and the second boom 12, the second boom 12 and the arm 14
And the relative angle θ between each front member
Angle detecting means for detecting ₁ , θ ₂ and θ ₃ respectively, for example, angle meters 31, 32 and 33 such as potentiometers are provided. And these goniometers 31, 32, 33
Angle signal θ between front members detected by
₁ , θ ₂ and θ ₃ are input to the arithmetic unit 60 shown in FIG.

The arithmetic unit 60 calculates the angle signals θ ₁ ,
a coordinate calculation unit 61 as a coordinate calculation means for calculating coordinates (x ₀ , y ₀ , z ₀ ) of a predetermined location on the front 10 based on θ ₂ and θ ₃ , for example, a bucket tip coordinate (x ₀ , Y ₀ , z ₀ ), only the arm 14, or a deceleration area storage unit 76 as deceleration area setting means for setting a deceleration area for reducing the moving speed of the first boom 11 and the arm 14, and bucket tip coordinates ( x ₀ ,
y ₀ , z ₀ ), an area where the operation of all front members is prohibited, that is, an interference risk area storage unit 65 as an interference risk area setting unit in which the interference risk area 73 is set.
And the calculated bucket tip coordinates (x ₀ , y ₀ , z ₀ )
Is within the deceleration areas 74, 75, 101 or the danger area 73, and outputs the maximum speed signals v _amax , v _bmax of the arm cylinder 23 and the first boom cylinder 21 according to the result. A comparison operation unit 62 as operation means, and signals from the comparison operation unit 62 and instruction signals l _xa and l _xb from operation levers 69 as operation means for operating each front member provided in the cab 3. And a drive control unit 77 as a drive control unit that outputs a drive control signal to a hydraulic drive circuit 70 as a drive unit that supplies hydraulic oil to each cylinder based on these signals.
And Note that bucket tip coordinates (x ₀ ,
In the calculation of (y ₀ , z ₀ ), in the present embodiment, the coordinate system (x, y, z) as shown in FIG.
The calculation is performed using the connection center O1 with the boom 11 as the coordinate origin.

Further, the above-described deceleration area storage section 76
An arm deceleration area storage unit 64 in which an area for lowering only the speed of the arm cylinder 23 is set;
3 and a boom deceleration area storage unit 63 in which an area for reducing the speed of the first boom cylinder 21 is set, and the speeds of the arm cylinder 23 and the first boom cylinder 21 when the first boom 11 and the arm 14 are simultaneously operated. And a composite deceleration area storage unit 100 in which an area for reducing the speed is set. The maximum velocity signal v _amax from the drive control unit 77 comparing unit 62, v _bmax an instruction signal l _xa from the operation lever 69, the arm 14 on the basis of the l _xb, the moving velocity v _a of the first boom 11 , _Vb
And each cylinder 2 corresponding to the moving speeds v _a and v _b
Flow rate q _a of the hydraulic oil to 1,23, a flow rate calculation unit 67 for calculating a q _b, formed from the flow rate q _a, the drive control signal corresponding to q _b i _a, conversion unit 68. which converts the i _b Have been. Incidentally, the hydraulic drive circuit 70 is composed of a not-shown control valve or the like, the drive control signals i _a, the flow rate q _a corresponding to i _b, q
The hydraulic oil of _b is supplied to each of the cylinders 21 and 23.

The operation of the first embodiment configured as described above will be described with reference to the flowchart shown in FIG.

