JP3216851B2 - Method for preventing interference of working machine with slide arm, control device therefor, position control method and control device therefor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to relates to the interference preventing method and a position control method for a working machine, in particular working machine interference preventing method and the control of such power shovel arm provided to stretch the telescopic the end of the boom The present invention relates to a device, a position control method, and a control device thereof .

[0002]

2. Description of the Related Art In recent years, a power shovel capable of expanding and contracting an arm to which a bucket is attached has been used in order to perform a wide variety of operations. FIG. 8 is a side view of a power shovel including an extendable arm and capable of offsetting the arm in the left-right direction of the vehicle body.

[0003] In FIG. 8, a power shovel has an upper revolving structure 14 provided on a lower traveling structure 10 via a revolving device 12, and an operation room (operating room) 16 is provided on the revolving structure 14. A work implement 18 is provided on the upper swing body 14. The work machine 18 includes a first boom 20 and a boom 19.
And a second boom 28. The base end of the first boom 20 is pivotally connected to the revolving unit 14 via the foot pin 22.
And, between the first boom 20 and the upper swing body 14,
A boom cylinder 24 is provided, and by operating the boom cylinder 24, the boom 19 can be turned up and down as indicated by an arrow 26.

[0004] The second boom 28 is pivotally attached to the tip of the first boom 20. An offset cylinder 30 is provided between the second boom 28 and the first boom 20 via a bracket so that the second boom 28 can be rotated in a direction perpendicular to the plane of FIG. As shown in FIG. 9, a so-called offset in which the arm 32 moves from the solid line state to the broken line state, or moves from the broken line state to the solid line state can be performed. A third boom 29 is pivotally attached to the tip of the second boom 28, and the arm holder 3 having the tip of the third boom 29 through the arm 32 is provided.
4 is pivoted. An arm cylinder 36 is provided between the arm holder 34 and the third boom 29. By operating the arm cylinder 36, the arm 32 is moved through the arm holder 34 to a third position as shown by an arrow 38. It can rotate with respect to the boom 29.
Further, the arm holder 34 is provided with an actuator such as a motor (not shown).
4 can be telescopically expanded and contracted.

A bucket 42 is pivotally connected to the tip of the arm 32. This bucket 42 is attached to the arm holder 34
Is connected to the rod of the bucket cylinder 44 attached to the arm 32 via a link mechanism. By operating the bucket cylinder 44, the bucket cylinder 44 can be rotated with respect to the arm 32 as indicated by an arrow 46.

In the working machine 18 having the conventional slide arm configured as described above, the cutting edge of the bucket 42 does not interfere with the operation room 16 which is a part of the vehicle body. That is, as shown by hatching in FIG.
0 is set, and when the cutting edge of the bucket 42 approaches a predetermined distance (for example, 30 cm) from the operation chamber 16, the approach of the bucket 42 is automatically stopped, and the work machine 18
Does not contact the operation room 16.

[0007]

However, the conventional method for preventing the interference between the working machine 18 and the operation room is based on the problem that the operation room 16 has the shortest (shortest) or longest state.
It stops in front of m. And, even if the cutting edge of the bucket 42 is held at a position 30 cm before the operation room 16, the exterior such as the tank cover 52 of the vehicle body located on the right side of the operation room 16 is shown by hatching in FIG. 11. The bucket above the operation room 16.
When the arm 32 is offset rightward with the blade edge of the slot 42 positioned , the bucket 42
It may sometimes interfere with.

On the other hand, conventionally, the working machine 18 is automatically stopped at a predetermined position. For example, t
Boom 1 when using a power shovel
9 is raised too high, the work implement 18
There is a risk of interference. For example, as shown in FIG.
As shown in FIG.
When the arm 19 is turned upward as indicated by an arrow 58, the arm
The rear end portion 32 of 32 may hit the ceiling 62
is there. Therefore, conventionally, a so-called height mode is used.
The suspension method is adopted.
Can rotate upward by a predetermined angle with respect to the horizontal line.
I was not there.

