JP5180900B2 - Working machine control device for offset boom type hydraulic excavator - Google Patents

Description

  The present invention relates to a work implement control device, and in particular, an offset boom type hydraulic excavator that performs work by a work implement comprising a boom that is mounted on an upper swing body and that can be offset in the left-right direction, and an arm that has a bucket attached to the tip. The present invention relates to a work machine control apparatus.

  The offset boom type hydraulic excavator has an upper swing body and a lower traveling body, and a work machine including a boom and an arm is attached to the upper swing body. The boom is composed of a first boom, a second boom, and a third bracket. The first boom is attached to the front of the upper swing body so as to be rotatable in the vertical direction, and the second boom is attached to the front end of the first boom so as to be rotatable in the left and right directions. Further, an arm is attached to the tip of the second boom via a third bracket so as to be rotatable up and down, and a bucket is attached to the tip of the arm so as to be rotatable up and down.

  When the second boom is rotated left and right, the third bracket is rotated by the same angle in the opposite direction to the rotation direction of the second boom, so that the arm and the bucket are always parallel to the longitudinal direction of the upper swing body. It is offset left and right while maintaining the relationship.

  In this type of offset boom type hydraulic excavator, if an operation such as pulling the arm is performed with the second boom rotated to the cab side, the bucket and the cab on the upper swinging body may interfere with each other. Further, if an operation such as pulling the arm is performed in a state where the second boom is rotated to the right exterior side, the right exterior on the upper rotating body may interfere with the bucket.

  Therefore, conventionally, an offset boom type hydraulic excavator of this type is equipped with a work implement interference prevention device. This work machine interference prevention device is provided with an angle sensor at each pivot point such as the first boom, the second boom, and the arm, and as a determination area for interference control, a safety area is set far away from the upper swing body, A deceleration area is set on the inner side, and a stop area is set on the inner side of the upper turning body in the immediate vicinity. Then, the position of the bucket is detected by the angle sensor, and when the bucket approaches the cab and enters the deceleration region, a deceleration command is output from the controller, thereby reducing the operating speed of the work implement. Further, when the bucket approaches the cab and enters the stop zone, a stop command is output from the controller, whereby the work implement is stopped.

  However, in the conventional offset boom type hydraulic excavator provided with this kind of interference prevention device, when the front ground is excavated, the interference prevention function is activated more than necessary, and the operation of the work machine becomes slow. In some cases, operability is impaired.

  In order to solve the above problems, a work implement interference preventing apparatus described in Patent Document 1 has been proposed. Here, the degree of deceleration of the work implement in the deceleration range is increased or decreased according to the vertical position of the work implement.

Japanese Patent Laid-Open No. 8-291531

  In the offset boom type hydraulic excavator including the device described in Patent Document 1, it is possible to avoid unnecessary deceleration in normal work. However, in the offset boom type hydraulic excavator including the conventional interference prevention device including this Patent Document 1, there is a limit to compactly folding the work machine during transportation. Specifically, when the work implement enters the deceleration region of the upper revolving structure of the vehicle, the speed of the work implement becomes low, so that the possibility of interference between the work implement and the upper revolving structure is reduced. However, when the work machine enters the stop area, the work machine is prohibited from moving and is stopped, so that the work machine cannot be brought close enough to the upper swing body. For this reason, especially in the folding attitude | position of the working machine at the time of transportation, the height of a working machine may not be made low enough.

  An object of the present invention is to make it possible to fold a work machine more compactly when transporting an offset boom type hydraulic excavator.

  A working machine control device for an offset boom type hydraulic excavator according to a first aspect of the invention includes a working machine control for an offset boom type hydraulic excavator having a working machine including a boom supported by an upper swing body and an arm having a bucket attached to the tip. A work machine speed control means for operating the work machine at a first speed, a transport posture detection means for detecting whether or not the work machine is in a folded posture for transport, an interference prevention means, It has. The interference prevention unit prohibits the work implement from approaching within the first distance from the upper swing body when the work implement is predicted not to be in the folded posture. Further, when the work prevention unit predicts that the work machine is in the folded posture, the work machine is at a second speed that is lower than the first speed, and a position away from the upper swing body by a second distance that is closer than the first distance. Allow to approach.

  By the control by this apparatus, the work machine moves at the first speed during normal work. Also, when the work implement moves near the upper revolving structure, it is predicted whether the work implement will be in the folding position for transportation, and when it is predicted that the work implement will not be in the folded position, Approaching within a first distance from the body is prohibited. On the other hand, when it is predicted that the working machine will be in the folded posture, the working machine should approach a position at a second speed that is lower than the first speed and at a second distance that is closer to the upper turning body than the first distance. Is allowed.

