JP2942175B2 - Hydraulic excavator 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 a hydraulic shovel interference prevention device for automatically decelerating and stopping the operation of a hydraulic shovel when the hydraulic shovel approaches a cab, thereby avoiding collision between the two. More particularly, the present invention relates to a hydraulic shovel interference prevention device suitable for use in a construction machine such as a small turning hydraulic shovel.

[0002]

2. Description of the Related Art As disclosed in, for example, Japanese Patent Application Laid-Open No. 5-272155, the relative angle of a working machine such as a boom, an arm, and an offset is detected by an angle detector, and based on these detected angle values. The position of the bucket is calculated by a microcomputer or the like, and the calculation result is compared with a preset deceleration region and stop region, and the operation of the work machine is automatically controlled based on the comparison result, thereby enabling the operation with the bucket. 2. Description of the Related Art An interference prevention device for a hydraulic excavator that prevents interference with a seat has been proposed.

In this conventional interference prevention device, the position data of the deceleration region and the stop region and the current value data of the current signal corresponding to each region are stored in a memory such as a microcomputer in advance. The operation of the working machine is controlled by outputting different current signals to the electromagnetic proportional pressure reducing valve and reducing the pilot pressure to the direction switching valve according to the degree of opening and closing of the electromagnetic proportional pressure reducing valve.

In such a conventional interference preventing apparatus, a trimmer for adjusting an output value of a current signal with respect to a deceleration region is usually provided on a substrate of the microcomputer, and for example, the direction switching is performed due to an error in a manufacturing process. If the speed of the working machine becomes extremely slow due to variation in the pressure / flow rate characteristics of the valve, the output value of the current signal is made larger than the initial reference value from the trimmer at the time of shipment from a factory, for example. Thus, a desired speed characteristic of the working machine is obtained.

[0005]

In the above-described conventional apparatus for preventing interference of a hydraulic excavator, when all output values of current signals corresponding to respective areas are changed by trimmer adjustment at the time of shipment from a factory, etc. It is difficult to return the output value of the current signal to the original reference value by performing readjustment of the above, and there is a problem that the compatibility of the microcomputer is lost. In addition, since the trimmer is built in the microcomputer case of the interference prevention device, there is a problem that complicated work is required when performing the trimmer adjustment, and much time and man-hours are required.

In addition, the output values of the current signals corresponding to the deceleration area and the stop area cannot be individually adjusted, and the instruction position of the deceleration area and the instruction position of the stop area cannot be individually adjusted. It was difficult to satisfy the customer's request. Therefore, for example, if the width or shape of the bucket changes depending on the type of hydraulic excavator, the distance between the bucket and the cab may change and interfere with each other. A complicated operation of changing the bucket and stopping the bucket at a fixed position with respect to the cab was required. In addition, even if you replace the arm etc. with a special specification,
Since the stop position of the work machine changed and there was a problem of interference with the cab, it was necessary to specialize the microcomputer program software according to the special specifications.

The present invention has been made in view of such a situation of the prior art, and a first object of the present invention is to reduce the output value of a current signal output as a control signal from an arithmetic unit to a control unit with a complicated operation. SUMMARY OF THE INVENTION An object of the present invention is to provide a hydraulic shovel interference prevention device that can be easily corrected without requiring the above. A second object of the present invention is to provide a hydraulic shovel that can easily correct the designated position of each area used when the relative position of the work implement is determined by the calculating means without requiring complicated work. It is to provide a prevention device. It is a third object of the present invention to provide a hydraulic shovel interference prevention device that can limit the output value of the current signal and the designated position of each area to only a specific person.

[0008]

To achieve the first object mentioned above SUMMARY OF THE INVENTION The present invention includes a boom and an arm capable of vertical pivoting, one of any one of the boom or the arm A work machine having an operating means for operating in a plane is provided on the side of the cab on the main body, and an angle detector for detecting an amount of rotation of the boom and an amount of operation in an arbitrary plane by the operating means, respectively. Calculating means for calculating a positional relationship between the work implement and the cab based on a detection value output from an angle detector; andcontrol means for controlling an operation of the work implement according to a result of the calculation by the calculation means. In the interference prevention device for a hydraulic shovel, which prevents interference between the working machine and the cab, the calculating means may include a deceleration region determined in advance according to a positional relationship between the working machine and the cab. By storing the reference values of the current signals corresponding to the deceleration region and the stop region as well as storing the reference values of the current signals corresponding to the deceleration region and the stop region, the data map is compared with the calculation result of the calculation unit. Determining whether the relative position of the work implement is located in the deceleration area or the stop area, and outputting a current signal according to a result of the determination; and a current calculation signal input from an external input device. A correction data storage unit for storing the correction value of the current signal, the reference value of the current signal is increased or decreased based on the correction value of the current signal, and is output.The operation of the work machine is performed according to the output value of the current signal. It is characterized by controlling.

According to another aspect of the present invention, the reference data storage unit stores each reference value of a designated position for designating a boundary between the deceleration area and the stop area. And the correction data storage unit stores each correction value of the designated position input from the external input device, and increases or decreases each reference value of the designated position based on each correction value of the designated position. It is characterized by:

[0010] In order to achieve the third object, the present invention provides an electronic apparatus wherein the comparison operation section determines whether the current signal and the designated position are inputted only when a predetermined password is inputted through the external input device. Is performed.