However,Height modeIssameSet mode
When the length of the arm 32 is kept constant
Valid only forHas become. For this reason, for exampleHeight mode
Is set, the arm 32 is contracted, and the arm holder 34
When the bucket 42 side is shortened, the arm
Rear end side from ruda 34Projection lengthIs longer and the figure12
The rear end 60 of the arm 32 collides with the ceiling as shown in FIG.
Also damages the work equipment 18 or covers the ceiling
Damage to the members and beamsMight.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned drawbacks of the prior art, and there is provided a method of preventing interference of a working machine provided with a slide arm which does not interfere with a vehicle body even when the arm is extended and contracted. It is intended to provide the control device . Further, the present invention provides a position control method of a working machine having a slide arm that does not hit the ceiling of a tunnel or the like even when the length of the arm is changed, and a method for controlling the position of the working machine.
It is intended to provide a control device .

[0011]

To achieve the above object, according to the Invention The interference preventing method of the working machine provided with a slide arm according to the present invention, the upper and lower the tip of the boom which is provided to freely swing vertically to the vehicle body A method of preventing interference of a working machine having a slide arm for preventing a tip of the working machine having a swingable and telescopic arm from entering a predetermined range around a vehicle body, a predetermined distance or more but from the vehicle body
When close to the inside, stop approaching operation to the vehicle body of the working machine
The arm extension operation, the boom raising operation, and the arm digging direction operation from the stop position are disabled, and the arm
The amount of extension is more than a predetermined value and the boom swing angle is more than a predetermined value
Boom lowering operation from the stop position is not possible
It is characterized in that the.

Further , the interference prevention control device has a
Boom angle sensor that detects the vertical swing angle and the end of the boom
Up and down swing and telescopic arm
An arm angle sensor that detects the moving angle and an
A bucket that detects the vertical swing angle of a bucket that is freely swingable
Input the angle sensor and the detection values of these sensors,
Calculates and calculates the tip position of the work equipment based on the input detection value.
The position of the tip of the working machine is a predetermined stop range around the vehicle body.
To determine whether or not the machine has entered
With a controller that commands the stop
Interference prevention control device for work equipment with slide arm that stops
Arm expansion / contraction detecting the amount of expansion / contraction of the arm
An amount sensor is attached, and the controller controls the boom angle
Sensor, arm angle sensor, bucket angle sensor and arm
Input the detection value of the expansion / contraction sensor, and based on the input detection value,
The tip position of the work equipment is calculated, and the calculated tip
When approaching within a predetermined distance from the vehicle body,
It outputs a command to stop the approaching movement to the body, and this stop position
Extension operation, boom raising operation, and arm excavation method
Output a command to disable
If the length is more than the specified value and the boom swing angle is more than the specified value
Sometimes, the boom lowering operation from the stop position is disabled.
Is output.

[0013] The position control method for a working machine having a slide arm according to the present invention for achieving the above object, vertical
Arm holding part attached to the tip of the swingable boom
The arm is held elastically and the rear end is
Comprising a telescopic arm to protrude from the holding portion working machine, where
In a position control method of a work machine having a slide arm for controlling so as not to exceed a predetermined ascent stop position , the boom
At least one of the swing angle and the height of the rear end of the arm
Boom raising operation and arm
It is characterized in that the operation of shortening the time is disabled .

Furthermore, the position controller is vertically swingable own
Attached to the boom and the end of the boom so that it can swing up and down
Telescopically held by the arm holding part
Telescopic arm for projecting the rear end from the arm holding part
A boom angle sensor for detecting a vertical swing angle of the boom,
Enter the detected value of the boom angle sensor, and
Work equipment so that it does not exceed the prescribed
Slide arm provided with a controller for controlling the position
In a position control device for a working machine comprising:
An arm angle sensor for detecting a vertical swing angle;
Arm extension / contraction sensor for detecting the extension / contraction amount,
The controller includes the boom angle sensor and the arm angle sensor
And the detection value of the arm extension / contraction sensor,
Calculate the height of the rear end of the arm based on these detected values,
The input boom swing angle and the calculated rear end height of the arm
When at least one of them exceeds a predetermined value
In addition, the boom raising operation and arm contraction operation are disabled.
It has been done.