The arithmetic unit 60 firstly receives the angle signals θ ₁ , θ ₁ from the goniometers 31, 32, 33 as shown in step S1.
The coordinates (x ₄ , y ₄ , z ₄ ) of the center point O ₄ of the connection between the bucket 15 and the arm 14 are calculated based on ₂ and θ ₃ . This processing will be described with reference to the schematic diagram of the front shown in FIG. Note that FIG. 7B shows FIG.
It is the figure seen from the direction. The FIG. 7 (a), the As can be seen from (b), the coordinate values of _{O4 (x 4, y 4,} z 4) _{is, x 4 = l 1 × cosθ} 1 + l 2 × cosθ 1 × cosθ 2 + l 3 × cos (θ ₁ −θ ₃ ) y ₄ = l ₁ × sin θ ₁ + l ₂ × sin θ ₁ × cos θ ₂ + l ₃ × sin (θ ₁ −θ ₃ ) z ₄ = l ₃ × sin θ ₂ 1) Where l ₁ is the distance between O1 and O2, l ₂ is O
The distance between 2 and O3, l ₃ is the distance between O3 and O4.

After the coordinate values are calculated in this manner, the process proceeds to the next step S2, and the bucket 15 is calculated by the following operation.
It is determined whether the operating range 71 at the tip is included in an area that interferes with the cab 3. Since the bucket 15 rotates about the pin 51 as a fulcrum, the operating range 71 of the tip of the bucket 15 shown by a chain line in FIG. 5 is r ² = (x−x ₄ ) ² + (y−y ₄ ) ^2.・ ・ (2) Here, r indicates the turning radius of the tip of the bucket 15.

The interference risk area 73 is divided into linear portions 73a and 73c and a curved portion 73b shown in FIG. 5, and is set in the interference risk area storage section 65 by the following function.
That is, the region y = y ₁ 73b region ^{_{r 1 2 = (x-x}} 10) of _{^{73a 2 + (y-y 10}} ) region of _{^{2 73c x = x 1 ······ (}} 3-1) where Where x ₁ , y ₁ , x ₁₀ , and y ₁₀ are constants set in advance, respectively, and x ₁₀ and y ₁₀ are coordinates of the center of curvature of the boundary of the region 73b as can be seen from FIG. By solving the simultaneous equations of the equations (2) and (3-1), it is determined whether or not the intersection exists between the two, that is, whether or not the tip of the bucket 15 can operate within the range of the interference risk area 73. can do. If no solution is found, the operating range 71 at the tip of the bucket 15 is
3 is not included, and the procedure S2 becomes No.
When a solution is obtained, it is included in the interference risk area 73, and the procedure S2 becomes Yes.

If the result of the determination in step S2 is Yes, the process proceeds to step S3, in which the maximum speed signals v _amax and v _bmax of the arm 14 and the first boom 11 are set to 0, respectively, and the operation of the arm 14 and the boom 11 is performed. To stop.

On the other hand, if the decision result in the step S2 is No, the process shifts to a step S4, where it is determined whether or not the operating range 71 at the tip of the bucket 15 is included in the boom deceleration region 74. The processing in step S4 is performed in substantially the same manner as step S2. That is, it is determined whether or not the boom deceleration area 74 set in the boom deceleration area storage unit 63 includes the operating range 71 of the tip of the bucket 15 represented by the above equation (2), as in step S2. Judgment is made by asking. Then, this procedure S
4, when it is determined that the operation range 71 at the tip of the bucket 15 is included in the boom deceleration region 74, that is, Yes
At this time, the maximum speed signals v _amax and v _{bmax of the} arm cylinder 23 and the first boom cylinder 21 are set in step S5. The boundary of the boom deceleration region 74 is divided into linear portions 74a and 74c and a curved portion 74b shown in FIG. 5, similarly to the interference risk region 73, and constants set in advance are x _{2 and} y.
₂ is set in the boom deceleration area storage unit 64 by the following function.