[0011]

When the arithmetic means comprises a reference data storage section, a comparison operation section and a correction data storage section, when the correction value of the current signal is input to the comparison operation section via an external input device, the current signal Are stored in the correction data storage unit. Next, the comparison operation unit determines whether or not the relative position of the work implement is located in a deceleration area or a stop area that is predetermined according to the positional relationship between the work implement and the cab, and according to the determination result, When outputting a current signal,
The reference value of the current signal is increased / decreased based on the correction value of the current signal stored in the correction data storage unit and output to the control means. This makes it possible to easily correct the output value of the current signal output as a control signal from the calculation means to the control means without requiring complicated work.

Further, the reference data storage section stores reference values of designated positions indicating a boundary between a deceleration area and a stop area, and the correction data storage section stores respective correction values of the designated position. In each of the above, when each correction value of the designated position of the region is input to the comparison operation unit via the external input device , each correction value of the designated position is stored in the correction data storage unit, Each reference value of the indicated position is increased or decreased by the comparison operation unit based on each correction value of the indicated position. This makes it possible to easily correct the designated position of each area used when the relative position of the work implement is determined by the calculating means, without requiring complicated work.

[0013] Further, in the case where the comparing and calculating section corrects the current signal and the designated position only when a predetermined password is input through the external input device, the password is not known. Since a person cannot perform the correction processing, it is possible to limit the output value of the current signal and the designated position of each area to only a specific person.

[0014]

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

FIG. 1 is a block diagram of an interference prevention device for a hydraulic shovel according to one embodiment of the present invention, FIG. 2 is a circuit diagram showing a main part of a hydraulic drive circuit, and FIG. 3 is provided in the interference prevention device of FIG. FIG. 4 is an explanatory diagram of a boom control data map stored in the interference prevention device of FIG. 1, and FIG. 5 is an explanatory diagram of a swing control data map stored in the interference prevention device of FIG. FIG. 6 is a plan view of the excavator,
7 is a side view showing a state where the boom has reached the highest position, FIG. 8 is a side view showing a state where the boom has reached the deceleration start instruction position, and FIG. 9 is a side view showing a state where the boom has reached the stop instruction position. 10 is a flowchart showing the general processing contents of the arithmetic unit, FIG. 11 is a flowchart of a control processing of a boom raising operation based on a boom control data map, and FIG. 12 is a flowchart of a control processing of a right swing operation based on a swing control data map. FIG. 13 is a flowchart of a correction process performed by the comparison operation unit.

(Structure of Hydraulic Excavator) In the boom swing type excavator shown in FIGS.
A swing post provided on the side of the cab 2 of the body 1 so as to be able to swing in the left-right direction;
4 is a swing cylinder for driving the swing post 3, 5
Is a boom that is pivotally connected to the swing post 3 in the vertical direction, 6 is a boom cylinder that drives the boom 5, 7 is an arm that is rotatably connected to the boom 5, and 8 is an arm 7. The bucket 9 that is rotatably connected is a working machine constituted by the boom 5, the arm 7, and the bucket 8.

In such a boom swing type excavator, the raising angle of the boom 5 is set to be extremely large in order to reduce the minimum turning radius, and the boom 5 is returned to the swing center as shown in FIG. When the raising operation of the boom 5 is performed in the neutral state, the boom 5 does not interfere with the driver's cab 2 and the boom 5 is raised to the highest position shown in FIG.
(A reference position inclined by 44 degrees from the vertical line). Similarly, even in a left swing state in which the boom 5 swings leftward (counterclockwise in FIG. 6) from the neutral state, the boom 5 rises without interfering with the cab 2. However,
For example, if the boom raising operation is performed at a predetermined angle or more in a right swing state in which the boom 5 is swung rightward (clockwise in FIG. 6), the rear portion of the boom 5 interferes with the cab 2. Also,
When the right swing operation is performed at a predetermined angle or more with the boom 5 raised to the vicinity of the cab 2, the side surface of the boom 5 interferes with the cab 2.

(Configuration of Interference Prevention Apparatus 10) In FIG. 1, reference numeral 10 denotes an interference prevention apparatus according to the present embodiment, 11 denotes an arithmetic unit of a controller provided in the interference prevention apparatus 10, and 12 and 13 denote angle detectors. These are a swing angle sensor and a boom angle sensor. The swing angle signal θ1 and the boom angle signal θ2 detected by these sensors 12 and 13 are input to an arithmetic unit 11 built in the controller. The calculation device 11 includes an angle calculation unit 14 that calculates the angle of the reference position of the boom 5 based on the angle signals θ1 and θ2, a boom control data map shown in FIG. 4, a swing control data map shown in FIG. And determines whether or not the boom angle calculated by the angle calculation unit 14 is within the data map stored in the reference data storage unit 15. A comparison operation unit 16 for outputting a signal, and a hydraulic drive circuit 1 based on an output value of a current signal from the comparison operation unit 16.
And a drive control unit 18 that outputs a predetermined control signal to the control unit 7. Note that the swing angle signal θ is calculated by the angle calculation unit 14, the reference data storage unit 15, and the comparison calculation unit 16.
1, the boom 5 and the cab 2 based on the boom angle signal θ2
The drive control unit 18 controls the raising operation and the right swing operation of the boom 5 in accordance with the calculation result of the calculation unit.