[0015]

According to the interference prevention method of the present invention constructed as described above, when the tip of the work machine approaches within a predetermined distance from the vehicle body, the operation of approaching the work machine to the vehicle body is stopped.
Since the arm extension operation from the stop position, the boom raising operation, and the arm digging direction operation are disabled, it is possible to prevent the work implement from interfering with the vehicle body. More specifically the control device
To explain, the controller includes a boom angle sensor, an arm
Angle sensor, bucket angle sensor and arm expansion / contraction sensor
Based on the detected values from the
The obtained tip position is within a predetermined distance from the vehicle body.
Judgment as to whether they are close to each other
Finger that stops approaching the vehicle body to the work equipment actuator
Command, and extend the arm from the stop position as described above.
Operation and boom raising operation and arm excavation direction operation are disabled.
Output command. Furthermore, the amount of arm extension is equal to or greater than a predetermined value.
And the boom swing angle is equal to or larger than a predetermined value,
Since the boom lowering operation from the stop position is disabled, the boom
Can prevent interference between the work equipment and the vehicle body.
You.

On the other hand, the position control method of the working machine of the present invention and
According to the control device , in a so-called height mode,
When the controller determines that at least one of the boom swing angle ( angle with respect to a predetermined reference line ) and the height of the rear end of the arm is equal to or greater than a predetermined value, the operation of turning the boom upward and the arm The upper end of the working machine having a slide arm (arm
The rear end of the arm at the time of reduction) can be reliably prevented from hitting the ceiling of the tunnel.

[0017]

The preferred embodiment of EXAMPLES The invention will be explained in detail with reference to the accompanying drawings. Note that the same reference numerals are given to portions corresponding to the portions described in the above-described conventional technology, and description thereof is omitted.

As shown in FIG. 8, the pivot point of the first boom 20 (position of the foot pin 22) is O, the pivot point of the second boom 28 to the first boom 20 is A, and the third point of the arm holder 34 is A.
The pivot point to the boom 29 is B, and the arm 32 of the bucket 42
Set the pivot point (arm top pin position) to C, arm 32
The rear end portion 60 is denoted by D, and the cutting edge of the bucket 42 is denoted by E.
, The length of OA is L1, and the length of AB is L2.
, BC are L3, and the length of the CD, that is, the length of the arm 32 is L4. Then, as shown in FIG. 2, x-axis in the horizontal direction forward pivot point O as the origin, takes y axis vertically upward, the first boom 20 is the reference line x
The angle (boom angle) between the first boom 20 and the second
The angle formed by the boom 28 is α, and the second boom 28 (that is, the line
Min AB) and the line segment BC and is the angle .theta.2, the line segment BC and the arm 32 (i.e. the line segment CD) and the angle beta, the angle between the line segment BC and the bucket 42 (i.e. line segment CE) θ3.

At each of the pivot points O, B, and C, an angle sensor such as a potentiometer is provided.
θ2 and θ3 can be detected (both are not shown). In addition, the arm 32 and the arm 32 are held so as to be extendable and contractible.
Between the arm holder 34 and the arm holder 34
A slide amount sensor for detecting the id amount is provided.
However, the angle sensor at the pivot point B is a line from the pivot point B.
The intersection of the perpendicular drawn to the segment CD and the segment CD is B1
And the angle formed substantially by the line segment AB and the line segment BB1 is detected.
And the angle sensor at the pivot point C is substantially a line segment D.
The angle between C and the line segment CE is detected. And the corner
Degree θ2 , that is, the angle between the line segment AB and the line segment BC , and the angle
Degree .theta.3, that is, the angle between the line segment BC and the line segment CE (= the line segment
Angle between DC and the line segment CE - angle beta) is varied by the arm 32 to stretch as shown in FIGS. At this time, the line segment BC when the arm 32 is minimized
And the angle formed by the line segment AB and theta 20, the line segment BC and the line segment AB and the angle formed by the time of the arm 32 in Herba Asari and .theta.2 ', if the total amount of sliding of the arm 32 and delta S , A over arm
The actual sliding amount of 32 when .DELTA.S1, the difference in the angle theta 20 and the angle .theta.2 '.DELTA..theta.2, total sliding amount [Delta] S, and the actual sliding amount
The value calculated based on the delta S 1, is Δθ2 × Δ S 1 / ΔS
This is the angle to be corrected for the angle θ2 obtained from the measurement value of the angle sensor . Similarly, the angle θ3 is also
Correction is made by subtracting the angle β from the measured angle DCE.