[0025] 74a of the region y = area of ^{_{y 2 74b r 2 2 = (}} x-x 10) 2 + (y-y 10) 2 74c region x = x ₂ ······ (3-2) of On the other hand, when the determination result in the step S4 is No, the procedure S4
Then, it is determined whether or not the operation range 71 at the tip of the bucket 15 is included in the range of the arm deceleration region 75. In this step S6, the same processing as in step S4 is performed. Note that the arm deceleration area 75 is set in the arm deceleration area storage unit 64. Then, when it is determined in step S6 that the operation range 71 at the tip of the bucket 15 is included in the arm deceleration region 75, that is, when Yes, the maximum speed signal v of the arm cylinder 23 is determined in step S7.
_amax is set. The arm deceleration area 75 is
x ₃ and y ₃ are set as preset constants in the arm deceleration area storage unit 64 by the following functions.

[0026] 75a region y ₌ y 3 75b region ^{_{r 3 2 = (x-x}} 10) of _{^{2 + (y-y 10)}} 2 75c areas x = x ₃ ······ (3-3) In steps S5 and S7, the maximum speed signals v _amax and v _{bmax of the} arm cylinder 23 and the first boom cylinder 21 are calculated by, for example, the following calculation.
If it is determined in step S4 that the front 10 has entered the boom deceleration area 74, the front end of the bucket 15 and the interference risk area 73 are closest to each other based on the above-described equations (2) and (3-1). Is calculated by the following calculation. That is, from the coordinates (x ₄ , y ₄ , z ₄ ) of the connection center O ₄ between the arm 14 and the bucket 15 obtained by the equation (1), x ₄ ≧ x ₁₀ and y ₄ ≧
When {(r ₁ + r) − (x ₄ −x ₁₀ )} + y ₁₀ , Δl = r ₁ −r + {(x ₁₀ −x ₄ ) + (y ₁₀ −y ₄ )} · ₍₄₎ x 4 <when x ₁₀ and _{y 4 ≧ y 10 + r +} r 1, △ l = y 4 -r-y 1 ····· (5) x 4 ≧ x 10 + r + r 1 and y ₄ <y _{In the case of 10} , Δl = x ₄ −r−x ₁ (6)

The situations of the equations (4) to (6) will be described with reference to FIG. The state shown in the equation (4) is established when the center O4 exists in the shaded area II in FIG. That is, a point closest to a circle having a radius r centered on O4 exists on the curved portion 73b of the interference risk area 73, and the distance is represented by the equation (4). Equation (5) indicates that the center O
Equation (6) represents the distance when the center O4 exists in the region III. This first
5, the distance between the boundary of the interference risk area 73 and the outer boundary of the boom deceleration area 74 is l _b ,
The distance between the boundary of the interference danger area 73 and the outer boundary of the arm deceleration area 75 is set to be l _{a in} parallel, and the arm cylinder is calculated by the following calculation based on equations (4) to (6). 23, The maximum speed signals v _amax and v _{bmax of} the first boom cylinder 21 are calculated.

V _amax = V _amax × △ l / l _a ... (7) v _bmax = V _bmax × △ l / l _b ... (8) where V _amax and V _bmax are The maximum speed of the arm cylinder 23 and the first boom cylinder 21 during a normal operation in an area outside the arm deceleration area 75 is shown. This (7), (8)
As can be seen from the equation, the maximum speed signals v _amax and v _bmax are set to be lower as the distance Δl becomes shorter.

In step S6, the arm deceleration area 7
5, the maximum speed of the arm cylinder 23 is calculated by the same calculation in step S7. In this case, the maximum speed of the first boom cylinder 21 is set to _Vbmax . Further, if No is determined in step S6, the process proceeds to step S13, where the bucket 1
It is determined whether or not the operation range 71 at the tip 5 is included in the range of the composite deceleration region 101. In step S13, the same processing as steps S4 and S6 is performed. Incidentally, the composite deceleration region 101 in the composite deceleration region storage unit 100, x _5, y ₅
Is set by a function shown below as a preset constant.

[0030] 101a of the region y = y ₅ 101b regions ^{_{r 5 2 = (x-x}} 10) 2 + (y-y 10) region of _{^{2 101c x = x 5 ····· (}} 9) The procedure S13 When it is determined that the operation range 71 at the tip of the bucket 15 is included in the composite deceleration area 101, that is, when the determination is Yes, the process proceeds to step S14, and when the determination is No, the process proceeds to step S8.