(Detection Operation of Swing Angle Sensor 12 and Boom Angle Sensor 13) The swing angle sensor 12 swings from the neutral position (see FIG. 5) where the boom 5 is returned to the swing center. 5 is detected. Further, the boom angle sensor 13 includes:
With reference to the highest position of the boom 5 (see FIG. 7), the relative angle of the boom 5 to this highest position is detected.

(Structure of Boom Control Data Map) In FIG. 4, the boom angle is set in the horizontal axis direction and the swing angle is set in the vertical axis direction of the boom control data map. This boom control data map includes a danger area EB1 where the raising operation of the boom 5 is stopped in an emergency, and a boom 5
Region EB2 for stopping the raising operation of the boom 5, and deceleration regions EB3 and EB for respectively reducing the raising operation of the boom 5.
4, EB5, and a normal area EB6 in which the raising operation of the boom 5 is permitted. The dangerous area EB1 is surrounded by five coordinate points P1, P2, P3, P4, and P5, and the designated position indicating the boundary of the dangerous area EB1 is the coordinate point P.
1, P2, P3, and P4, and these coordinate points P1, P2, P3, and P4 are set based on the position where the back surface of the boom 5 interferes with the roof outer shape of the cab 2. The stop area EB2 includes seven coordinate points P1, P2, P
3, P4, P6, P7, P8, and the stop area E
Pointing positions indicating the boundary of B2 are coordinate points P6, P7, P
It is on the line connecting 8. The deceleration area EB3 is surrounded by four coordinate points P8, P9, P10, and P11. The designated positions indicating the boundaries of the deceleration area EB3 are coordinate points P10, P1.
It is on the line connecting 1 The deceleration area EB4 is surrounded by four coordinate points P6, P7, P12, and P13, and the designated positions indicating the boundaries of the deceleration area EB4 are coordinate points P7, P1.
2 and P13 are on the line. The deceleration area EB5 is 4
Surrounded by three coordinate points P10, P11, P14, P15,
The designated position indicating the boundary of the deceleration area EB5 is on the line connecting the coordinate points P14 and P15, and the other white part is the normal area EB6. The reference data storage unit 15 stores the areas EB1 to EB6 which are predetermined according to the positional relationship between the boom 5 and the cab 2 as a boom control data map, and stores the areas EB1 to EB6 in these areas. Reference values of the corresponding current signals are stored. Therefore, a current signal of the maximum level (for example, 1400 mA) is output in the normal area EB6, and a current signal of the minimum level (for example, 0 mA) is output in the danger area EB1 and the stop area EB2.
In B3 to EB5, a first current signal, a second current signal, and a third current signal at intermediate levels are output.

(Structure of swing control data map) In FIG. 5, similarly to the boom control data map of FIG. 4, the boom angle is set in the horizontal axis direction of the swing control data map, and the swing angle is set in the vertical axis direction. Is set.
The swing control data map includes a danger area ES1 for emergency stop of the right swing operation of the boom 5 and a boom 5
A stop region ES2 for stopping the right swing operation of the boom 5 and a deceleration region E for decelerating the right swing operation of the boom 5 respectively.
S3 and ES4, and a normal area ES5 where the right swing operation of the boom 5 is permitted. The dangerous area ES
1 has five coordinate points P2 as in the case of the dangerous area EB1.
1, P22, P23, P24, and P25, and the designated position indicating the boundary of the dangerous area ES1 is the coordinate point P2.
1, P22, P23, and P24, and these coordinate points P21, P22, P23, and P24 are set based on the position where the back of the boom 5 interferes with the roof outer shape of the cab 2. The stop area ES2 includes seven coordinate points P21, P22, P23, P24, P26, P27, P
28, the designated position indicating the boundary of the stop area ES2 is on the line connecting the coordinate points P26, P27, and P28. The deceleration area ES3 has four coordinate points P27 and P2.
8, P29, and P30, and the designated positions indicating the boundaries of the stop area ES3 are coordinate points P29, P30, and P27.
On the line connecting. The deceleration area ES4 is surrounded by four coordinate points P29, P30, P31, and P32, and the other white area is the normal area ES5. The reference data storage unit 15 stores the area ES1 determined in advance according to the positional relationship between the boom 5 and the cab 2.
To ES5 are stored as a data map, and reference values of current signals corresponding to these areas ES1 to ES5 are stored. Therefore, a current signal of the maximum level (for example, 1400 mA) is output in the normal region ES5, a current signal of the minimum level (for example, 0 mA) is output in the danger region ES1 and the stop region ES2, and the intermediate level is output in the deceleration regions ES3 and ES4. The fourth current signal and the fifth current signal are output.

(Overall Configuration of Hydraulic Drive Circuit 17) As shown in FIG.
Operating means for operating the boom 5 disposed in the cab 2 and the like, in addition to the control signal from the
An instruction signal from the engine 9 is input, and the supply amount of the hydraulic oil to each of the cylinders 4 and 6 is controlled based on these signals.
As shown in FIG. 2, the hydraulic drive circuit 17 includes a hydraulic pump 20 and a pilot pump 21 driven by an engine (not shown), and a boom for controlling the flow of hydraulic oil supplied from the hydraulic pump 20 to the boom cylinder 6. It includes a direction switching valve 22, a boom pilot valve 23 for operating the boom cylinder 6, and the like, and other actuators such as other swing cylinders 4, arm cylinders, bucket cylinders, and traveling motors are not shown.
The pilot valve 23 has a left chamber and a right chamber communicating with the pilot pump 21, and pressure oil discharged from the pilot pump 21 is supplied to the operating lever 19.
Are supplied to these left or right chambers in response to an instruction signal from the user.