An angle sensor is also provided at the pivot point A so that the amount of rotation (offset angle) of the second boom 28 with respect to the first boom 20, that is, the amount of offset of the arm 32 can be detected. In the description of the present embodiment, a case will be described in which the arms 32 are not offset and the axes of the first boom 20, the second boom 28, and the third boom 29 match.

First, a method of preventing the bucket 42 from interfering with the vehicle body is performed by a controller (not shown) mounted on the power shovel as shown in step 70 of FIG.
The x coordinate of the cutting edge E of the bucket 42 is obtained. The x coordinate X of the cutting edge E is, as shown in FIG.

X = X1 + X2-X3-X4 Here, X1 is the projection length of the first boom 20 on the x-axis, X2 is the projection length of the second boom 28 on the x-axis, X3
Is the projection length of the line segment BC on the x-axis, and X4 is the projection length of the bucket 42 on the x-axis.

As is apparent from FIG.

X1 = L1 cos θ1

X2 = L2 cos φ1 And

## EQU4 ## Since φ1 = θ1− (π−α) = θ1 + α−π,

X2 = L2 cos {(.theta.1 + .alpha.)-. Pi.} =-L2 cos (.theta.1 + .alpha.).

Further,

X3 = BC sin φ2 = L3 sin φ2

## EQU7 ## φ2 = (π / 2) −θ2−φ1 = (3π / 2) −θ1−θ2−α

∴X3 = L3 sin ｛(3π / 2) −θ1−θ2−α｝ = − L3 cos (θ1 + θ2 + α) Also,

X4 = L5 cos φ3

## EQU10 ## φ3 = (π / 2) −φ2− (π−θ3) = θ1 + θ2 + θ3 + α−2π

∴X4 = L5 cos (θ1 + θ2 + θ3 + α−2π) = L5 cos (θ1 + θ2 + θ3 + α)

Therefore, the x coordinate X of the cutting edge E is

X = X1 + X2−X3−X4 = L1 cos θ1−L2 cos (θ1 + α) + L3 cos (θ1 + θ2 + α) −L5 cos (θ1 + θ2 + θ3 + α)

Incidentally, as shown in FIG. 4 , L3 is the actual value of the arm 32 on the distal end side from the fixed point B1 of the arm holder 34.
When the arm length, i.e. the length of the line segment B1 C was S,

Equation 13] is expressed as L3 = S / cosβ. However, the line segment BC and the arm 32 (the line segment B1
C) changes with the sliding amount S of the arm 32 as described above .

Β = β0−Δθ

Here, β0 is the shortest (shortest) of the arm 32
Angle between the arm 32 and the line segment BC at the time, Δ
θ is a change in angle between the arm 32 and the line segment BC due to the expansion and contraction of the arm 32. Also, as described above , θ2
Even if the arm 32 is kept at a fixed angle with respect to the x-axis, it changes due to the expansion and contraction of the arm 32. Therefore, θ2
As described above , if the angle between the second boom 28 (line segment AB) and the line segment BC when the arm 32 is minimized is θ20,

## EQU15 ## It can be expressed as: θ2 = θ20−Δθ. Here, Δθ is the same as that of Equation 14.
Equal to the correction value (= Δθ2 × ΔS1 / ΔS)
No. In the embodiment, β0 = 13 ° 53 '
And the length of the line segment BC in the most contracted state of the arm 32 is L
When the S,

As Equation 16] L3 = LS +0.9787 Δ S 1, and to determine the distance between the pivot point B and pivot point C. Here, ΔS1 is the actual value of the arm 32 as described above.
The difference value between the arm length S and the minimum contraction length, that is, the actual slide amount is
Represents.