In step S14, it is determined whether or not a combined operation of the first boom 11 and the arm 14 is instructed. If it is determined that the combined operation is performed, the process proceeds to step S5, where the first boom cylinder 21, The maximum speeds v _bmax and v _{amax of the} arm cylinder 23 are set.

On the other hand, in step S8, the arm cylinder 2
3. The maximum speed v _amax , v _{bmax of} the first boom cylinder 21
_Are set to _Vamax and _Vbmax , respectively.

With the above processing, the arm cylinder 2
3, the maximum velocity signal of the first boom cylinder 21 is set shifted to step S9, the instruction signal l _xa from the operation lever 69, based on l _xb, each cylinder speed v _a, v _b is set. That is, when the instruction signals l _xa , l _xb from the operation lever 69 respectively instruct the operation to the cab 3 side, the instruction signals l _xa , l _xb and the maximum speed v _amax , v
_bmax, and outputs the slower one as speed signals v _a and v _b . Conversely, when the instruction signals l _xa , l _xb instruct the movement away from the cab 3, the instruction signals l _xa , l _xb are output as the cylinder speeds v _a , v _b .

[0034] In the next steps S10, velocity v _a of the arm cylinder 23 that is calculated in Step S9, than the speed v _b of the first boom cylinder 21, the supply flow rate q _a to each cylinder, q
Calculate _b . In other words, the _{q a = v a * a sa} q b = v b * a sb ······ (10). Here, _asa is the cylinder pressure receiving area of the arm 14, and _asb is the cylinder pressure receiving area of the first boom 11.

[0035] In step S11, the flow rate q _a, based on the q _b, calculates for example a current signal to the electromagnetic proportional valve (not shown) provided in the hydraulic drive circuit 70 i _a, a i _b. And
In step S12, the result of step S11 is set to the actual current signal i.
Convert _a, a i _b, and outputs it to the electromagnetic proportional valve. Thus, in the hydraulic drive circuit 70 supplies current signals i _a, the flow rate q _a corresponding to i _b, a q _b to each cylinder.

In this embodiment, an area on the right side of the cab 3 is also set as the area. This region is also a compound deceleration region 101f, an arm deceleration region 75f, a boom deceleration region 74, and an interference risk region 73 from the outside in accordance with the region of FIG. Here, the suffix f is added to the composite deceleration area and the arm deceleration area because the manner of control is different from that in the area on the front side of the cab 3 due to the operation of the offset cylinder 22. That is, the region 75
In the regions 74f and 73 near the operator's cab 3 with the boundary 110 between f and 74f as the boundaries, the operation of the offset cylinder 22 is prohibited to prevent the offset cylinder 22 from moving further to the left, and the first boom 11 and The operation of the arm 14 is also prohibited, but the regions 75 f and 10
In 1f, the operation of the offset cylinder 22 is prohibited, but at least the operation of the first boom 11 and the arm 14 is not restricted. Specifically, the illustrated areas a, b,
The respective controls of boom raising, arm cloud, and offset leftward movement are distinguished as follows in accordance with c, d, and e.

Boom raising arm cloud offset left a normal deceleration normal b deceleration deceleration normal c deceleration deceleration prohibition d prohibition prohibition e prohibition prohibition prohibition As described above, according to this embodiment, the cab 3 In order to reduce the operation speed of the arm 14 and / or the first boom 11 according to the approach state,
The deceleration area of the first boom 11 can be minimized, and the working efficiency can be improved as compared with the related art.
Further, operability can be improved.