(Structure of Boom Hydraulic Circuit) The boom directional control valve 22 has pilot chambers on both left and right sides, and a pilot chamber on the left side of the boom directional control valve 22 and a boom pilot valve 23 are provided. The left side chamber is connected to the boom raising pilot line 24, and the right side chamber of the boom directional control valve 22 and the right side chamber of the boom pilot valve 23 are connected to the boom lowering pilot line 25.
Connected by

An electromagnetic proportional pressure reducing valve 26 is interposed in the boom raising pilot line 24. The electromagnetic proportional pressure reducing valve 26 has a port connected to a tank. Is operated in proportion to the current value of the control signal output from the controller. Usually the maximum level (eg 1
When the boom raising pilot line 24 is fully opened in response to a current signal of 400 mA) and a current signal of a minimum level (for example, 0 mA) is input as a control signal, the pressure oil in the boom raising pilot line 24 is cut off and stored in the tank. When the first current signal, the second current signal, and the third current signal whose current values are intermediate levels are input as control signals, the boom-up pilot oil in the pilot line 24 is squeezed according to each current signal. To reduce the pilot pressure. On the other hand, the pilot pump 2
An emergency stop electromagnetic switching valve 28 is interposed in the pilot pressure supply line 27 that guides the pressure oil from the solenoid valve 1. The electromagnetic switching valve 28 has a port connected to a tank. The switching valve 28 is also a drive control unit 18 of the arithmetic unit 11.
Is switched by the emergency stop signal output from the controller, and when the emergency stop signal is input, the pilot pressure supply line 27
Shut off the pressure oil and return to the tank.

(Explanation of boom operation) Boom 5 and cab 2
When the boom 5 is located in the normal area EB6 of the boom control data map of FIG.
Boom electromagnetic proportional pressure reducing valve 26 and emergency stop electromagnetic switching valve 2
8 are all in the position shown in FIG. In this state, for example, when the operating lever 19 for the boom is tilted to the left side in FIG. 2, the pressure oil discharged from the pilot pump 21 passes through the pilot pressure supply line 27 and the electromagnetic switching valve 28 and then to the pilot valve 23. Boom raising pilot line 24 from the left chamber of
The air is supplied to the pilot chamber on the left side of the directional control valve 22 via the electromagnetic proportional pressure reducing valve 26, and the directional control valve 22 starts operating. When the direction switching valve 22 is switched from the neutral position to the left position, the pressure oil of the hydraulic pump 20 is supplied to the bottom side of the boom cylinder 6 via the direction switching valve 22, and the boom cylinder 6 is extended and the boom cylinder 6 extends. 5 rises.
Conversely, when the operating lever 19 for the boom is tilted to the right in FIG. 2, the pressure oil discharged from the pilot pump 21 switches direction from the right chamber of the pilot valve 23 via the boom lowering pilot line 25. The directional control valve 22 is supplied to the pilot chamber on the right side of the valve 22 and starts operating. When the direction switching valve 22 is switched from the neutral position to the right position, the hydraulic oil of the hydraulic pump 20 is supplied to the rod side of the boom cylinder 6 via the boom direction switching valve 22, and the boom cylinder 6 expands and contracts. The boom 5 moves down.

(Structure of Swing Hydraulic Circuit) The hydraulic drive circuit 17 includes a swing direction switching valve (not shown) for controlling the flow of hydraulic oil supplied from the hydraulic pump 20 to the swing cylinder 4. The swing directional control valve and the swing pilot valve are connected by a left swing pilot line and a right swing pilot line. An electromagnetic proportional pressure reducing valve is provided. This electromagnetic proportional pressure reducing valve for swing is also operated in proportion to the output value of the current signal output from the drive control unit 18 of the arithmetic unit 11. Normally, the right swing pilot line is fully opened in response to a maximum level (eg, 1400 mA) current signal, and when a minimum level (eg, 0 mA) current signal is input as a control signal, the pressure oil in the right swing pilot line is shut off. When the fourth current signal and the fifth current signal whose current values are intermediate levels are input as control signals, the hydraulic pressure in the right-swing pilot line is reduced in accordance with each current signal to reduce the pilot pressure. Reduce the pressure.

(Explanation of Swing Operation) When there is no risk of contact between the boom 5 and the driver's cab 2 and the boom 5 is located in the normal area ES5 of the swing control data map shown in FIG. The proportional pressure reducing valve and the emergency stop electromagnetic switching valve 28 are in the fully open position. In this state, both the right swing operation and the left swing operation can be performed according to the operation of the swing operation lever 19, for example.

(Configuration of the Comparison Operation Unit 16) The comparison operation unit 16 includes a ROM 31 and a RAM 3 as shown in FIG.
A CPU 30 having
For example, an external input device 3 called a handy terminal
3 and the deceleration region EB3
EB5, ES3, and ES4, and a correction data storage unit, for example, a serial ROM 34, that stores the correction values of the indicated positions of the stop areas EB2 and ES2. The CPU 30 constitutes mode switching means for switching between the collective correction mode and the individual correction mode in accordance with a current correction command input from the external input device 33. In addition, these comparison operation units 16
The input device 33 performs communication based on a predetermined communication protocol, so that the correction command and the correction data are input from the input device 33 to the comparison operation unit 16 via a cable.