When the position X of the cutting edge E of the bucket 42 is obtained in this way, it is determined at step 71 that X ≦ X0. That is, it is determined whether or not the cutting edge E is at a position closer than the predetermined distance X0 from the origin O. The predetermined distance X0 is, for example, a position 300 mm away from the vehicle body, and the tank cover on the right side of the vehicle body shown in FIG.
The expression representing the outer shape of 52 is, for example, −590 mm ≦ y <69
When it is x = 720mm at the time of 2.4mm,

X 0 = 1020 mm In addition, the vertical direction with respect to the vehicle body (for example, the operation room 16 etc.)
When monitoring the approaching distance of
The y coordinate Y of the cutting edge E of the blade 42 is obtained (Equations 18 to 2 described later).
2) can be obtained by referring to these x coordinates.
The external shape of the vehicle body set in advance based on the X and y coordinates Y
Is located in a range where the distance between the formula and
It is only necessary to judge whether to do so.

If it is determined in step 71 that the expression "X≤X0" is not satisfied, that is, if the cutting edge is farther from the vehicle body than a predetermined range, the process returns to step 70 and repeats.
Then, the position X of the cutting edge E is obtained. On the other hand, step 71
Satisfies the expression “X ≦ X0”, and the blade of the bucket 42
If the point E is less than the predetermined distance from the vehicle body, the process proceeds to step 72 to prohibit the extension operation of the arm 32 and prevent the bucket 42 from interfering with the vehicle body. Further, the extension amount ( actual slide amount) ΔS 1 of the arm 32 with respect to the most contracted state is checked, and it is determined whether the actual slide amount ΔS 1 is equal to or more than a predetermined value (200 mm in the embodiment) (step 73). ).

The delta S 1 <If predetermined value, raising operation of the boom as in step 74, and outputs a stop instruction of the arm excavation direction operation, to disable these operations. And FIG.
In the case where the arm 32 has an offset function as in the case of the power shovel shown in (1), the offset operation in the left-right direction is disabled. Processing of these steps 72 and 74
The approaching movement to the vehicle body, including the arm extension operation,
It works.

In step 73, the actual slide amount ΔS
If 1 ≦ 200 mm, check the boom angle θ1 and
It is determined whether or not a predetermined angle ( 90 ° in the embodiment ) (step 75). If θ1 < predetermined angle , the same processing is performed in step 74 described above. In addition, θ1 ≧ office
In the case of the fixed angle , as in step 74, the boom raising operation, the arm excavation operation, and the offset operation are disabled, and the boom lowering operation from this state is also disabled (step 76). As a result, the boom lowering operation
That the bucket 42 interferes with the vehicle body
Can be prevented. As described above, even if the arm 32 is configured to be able to expand and contract, it is possible to prevent the bucket 42 from interfering with the vehicle body.

[0031] The working machine is configured to move the arm perpendicular to the boom axis.
If you have an offset function that can move in the direction
When the tip of the work equipment approaches a predetermined distance from the vehicle body,
When the arm extension is equal to or greater than the specified value, the arm offset
By disabling the operation, the vehicle body with offset operation
Interference can be prevented. In addition, if the tip of the work machine is
The amount of arm extension when approaching a specified distance from the
When the boom angle is equal to or greater than the predetermined value,
By disabling the boom operation.
Interference with the vehicle body can also be prevented.

Next, the boom is rotated downward so that the bucket 4
2 is stopped at a predetermined position, that is, in a so-called depth mode, for example , the tip of the arm 32, that is, the bucket 42
Is detected, and the stop position of the work machine 18 is controlled based on the coordinates of the arm top pin in the y-direction (vertical direction) . FIG. 5 shows how to determine the y coordinate of the pivot point C of the bucket 42.

The depth position Yd of the pivot point C is, as apparent from FIG.