FIG. 9 is a block diagram showing a configuration of an interference preventing device for a working machine according to a second embodiment of the present invention. In the second embodiment, as shown in the figure, the signal i _a corresponding to the maximum speed of the first boom 11 and the arm 14 by the arithmetic unit 60 ', i _b is calculated output. This signal is supplied to the solenoid 9 of the solenoid valve 81 provided on the pilot circuit.
1 is input. The electromagnetic valve 81 switches and connects a pipe 84 and a pipe 85 connected to the tank 92 or a pipe 86 connected to the pilot pump 80. Thereby, the valve position is switched to (a) or (b) in accordance with the signal from the arithmetic unit 60 ', and the hydraulic pressure is supplied to the pipeline 84. The pipe 84 is sent to the pilot switching valve 82 and sent to the pilot port via the pipe 88.

Further, pilot pressures P _c and P _d corresponding to the operation amounts of the operation lever 69 are sent out to the pilot switching valve 82 via the pipe 83 and sent to the pilot port 89 via the pipe 87. Can be

The valve position of the pilot switching valve 82 is switched between (c) and (d) depending on the pressure balance supplied to the pilot ports 89 and 90, respectively.
When the pilot pressure from the operation lever 69 is high, the valve position is switched to the position (d), and the pilot pressure P according to the signal from the arithmetic unit 60 'is supplied to the hydraulic drive circuit 70. Conversely, the pilot pressure P _a based on the signal from the arithmetic unit 60 ', when P _b is high, the switching valve located in (c) side, the hydraulic drive circuit of the pilot pressure based on a signal from the operation lever 69 70. In FIG. 9, reference numeral 77 'corresponds to the drive control device in the first embodiment, and in FIG. 9, the same reference numerals are given to the units which can be regarded as equivalent to the first embodiment.

[0041] In the second embodiment as described above, the pilot pressure P _c corresponding to the operation amount operating lever 69, P _d and the signal i _a from the arithmetic unit 60 ', the pilot pressure P corresponding to the i _{b a,} with respect to P _b, the pressure of the low pressure side is supplied to the hydraulic drive circuit 70 as the pilot pressure P. Therefore, the lower one of the speed calculated by the arithmetic unit 60 'and the speed designated by the operation lever 69 is selected. Otherwise, the configuration is the same as that of the first embodiment, and has the same effect.

In the above-described embodiment, the working machine having an operator's cab entirely surrounded by doors, window glasses and the like has been described. However, the working machine is usually called a canopy formed only by a frame for protecting the driver. It may be a driver's seat.

In the embodiment, when the front enters the deceleration area, the maximum speed of the arm or the boom is regulated. However, it is also possible to decelerate uniformly in response to an instruction signal from the operation lever. The control of the individual deceleration can be appropriately set in consideration of workability.

[0044]

As is apparent from the above description, according to the present invention, the operating speed of a predetermined front member can be reduced in accordance with the approach state between the driver's cab and the front. Can be minimized, the working efficiency can be improved compared to the prior art, and the operability can be improved.
Furthermore, when performing a combined operation, the speed of the target member is reduced while it is far from the driver's cab, so that the danger of collision can be avoided and a safe working environment can be secured. It becomes possible.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an overall configuration of a work implement interference prevention device according to a first embodiment of the present invention.

FIG. 2 is a flowchart illustrating a flow of a calculation process according to the first embodiment.

FIG. 3 is a side view of a working machine to which the embodiment is applied.

FIG. 4 is an operation explanatory diagram showing an operation of a front of a working machine that is an object of the embodiment.

FIG. 5 is an explanatory diagram of a working machine viewed from a side to show a relationship between a deceleration area and an interference risk area in the embodiment.

FIG. 6 is an explanatory view of the working machine viewed from above to show a relationship between a deceleration area and an interference risk area in the embodiment.

FIG. 7 is a schematic diagram of a front of a working machine to which the embodiment is applied.

FIG. 8 is an explanatory diagram for calculating a maximum speed in each deceleration region according to the embodiment.