(Explanation of the general processing contents by the arithmetic unit 11) Next, the control operation of the present embodiment will be described mainly with reference to FIGS.
This will be described with reference to the flowchart shown in FIG.

The arithmetic unit 11 firstly performs the procedure S1 shown in FIG.
As shown in the figure, the relative angle signals θ1 and θ2 from the swing angle sensor 12 and the boom angle sensor 13 are
4 and then in step S2 the relative angle signal θ
After calculating the angle of the reference position of the boom 5 from 1, θ2,
In step S3, the comparison operation unit 16 compares the angle of the boom 5 reference position calculated by the angle operation unit 14 with the reference data storage unit 1
5 is compared with the data map for boom control stored in the area 5 to determine whether the reference position of the boom 5 is located in any of the areas EB1 to EB6.
A boom control current signal corresponding to B1 to EB6 is output to the drive control unit 18. Next, proceeding to step S5, the comparison calculation unit 16 compares the angle of the boom 5 reference position calculated by the angle calculation unit 14 with the swing control data map stored in the reference data storage unit 15, and thereby sets the boom. It is determined whether the five reference positions are in any of the regions ES1 to ES5, and a swing control current signal corresponding to each of the regions ES1 to ES5 is output to the drive control unit 18 in step S6.

(Description of Boom Control Process) Next, the comparison process with the boom control data map and the output process of the boom control signal will be described in detail with reference to FIG.

In step S11 in FIG. 11, the angle of the reference position of the boom 5 is set to the deceleration area EB of the boom control data map.
5 is determined, and when the determination result is NO,
That is, when the boom 5 reference position does not enter the deceleration area EB5, the process proceeds to step S12 to determine whether the angle of the boom 5 reference position is in the deceleration area EB4.
If the determination result is NO, that is, if the boom 5 reference position has not entered the deceleration area EB4, the process proceeds to step S13, and the angle of the boom 5 reference position is reduced to the deceleration area E.
It is determined whether it is in B3. If the determination result is NO, that is, if the boom 5 reference position has not entered the deceleration area EB3, the process proceeds to step S14 to determine whether the angle of the boom 5 reference position is in the stop area EB2. to decide. When the determination result is NO, that is, when the boom 5
If the reference position has not entered the stop area EB2, the process proceeds to step S15 to determine whether the angle of the boom 5 reference position is in the danger area EB1. When the determination result is NO, that is, when the reference position of the boom 5 is in the dangerous area E
If it has not intruded into B1, it proceeds to step S16 and determines that the reference position of the boom 5 is in the normal area EB6,
Normal processing is performed. In this case, the drive control unit 18 outputs a current signal of the maximum level (1400 mA) as a control signal to the electromagnetic proportional pressure reducing valve 26 for the boom. Therefore, as shown in FIG.
The boom cylinder 6 performs a normal operation according to the operation amount of the corresponding operation lever 19.

On the other hand, if the decision result in the step S11 is YES, that is, if the angle of the reference position of the boom 5 is in the deceleration area EB5 of the boom control data map, the step S11 is executed.
The process proceeds to 17 where a deceleration process is performed. In this case, the drive control unit 18 outputs a first current signal of an intermediate level as a control signal to the electromagnetic proportional pressure reducing valve 26 for boom, and the procedure proceeds to step S18.
The boom raising pilot line 24 is half-opened in response to the first current signal. Thus, the pilot pressure is reduced by squeezing the pressure oil in the boom raising pilot line 24, and the raising operation of the boom cylinder 6 is decelerated.

If the result of the determination in step S12 is YES, that is, if the angle of the reference position of the boom 5 is in the deceleration region EB
If the number is 4, the process proceeds to step S19, where another deceleration process is performed. In this case, the drive control unit 18 outputs an intermediate level second current signal as a control signal to the boom electromagnetic proportional pressure reducing valve 26, and in step S20, sets the boom raising pilot line 24 according to the second current signal. Make it half open. Thereby, the boom raising pilot pipeline 24
Is further reduced to reduce the pilot pressure, and the raising operation of the boom cylinder 6 is decelerated.

When the result of the determination in step S13 is YES, that is, when the angle of the reference position of the boom 5 is in the deceleration region EB
When the number is 3, the procedure shifts to step S21 to perform another deceleration process. In this case, the drive control unit 18 outputs an intermediate level third current signal as a control signal to the boom electromagnetic proportional pressure reducing valve 26, and in step S22, sets the boom raising pilot line 24 according to the third current signal. Make it half open. Thereby, the boom raising pilot pipeline 24
The pilot pressure is reduced by squeezing the pressure oil, and the raising operation of the boom cylinder 6 is decelerated.

When the result of the determination in step S14 is YES, that is, when the angle of the reference position of the boom 5 is in the stop region EB
When the number is 2, the procedure goes to step S23 to perform a stop process. In this case, the drive control unit 18 stops the current output, and in step S24, the boom raising pilot pipeline 24
Is fully closed. Therefore, the raising operation of the boom cylinder 6 stops.