## EQU18 ## It is obtained as Yd = Y1-Y2-Y3. And

[Equation 19] Y1 = L1 sin θ1

Y2 = L2 sin (π-θ1−α) = L2 sin (θ1 + α) Y3, ie, the projected length of the line segment BC on the y-axis, assumes that the arm 32 is perpendicular to the x-axis, whatever the angle of the arm 32 with respect to the second boom 28. Ask for it. Therefore, Y3 is the line segment BC
Equal to the length L3, the actual sliding amount of the arm 32 is ΔS 1
Then, as described above,

Equation 21] becomes Y3 = L3 = LS +0.9787 Δ S 1. Therefore,

Equation 22] Yd = L1 sinθ1 -L2 sin (θ1 + α) - a (LS +0.9787 Δ S 1).

In this manner, the depth direction position Yd of the pivot point C is obtained, and when this Yd falls to a predetermined position above the target depth Y0 (for example, a position 250 mm above Y0), Lowering the boom 19 and extending the arm 32
By issuing a command to stop the operation of lowering the bucket 42 such as cropping, it is possible to prevent an accident such as the bucket 42 colliding with the ground even if the work implement 18 moves further downward due to inertia. In addition, unlike the case where the control is performed by the conventional boom angle θ1, the position of the arm top pin is detected and controlled.
Even if 2 is expanded or contracted, it is possible to prevent the bucket 42 from colliding with the ground. As mentioned above,
Calculate the y coordinate of the cutting edge E of the bucket 42 in the same manner as above.
The cutting edge when the cutting edge E approaches the vehicle body from above the vehicle body
Can be prevented from interfering with the vehicle body .

Next, in the case of a so-called height mode in which the upper end of the working machine 18 is prevented from hitting the ceiling of the tunnel or the like, in the embodiment, the boom angle θ 1 and the position of the rear end D of the arm 32 depend on the position. Control. 6, Amuhoru
FIG. 9 is a diagram showing a method of obtaining a y-coordinate Yh of a rear end D of an arm 32 projecting rearward from a damper 34 . An arrow 80 shown in FIG. 6 indicates the sliding direction of the arm 32.

As shown in FIG. 6, Yh is

## EQU23 ## Yh = Y1 + Y2-Y3 + Y4. Y1 can be obtained by the above [Equation 19]. And Y2 is

Y2 = L2 sin φ1 = L2 sin {(θ1 + α) −π} = − L2 sin (θ1 + α) Further, Y3 is

Y3 = L3 cos φ2 = L3 cos3 (3π / 2) −θ1−θ2−α３ = −L3 sin (θ1 + θ2 + α) Further, Y4 is

## EQU26 ## It can be obtained as Y4 = L4 sin φ4.

And

Since φ4 = (π / 2) −β−φ2 = (π / 2) −β − {(3π / 2) −θ1−θ2−α} = θ1 + θ2 + α−β−π,

## EQU28 ## Y4 = L4 sin (.theta.1 + .theta.2 + .alpha .-. Beta .-. Pi.) =-L4 sin (.theta.1 + .theta.2 + .alpha .-. Beta.). Therefore, Yh is as follows.

Equation 29] Yh = L1 sinθ1 -L2 sin (θ1 + α) + L3 sin (θ1 + θ2 + α) -L4 sin (θ1 + θ2 + α-β) , however, here beta is represented by [Equation 1 4], L3 is [ Equation 16 ].

In the height mode of the embodiment,
The position of the work machine 18 is controlled by the boom angle θ1 and the position Yh of the rear end D of the arm 32. That is, the controller (not shown), as indicated by step 90 and 91 in FIG. 7, reads in the boom angle θ1 which the sensor output for detecting an angle of the boom 19, on the basis of the detection signals from various sensors, [Expression 29 ] At the rear end D of the arm 32
The height position (y-coordinate) Yh of is calculated. Then, the controller compares the read boom angle θ1 with the upper limit angle θH of the boom 19 set in advance according to the height of the ceiling.
The difference between H and θ1 is determined, and it is checked whether or not the difference value is within a predetermined deceleration start angle (for example, 9 degrees) (step 92).