FIG. 9 is a block diagram illustrating an overall configuration of an interference prevention device for a working machine according to a second embodiment.

[Explanation of symbols]

 2 Work Machine Body 3 Operator's Cab 10 Front 11 First Boom (Front Member) 12 Second Boom (Front Member) 14 Arm (Front Member) 15 Bucket (Front Member) 21 First Boom Cylinder 22 Offset Cylinder 23 Arm Cylinder 24 Bucket Cylinders 31, 32, 33 Angle meter (angle detection means) 60 arithmetic unit 61 coordinate calculation unit (coordinate calculation means) 62 comparison calculation unit (comparison calculation means) 63 boom deceleration area storage unit (deceleration area setting means) 64 arm deceleration area Storage section (deceleration area setting means) 65 Interference risk area storage section (interference risk area setting means) 66 Speed calculation section (drive control section) 67 Flow rate calculation section (drive control section) 68 Conversion section (drive control section) 69 Operation lever (Operation means) 70 Hydraulic drive circuit (drive means) 73 Interference danger area 74 Arm deceleration area 75 arm deceleration area 100 composite deceleration area 101 composite deceleration area storage unit (deceleration area setting means)

Continued on the front page (72) Inventor Shumichi Yamada 20 Ishigane, Toyama City, Toyama Prefecture Fuji Koshiuchi Co., Ltd. (72) Inventor Akinori Shimasaki 20 Ishikin, Toyama City, Toyama Prefecture Fuji Koshiuchi Co., Ltd. (72) Inventor Takashi Matsuda 20 Ishikin, Toyama City, Toyama Prefecture Fuji Koshiuchi Co., Ltd. (56) References JP-A-5-272154 (JP, A) JP-A-3-217523 (JP, A) JP-A-4- 333730 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) E02F 9/24 E02F 3/43

Claims (3)

(57) [Claims] 1. A first boom, a second boom connected to the first boom movably in a lateral direction by an offset cylinder.
Work to prevent interference between the front of the working machine and the working machine body including the driver's seat by operating the front including the boom and the arm via the driving means by operating the operating means provided in the driver's seat. In a device for preventing interference of a machine, a compound deceleration area between the front and a working machine body including a driver's seat, when the first boom and the arm are simultaneously driven, the moving speeds of the first boom and the arm are respectively reduced. An arm deceleration region for reducing the moving speed of the arm when the arm is driven alone; a boom deceleration region for reducing the moving speed of the first boom when the first boom is driven alone; An interference danger area for stopping the operation of the first boom, the second boom and the arm is set so as not to enter, and a part of the front is located in each of these areas. An interference prevention device for a working machine, comprising: control means for controlling the drive means when entering the vehicle and performing preset deceleration and / or stop control according to each area. 2. An angle detecting means for detecting a relative angle between the work implement main body and a front member connected to the work implement main body, and a relative angle between the front members, and detecting these angles. A coordinate calculating means for calculating a coordinate value of a predetermined position of the front in a predetermined coordinate system based on a signal from the means, and an area in which the compound deceleration area, the arm deceleration area, the boom deceleration area, and the interference risk area are set Setting means, and when it is determined from the coordinate values of the predetermined location of the front calculated by the coordinate calculation means that the front has entered the range of any of the areas, the moving speed of the predetermined front member is set in each area. A comparison operation means for outputting a signal for lowering the speed or prohibiting movement, and a signal from the comparison operation means and an instruction signal from the operation means. The apparatus for preventing interference of a working machine according to claim 1, further comprising: a drive control means for inputting and outputting a control signal corresponding to these signals to said drive means. 3. The danger area for interference is set in a region closer to the cab than the boom deceleration region with respect to the cab, and the boom deceleration region is closer to the cab than an arm deceleration region with respect to the cab. 2. The interference prevention device for a working machine according to claim 1, wherein the arm deceleration area is set closer to an operator cab than the composite deceleration area. 3.