When the result of the determination in step S15 is YES, that is, when the sensors 12, 13 and the electromagnetic proportional pressure reducing valve 2
The reference position of the boom 5 is in the danger area EB1 due to a defect such as 6
When the vehicle enters the inside, the process proceeds to step S25, and an emergency stop process is performed. In this case, the drive control unit 18 outputs an emergency stop signal to the electromagnetic switching valve 28 of the pilot pressure supply line 27, and in step S26, the emergency switching electromagnetic switching valve 28
Is fully closed, the pressure oil in the pilot pressure supply line 27 is shut off and returned to the tank. Therefore, the operation lever 1
Since the pilot pressure oil is not supplied even if the user operates the boom 9, the boom 5 and the like are automatically stopped, and the raising operation of the boom 5 is prohibited. Then, an alarm such as sounding a buzzer (not shown) or turning on a lamp is issued to notify the operator that some abnormality has occurred.

By the operation described above, the boom 5 is raised in a state of swinging rightward, and as shown in FIG.
When the top end pin 5a reaches the deceleration start instruction position indicated by the first virtual line L1, the deceleration of the raising operation of the boom 5 is started. Further, after the boom 5 rises in a decelerated state, when the tip pin 5a of the boom 5 reaches the stop instruction position indicated by the second imaginary line L2 as shown in FIG. 9, the raising operation of the boom 5 is automatically performed. Will be stopped. If the boom 5 continues to rise due to a failure of the sensors 12, 13 and the electromagnetic proportional pressure reducing valve 26 for the boom, the boom 5
When the end pin 5a reaches the danger area entry start position indicated by the third virtual line L3, the boom 5 is emergency stopped, and therefore does not rise to the highest position indicated by the fourth virtual line L4.

(Explanation of Swing Control Process) Next, the comparison process with the swing control data map and the output process of the swing control signal will be described in detail with reference to FIG.

In step S31 of FIG. 12, it is determined whether or not the angle of the boom 5 reference position is in the deceleration area ES4 of the swing control data map. When the determination result is NO, that is, when the boom 5 reference position is If the vehicle has not entered the deceleration area ES4, the process proceeds to step S32 and the boom 5
It is determined whether or not the angle of the reference position is in the deceleration area ES3. When the determination result is NO, that is, when the boom 5 reference position does not enter the deceleration area ES3,
The process proceeds to step S33 to determine whether the angle of the boom 5 reference position is in the stop area ES2. NO
, That is, the reference position of the boom 5 is in the stop region ES2
If not, the flow proceeds to step S34 to determine whether or not the angle of the reference position of the boom 5 is in the danger area ES1. When the determination result is NO, that is, when the reference position of the boom 5 does not enter the dangerous area ES1, the process proceeds to step S35, where it is determined that the reference position of the boom 5 is in the normal area ES5, and the normal processing is performed. Is performed. In this case, the drive controller 18 outputs a current signal of the maximum level (1400 mA) as a control signal to the swing electromagnetic proportional pressure reducing valve to fully open the right swing pilot line. Therefore, the swing cylinder 4 performs a normal operation according to the operation amount of the corresponding operation lever 19.

When the result of the determination in step S31 is YES, that is, when the angle of the reference position of the boom 5 is in the deceleration area ES4 of the swing control data map, the flow shifts to step S36 to perform deceleration processing. In this case, the drive control unit 18 outputs the intermediate level fourth current signal as a control signal to the swing electromagnetic proportional pressure reducing valve, and the procedure proceeds to step S37.
The right swing pilot line is half-opened in response to the fourth current signal. As a result, the pilot pressure is reduced by squeezing the pressure oil in the right swing pilot line,
The right swing operation of the swing cylinder 4 is decelerated.

When the result of the determination in step S32 is YES, that is, when the angle of the reference position of the boom 5 is in the deceleration region ES
If it is 3, the process proceeds to step S38 to perform a deceleration process. In this case, the drive control section 18 outputs a fifth current signal of an intermediate level as a control signal to the swing electromagnetic proportional pressure reducing valve, and in step S39, the right swing pilot line is half-opened in accordance with the fifth current signal. To As a result, the pilot pressure is reduced by squeezing the pressure oil in the right swing pilot line, and the right swing operation of the swing cylinder 4 is decelerated.

When the result of the determination in step S33 is YES, that is, when the angle of the reference position of the boom 5 is the stop area ES
When the number is 2, the procedure proceeds to step S40, where a stop process is performed. In this case, the drive control unit 18 stops the current output, and fully closes the right swing pilot line in step S41. Therefore, the right swing operation of the swing cylinder 4 stops.

If the result of the determination in step S34 is YES, that is, if the reference position of the boom 5 has entered the danger area ES1 due to a defect in each of the sensors 12, 13 and the electromagnetic pressure reducing valve for swing, etc. The flow shifts to S42 to output an emergency stop signal, and in step S43, emergency stop processing is performed in the same manner as in step S26 in FIG. in this case,
Even if the operation lever 19 is operated, the pressure oil for the pilot is not supplied, so that the boom 5 and the like are automatically stopped, and the right swing operation of the boom 5 is prohibited.

Therefore, when the boom 5 is raised beyond a predetermined angle, the boom 5 is operated to swing rightward in a direction approaching the cab 2 side. When the right swing angle exceeds a predetermined value, the right swing operation of the boom 5 is performed. Is decelerated and stopped. And, by any chance, due to the failure of the sensors 12, 13 and the electromagnetic proportional pressure reducing valve for swing, etc., the right swing is continued,
When the boom 5 approaches the cab 2, the boom 5 is stopped emergency.