[0039] When difference value between .theta.H and θ1 is within the deceleration start angle, if that is, .theta.H -.theta.1 ≦ 9 ° is
The speed at which the boom 19 is raised is reduced (step 94).
However, in the case of .theta.H -.theta.1> 9 ° is then arm 32
Compared with the upper limit YH which is set in advance the position Yh of the rear end portion D of
Then, a difference value between YH and Yh is obtained, and this difference value is a predetermined deceleration start distance (350 mm in the embodiment shown in FIG. 7 ).
It is determined whether or not the following has been achieved (step 93). If YH-Yh≤350 mm, the raising speed of the boom 19 and the contracting speed of the arm 32 are reduced (step 94). However, when YH−Yh> 350 mm,
Returning to step 90, the above processing is repeated.

In step 94, the controller, which has reduced the raising speed of the boom 19 and the contracting speed of the arm 32 , further monitors the boom angle θ1 and the height position Yh of the rear end D, and obtains θH-θ1 and YH-Yh. At least one of
It is checked whether or not one of them is below a predetermined value (1 degree and 50 mm in the embodiment shown in FIG. 7) set for stopping the boom raising operation and the arm reducing operation (steps 95 and 96). ). And θH−θ1 ≦ 1 °
Or, if YH-Yh ≤ 50 mm, boom raising operation
And it outputs a stop command of the arms reduction operation, this
Operation of the boom 19 from the stop position of the arm and the arm 32
Is disabled (step 97). On the other hand, θH
If −θ1> 1 ° and YH−Yh> 50 mm, the processing of steps 95 and 96 is repeated.

As described above, in the height mode of the embodiment, not only the boom angle θ1 but also the height Yh of the rear end of the arm 32 is monitored. Even in this case, there is no possibility that the working machine 18 will hit the ceiling of the tunnel or the like, so that the safety can be improved and the working machine 18 can be prevented from being damaged.

[0042]

As described above, according to the present invention, there is provided a method for preventing interference of a working machine having a slide arm and a control device therefor.
According to the position, when the tip of the working machine approaches within a predetermined distance from the vehicle body, the approach operation of the tip to the vehicle body is stopped, and the extension operation of the arm, the boom raising operation and the arm excavation direction operation are disabled. Therefore, it is possible to prevent the working machine from interfering with the vehicle body.

When the working machine has an offset function that allows the arm to move in a direction perpendicular to the axis of the boom, when the tip of the working machine approaches within a predetermined distance from the vehicle body, the arm is moved to the position of the arm. because it has to disable the offset operation,
Arm can be eliminated accident such as more working machine to be offset contacts like the operation chamber (cab) and the tank cover. Further, when the tip of the working machine approaches a predetermined distance from the vehicle body, the amount of extension of the arm is equal to or less than a predetermined value.
When the boom angle is equal to or larger than the predetermined value, the lowering operation of the boom is disabled. Therefore, it is possible to prevent interference between the work implement and the vehicle body caused by lowering the boom from this state .

Further, according to the position control method and a control device for a working machine provided with a slide arm of the present invention, in the case of so-called high mode, the boom angle and the rear end portion of the arm
When at least one of the height exceeds a predetermined value, because it disables the operation to reduce the rotational operation and the arm upward boom, the upper end of the working machine even if the slide expands and contracts tunnel It can be reliably prevented from hitting the ceiling or the like.

[Brief description of the drawings]

FIG. 1 is a flowchart illustrating an interference prevention method according to an embodiment of the present invention.

FIG. 2 is a schematic diagram illustrating a relationship between a boom, an arm, and a bucket according to the embodiment.

FIG. 3 is an explanatory diagram of a change in an angle depending on a sliding amount of a slide arm.

FIG. 4 is an explanatory diagram of a method of obtaining an x coordinate of a bucket tip portion according to the embodiment.

FIG. 5 is an explanatory diagram of a method of obtaining a y coordinate of an arm tip position according to the embodiment.

FIG. 6 is an explanatory diagram of a method of obtaining a y coordinate of a position of a rear end of an arm according to the embodiment.

FIG. 7 is a flowchart illustrating a height mode according to the embodiment.

FIG. 8 is a side view of a power shovel provided with a slide arm.

FIG. 9 is an explanatory diagram of an offset of an arm.