  Here, when the work implement is not located in the vicinity of the upper swinging body during normal work, the work implement is moved at the normal first speed regardless of the height thereof, so that the work efficiency is not impaired. . On the other hand, when it is predicted that the work implement is not in the folded posture when the work implement approaches the vicinity of the upper swing structure, the work machine is stopped at a position away from the upper swing structure by the first distance. For this reason, the work implement does not interfere with the upper swing body. In addition, when it is predicted that the work implement will be in the folded position near the upper swing body, the work machine moves at the second speed lower than the normal movement speed (first speed), and the distance from the upper swing body is the first. It is allowed to approach the upper swing body up to a second distance closer than one distance. For this reason, the work implement can be folded more compactly while preventing interference between the work implement and the upper swing body.

  According to a second aspect of the present invention, there is provided a work implement control device for an offset boom type hydraulic excavator, wherein the interference prevention means operates the work implement when the work implement reaches a position separated from the upper swing body by a first distance. Switch the speed to the second speed.

  Here, when the distance from the upper swing body reaches the first distance, the work implement is switched to the lower second speed. For this reason, normal workability is not impaired, and interference between the work implement and the upper swing body can be reliably prevented.

  According to a third aspect of the present invention, there is provided a work implement control device for a hydraulic excavator, further comprising a deceleration area intrusion detecting means for detecting whether or not the work implement has entered the deceleration area. Then, when the work implement enters the deceleration area, the interference preventing means decelerates the speed of the work implement from the first speed as the work implement approaches the upper swing body.

  Here, since the work machine decelerates from the first speed as it approaches the upper swing body, the flow due to the moving inertia of the work machine can be reduced, and it is ensured that the work machine interferes with the upper swing body. Can be prevented.

According to a fourth aspect of the present invention, there is provided a work machine control device for an offset boom type hydraulic excavator.In the third invention, the offset boom type hydraulic excavator has left and right crawler belts. When entering the region between the left and right crawler belts and below the crawler belt height, it is determined to be in the folded posture. The “crawler belt height” is the height of the hatched area shown in FIG. 1, and is the distance from the ground surface to the upper surface of the crawler belt when the crawler belt is mounted on the excavator.

  Here, it is possible to accurately detect that the working machine is in the folded posture.

  According to a fourth aspect of the present invention, there is provided a work implement control device for an offset boom type hydraulic excavator, wherein the interference preventing means is provided in a region where the arm tip of the work implement is not a region of the folding posture preset by the boom and / or the arm. In the case where it is predicted that the working machine is moving toward the upper side, the speed of the working machine is reduced at the first deceleration as the working machine approaches the upper swing body in the deceleration range. Further, when it is predicted that the arm tip of the work machine is operated toward the region of the folding posture set in advance, the interference prevention unit is configured to reduce the first deceleration as the work machine approaches the upper swing body in the deceleration range. The speed of the work implement is reduced by the second deceleration having a larger deceleration.

  Here, first, an interference area is preset. And when it is predicted that the work implement operates toward a region that is not in the folded posture, the work implement is decelerated at the first deceleration as the work implement approaches the upper swing body within the deceleration range. On the other hand, when it is predicted that the work implement operates toward the region of the folding posture, the work implement decelerates at a second deceleration that is greater than the first deceleration as the work implement approaches the upper swing body within the deceleration range. Is done.

  Therefore, when there is no possibility of interference between the work machine and the upper swing body, the work machine is operated at a relatively high speed, and when there is a possibility of interference, the work machine is operated at a relatively low speed. Therefore, it is possible to reliably prevent interference between the work implement and the upper swing body without impairing workability.

  According to a sixth aspect of the present invention, there is provided a work implement control device for an offset boom type hydraulic excavator. In the fifth aspect, the work implement speed control means detects the position of the operating boom and arm at a predetermined cycle and predicts the locus of the tip of the arm. When predicting that the predicted value is not in the folded posture region within the deceleration range, control the speed of the work implement with the first deceleration, and when predicting that the predicted value enters the folded posture region, work with the second deceleration. Control the speed of the machine.

  Here, the position of the tip of the arm is detected momentarily from the position of the boom and arm constituting the work implement, and whether the tip of the arm is operating toward a region that is not the folding posture region within the deceleration range, or is operating toward the folding posture region. It is predicted whether it is doing. Then, the deceleration is controlled according to the predicted value.

  Therefore, it is possible to reliably prevent the work implement from flowing due to the movement inertia and interfering with the upper swing body without impairing workability.

  According to a seventh aspect of the present invention, there is provided a work machine control device for an offset boom type hydraulic excavator. In the sixth invention, the offset boom type hydraulic excavator has a cab in which an operator seat and a work machine operating device are provided, and prevents interference. The means controls the movement of the work implement so that the upper end portion of the work implement at the time of folding is not higher than the upper end portion of the cab.

  In this case, the transport height of the work machine can be kept low.

  As described above, according to the present invention, the work implement can be folded more compactly when the offset boom type hydraulic excavator is transported.