(Explanation of Batch Correction Processing) Next, the correction processing of this embodiment will be described with reference to the flowchart shown in FIG.

The CPU 30 of the comparison operation section 16 switches the power supply to O
N, first, as shown in step S51 of FIG. 13, by selecting a correction item via the external input device 33, for example, by setting the collective correction mode of the boom control data map of FIG. Goes into the standby state. Next, in step S52, the correction value of the current signal, that is, the increase / decrease value of the current signal, is input to the external input device 33. In step S53, the correction value of the current signal is transmitted from the external input device 33 to the CPU 30.
Is sent back to the external input device 33, and the data stored in the CPU 30 is rewritten based on the correction value of the current signal. Next, in step S54, a predetermined password is input to the external input device 33. If the password is correct, there is an echo back from the CPU 30. In step S55, the password is transmitted from the external input device 33 to the CPU 30. In S53, the rewritten correction data is stored in the serial ROM 34. Thereby, the output values of the current signals corresponding to the areas EB1 to EB6 on the boom control data map can be collectively corrected. Similarly, when the collective correction mode of the swing control data map in FIG. 5 is set in step S51, the output values of the current signals corresponding to the areas ES1 to ES5 on the swing control data map can be collectively corrected.

(Description of Individual Correction Processing) Step S51
When the individual correction mode of the boom control data map is set in, the output values of the current signals corresponding to the respective regions EB1 to EB6 can be individually corrected. In this state, the correction data input from the external input device 33 can be corrected. Serial ROM
34. Similarly, when the individual correction mode of the swing control data map is set in step S51, the output values of the current signals corresponding to the regions ES1 to ES5 can be individually corrected. Furthermore, when the correction mode of the pointing position indicating the boundary of the danger area EB1 of the boom control data map is set in step S51, the pointing position of the danger area EB1 can be corrected, and the pointing position indicating the boundary of the stop area EB2 can be corrected. Is set, the stop region E
The designated position of B2 can be corrected, and the deceleration regions EB3 to EB3
When the correction mode of the designated position for designating each boundary of B5 is set, each designated position of the deceleration areas EB3 to EB5 can be corrected. Similarly, when the correction mode of the designated position indicating the boundary of the dangerous area ES1 in the swing control data map is set, the designated position of the dangerous area ES1 can be corrected, and the correction of the designated position indicating the boundary of the stop area ES2 can be performed. When the mode is set, the designated position in the stop area ES2 can be corrected. When the correction mode of the designated position indicating the boundary between the deceleration areas ES3 and ES4 is set, the designated position in the deceleration areas ES3 and ES4 is corrected. It is possible.

In this embodiment, the output values of the current signals corresponding to each of the regions EB1 to EB6 of the boom control data map and each of the regions ES1 to ES5 of the swing control data map are complicated. The correction can be easily performed without any trouble. In particular, the output value of the current signal is changed all at once by the collective correction at that time, but since the reference value of the current signal is stored in the reference data storage unit 15, the initial reference value is out of order. Therefore, the arithmetic unit 11 can ensure compatibility as a microcomputer. Further, since the correction data is input via the external input device 33, the correction work is quick.

Further, the output value of the current signal can be individually corrected, and the danger areas EB1, the stop area EB2, the deceleration areas EB3 to EB5 of the boom control data map, and the danger areas of the swing control data map. E
Since the respective indicated positions of S1, the stop area ES2, and the deceleration areas ES3 to ES4 can be corrected, it is possible to satisfy the demands of the operating customers regarding the specification change of the working machine 9, and the like. Further, since a predetermined password input is required to correct the output value of the current signal and the designated position of each area, the operator who performs the correction can be limited to a specific person.

In this embodiment, the case in which the boom swing type excavator is provided with the interference prevention device is exemplified. However, the same effect can be obtained when the excavator is provided in another excavator, for example, an offset type excavator.

In this embodiment, the case where the raising operation of the boom 5 and the right swing operation are performed independently has been described. However, the same applies to the case where the raising operation and the right swing operation of the boom 5 are performed in combination. And boom 5
The same applies to the case where either one of the raising operation and the right swing operation and the other operation are performed in combination.

In this embodiment, the case where the output values of the current signals corresponding to the areas EB1 to EB6 on the boom control data map are collectively corrected has been described.
To EB6, for example, deceleration regions EB3 to EB5
May be collectively corrected. Similarly, a part of the areas ES1 to ES5 on the swing control data map, for example, the deceleration area ES3,
The output value of the current signal corresponding to ES4 may be corrected collectively.

[0054]

As described above, according to the present invention,
The output value of the current signal corresponding to each area of the boom control data map and each area of the swing control data map can be easily corrected without complicated work. Therefore, for example, when the speed of the working machine becomes extremely slow due to the variation of the pressure / flow rate characteristics of the directional control valve due to an error in the manufacturing process, the current signal is input by an external operation such as when shipping from a factory. By correcting all the output values at once, a desired speed characteristic of the working machine can be obtained, and this correction work is quick and simple. In addition, since the reference value of the current signal is stored in the reference data storage unit after all the output values of the current signal are corrected, it is easy to return the output value of the current signal to the initial reference value. Therefore, the arithmetic unit can ensure compatibility as a microcomputer.