FIG. 10 is an explanatory diagram of a conventional bucket entry prohibition region for preventing interference.

FIG. 11 is an explanatory diagram of an outer shape of a vehicle body such as a tank cover of a power shovel.

FIG. 12 is an explanatory diagram of a height mode of a working machine including a conventional slide arm.

[Explanation of symbols]

18 ... Work machine, 19 ... Boom, 20 ... First boom, 28
... second boom, 29 ... third boom, 30 ... offset cylinder, 32 ... arm, 34 ... arm holder, 42 ... bucket

Claims (4)

(57) [Claims] An end of a working machine having a vertically swingable and telescopic arm at a tip end of a boom provided vertically swingably on a vehicle body enters a predetermined range around the vehicle body. in the interference preventing method of the working machine provided with a slide arm to prevent a predetermined distance than the tip from the body of the working machine
When close to the inside, stop approaching operation to the vehicle body of the working machine
The arm extension operation, the boom raising operation, and the arm digging direction operation from the stop position are disabled, and the arm
The amount of extension is more than a predetermined value and the boom swing angle is more than a predetermined value
Boom lowering operation from the stop position is not possible
A method for preventing interference of a working machine equipped with a slide arm, characterized in that: 2. A boom angle for detecting a vertical swing angle of the boom.
Up and down swing and telescopic at sensor and boom tip
Angle sensor that detects the vertical swing angle of the arm provided in
And a bucket provided at the tip of the arm
A bucket angle sensor that detects the vertical swing angle and these sensors
Input the sensor's detection value, and based on the input detection value,
The tip position is calculated, and the determined tip position of the work equipment is
Judge whether the vehicle has entered the predetermined stop range of
Sometimes a controller that instructs the work machine to stop operating
Equipped with a slide arm to prevent work equipment interference
The work implement interference prevention control device includes an arm expansion / contraction sensor for detecting the amount of expansion / contraction of the arm.
The controller includes the boom angle sensor and the arm angle sensor.
Sensor, bucket angle sensor and arm expansion / contraction sensor
Enter the value and determine the tip position of the work equipment based on the input detection value.
The calculated and calculated tip position of the work equipment is a predetermined distance from the vehicle body.
Stop the work machine approaching the vehicle body if
Output a command to stop, and extend the arm from this stop position.
Operation and boom raising operation and arm excavation direction operation are disabled.
Command, and the arm extension amount exceeds a predetermined value.
And the boom swing angle is equal to or larger than a predetermined value,
Output command to disable boom lowering operation from stop position
Of a work machine with a slide arm
Anti-interference control device . Wherein attachment of the distal end portion of the upper and lower pivotable boom
Telescopically held by the arm holding part
The working machine with the telescopic arm that makes the rear end protrude from the arm holding part so that it does not exceed the predetermined lift stop position
In the position control method for a working machine having a slide arm to control, when one or at least have <br/> displacement of the swinging angle and the rear end height of the arms of the boom exceeds a predetermined value, the boom-up A position control method for a working machine having a slide arm, wherein an operation and an arm contraction operation are disabled. 4. A boom capable of swinging up and down, and a tip of the boom.
The arm holding part is attached to the part so that it can swing up and down.
And the rear end at the time of the most contraction
Detects the telescopic arm that protrudes from the boom and the vertical swing angle of the boom
Input the boom angle sensor and the detected value of the boom angle sensor
Then, the work equipment is moved to the predetermined ascent stop position based on the input detection value.
Controller that controls the position of the work equipment so that it does not exceed
Control device for working machine with slide arm provided with
In an arm angle sensor for detecting a vertical swing angle of the arm, an arm expansion quantity sensor for detecting the amount of expansion and contraction of the arm
The controller is provided with the boom angle sensor and the arm angle sensor.
Input the detection values of the
Calculate the height of the rear end of the arm based on these detected values,
The input boom swing angle and the calculated rear end of the arm
At least one of the section heights has exceeded a predetermined value
Sometimes, the boom raising operation and the arm contraction operation are disabled.
Work machine with a slide arm
Control device.