Further, since the output value of the current signal can be individually corrected and the designated position of each area can be corrected, it is possible to satisfy the customer's request regarding the change of the specification of the working machine.

Further, since it is necessary to input a predetermined password to correct the output value of the current signal and the designated position of each area, the operator is limited to only a specific person, and the operator is erroneously operated or tampered with. It is possible to prevent the output value of the current signal and the designated position of each area from being rewritten, so that a highly reliable interference prevention device can be obtained.

[Brief description of the drawings]

FIG. 1 is a block diagram of an interference prevention device for a hydraulic shovel according to one embodiment of the present invention.

FIG. 2 is a circuit diagram showing a main part of a hydraulic drive circuit.

FIG. 3 is a block diagram of a comparison operation unit provided in the interference prevention device.

FIG. 4 is an explanatory diagram of a boom control data map stored in the interference prevention device of FIG. 1;

FIG. 5 is an explanatory diagram of a swing control data map stored in the interference prevention device of FIG. 1;

FIG. 6 is a plan view of the excavator.

FIG. 7 is a side view showing a state where the boom has reached a highest position.

FIG. 8 is a side view showing a state where the boom has reached a deceleration start instruction position.

FIG. 9 is a side view showing a state where the boom has reached a stop instruction position.

FIG. 10 is a flowchart showing general processing contents of the arithmetic unit.

FIG. 11 is a flowchart of a control process of a boom raising operation based on a boom control data map.

FIG. 12 is a flowchart of a control process of a right swing operation based on a swing control data map.

FIG. 13 is a flowchart of a correction process performed by a comparison operation unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 2 Operator's cab 4 Swing cylinder 5 Boom 6 Boom cylinder 7 Arm 8 Bucket 9 Work machine 10 Interference prevention device 11 Computing device (Calculating means) 12 Swing angle sensor (Angle detector) 13 Boom angle sensor (Angle detector) 14 Angle calculation unit 15 Reference data storage unit 16 Comparison calculation unit 17 Hydraulic drive circuit 18 Drive control unit (control means) 19 Operating lever 26 Electromagnetic proportional pressure reducing valve for boom 28 Electromagnetic switching valve for emergency stop 30 CPU 33 Input device 34 Serial ROM ( Correction data storage unit)

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takeshi Yamaguchi 650, Kandamachi, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura Plant (72) Inventor Shumichi Yamada 1-1-1 Fujikoshi Honcho, Toyama-shi, Toyama Stock Fujikoshi Corporation (72) Inventor Toshiyuki Ishizaka 1-1-1, Fujikoshi Honcho, Toyama City, Toyama PrefectureFujikoshi Corporation (72) Inventor Shinji Obito 1-1-1, Fujikoshi Honcho, Toyama City, Toyama Prefecture Fujikoshi ( 72) Inventor Takashi Matsuda 1-1-1 Fujikoshi Honmachi, Toyama City, Toyama Prefecture Fujikoshi, Inc. (56) References JP-A-6-146326 (JP, A) (58) Fields investigated (Int. Cl. ⁶⁾ , DB name) E02F 3/43 E02F 9/20 E02F 9/24

Claims (4)

(57) [Claims] And 1. A boom and arm capable vertical pivot, one of the boom or the arm
An angle detector for providing a working machine having an operating means for operating in an arbitrary plane on the side of the cab on the main body, and detecting an amount of rotation of the boom and an amount of operation in an arbitrary plane by the operating means, respectively. Calculating means for calculating a positional relationship between the work implement and the cab based on a detection value output from the angle detector; and control for controlling an operation of the work implement in accordance with a calculation result of the calculation means. Means for preventing interference between the working machine and the operator cab, wherein the calculating means includes a deceleration region predetermined according to a positional relationship between the working machine and the operator cab. And a reference data storage unit for storing a reference value of a current signal corresponding to each of the deceleration region and the stop region. And comparing the operation result of the operation means with each other to determine whether the relative position of the work implement is located in the deceleration area or the stop area, and output the current signal according to the result of the determination. And a correction data storage unit that stores a correction value of the current signal input from an external input device, wherein the reference value of the current signal is increased or decreased based on the correction value of the current signal and output. An interference prevention device for a hydraulic shovel, wherein the operation of the work machine is controlled according to the output value of the hydraulic shovel. 2. The collective correction unit according to claim 1, wherein said comparison operation unit includes mode switching means for switching between a collective correction mode and an individual correction mode in accordance with a correction command input from said external input device. In the mode, the reference value of the current signal is collectively corrected based on the correction value of the current signal, and the reference value of the current signal is individually corrected based on the correction value of the current signal in the individual correction mode. Hydraulic excavator interference prevention device. 3. The reference data storage unit according to claim 1, wherein the reference data storage unit stores each reference value of a designated position that designates a boundary between the deceleration region and the stop region, and the correction data storage unit stores the reference value. Storing the correction values of the designated position input from the external input device, and increasing or decreasing each of the reference values of the designated position based on the corrected values of the designated position. Prevention device. 4. The apparatus according to claim 1, wherein the comparison operation section performs the correction process on the current signal and the designated position only when a predetermined password is input via the external input device. A device for preventing interference of a hydraulic shovel.