1 is a side view of a hydraulic excavator according to an embodiment of the present invention. The top view of the said hydraulic excavator. The schematic block diagram of the hydraulic system and control system of the said hydraulic excavator. The figure which shows the relationship between the distance between a working machine and an upper turning body, and the speed command value of a working machine. The flowchart of an interference control process. The figure equivalent to FIG. 3 of other embodiment of this invention.

<Overall configuration>
A hydraulic excavator according to an embodiment of the present invention is shown in FIGS. The offset boom hydraulic excavator 1 includes a lower traveling body 2, an upper swing body 3, and a work machine 4.

  The lower traveling body 2 includes left and right traveling devices 11 and 12. The traveling devices 11 and 12 have crawler belts 13 and 14 and a traveling motor (not shown), and the crawler belts 13 and 14 are driven by the traveling motor to cause the excavator 1 to travel.

  The upper turning body 3 is supported on the lower traveling body 2 so as to be turnable. The upper swing body 3 is swung on the lower traveling body 2 by a swing motor (not shown). A cab 15 is provided at the front left side position of the upper swing body 3. An operator seat and various operation devices are arranged in the cab 15.

  The work machine 4 is attached to a substantially central position of the front part of the upper swing body 3, and includes a first boom 21, a second boom 22, a third bracket 23, an arm 24, and a bucket 25. ing. The base end portion of the first boom 21 is supported by the upper swing body 3 and is connected so as to be rotatable about a support shaft extending in the left-right direction. Thereby, the 1st boom 21 can be rotated to an up-down direction by using a base end part as a fulcrum. The second boom 22 is connected to the tip of the first boom 21 so as to be rotatable in the left-right direction. The arm 24 is connected to the front end of the second boom 22 via a third bracket 23 so as to be rotatable in the front-rear direction, and a bucket 25 is attached to the front end.

  In such a working machine 4, when the second boom 22 is rotated left and right, the third bracket 23 is rotated by the same angle in the direction opposite to the rotation direction of the second boom 22, and the arm 24 and the bucket 25 are It is always offset from side to side while maintaining a parallel relationship with the longitudinal direction of the upper swing body 3.

  The hydraulic excavator 1 is provided with a plurality of hydraulic cylinders 26 to 29 for driving each part of the work machine 4. Specifically, a boom cylinder 26 that drives the first boom 21, an offset cylinder 27 that drives the second boom 22, an arm cylinder 28 that drives the arm 24, and a bucket cylinder that drives the bucket 25. 29. When these hydraulic cylinders 26 to 29 are driven, the work machine 4 is driven, and operations such as excavation and dumping are performed.

<Configuration of hydraulic system>
Next, the configuration of the hydraulic system and the control system provided in the hydraulic excavator 1 is shown in FIG. In FIG. 3, only the configuration related to the operation and drive control of the arm 24 of the work machine 4 is shown, but a similar system is constructed for the first boom 21 and the second boom 22 of the work machine 4. Yes.

  In this hydraulic system, a hydraulic pump 31 is driven by an engine, and hydraulic oil discharged from the hydraulic pump 31 is passed through each operation valve, via a boom cylinder 26, an offset cylinder 27, an arm cylinder 28, and a bucket cylinder. 29 hydraulic cylinders (only the arm cylinder 28 is shown in FIG. 3) and hydraulic actuators such as a traveling motor and a turning motor (not shown) are configured to be supplied and discharged. By controlling the supply and discharge of the hydraulic pressure to the hydraulic actuator, the operation of the work machine 4, the turning of the upper turning body 3, and the running operation of the lower traveling body 2 are controlled.

The arm 24 of the work implement 4 is operated by an operating lever 35 provided in the cab 15, and the output pressure (pilot pressure) of the pilot operating valve 36 for the operating lever is controlled by the operating lever 35. A pilot pressure is supplied from a pilot pump 50 to the pilot operation valve 36. For the dump operation of the arm 24, the pilot pressure of the pilot operation valve 36 is input as it is as the pilot pressure on the dump side of the arm operation valve 37. Thereby, the pressure oil from the hydraulic pump 31 is input to the dump side chamber of the arm cylinder 28 via the arm operation valve 37. On the other hand, for the excavation operation, the pilot pressure of the pilot operation valve 36 is once input to the EPC valve 38, and the pilot pressure adjusted by the EPC valve 38 is input as the pilot pressure on the excavation side of the arm operation valve 37. Thus, the pressure oil from the hydraulic pump 31 is input to the excavation side chamber of the arm cylinder 28 via the arm operation valve 37. The EPC valve 38 is controlled by a current command for EPC control output from the controller 40.

  The controller 40 is constituted by a microcomputer having a RAM, a ROM, and a CPU, and signals from each part of the work machine 4 are input. Specifically, the boom angle signal from the boom angle sensor 42 that detects the angle of the first boom 21, the offset angle signal from the offset angle sensor 43 that detects the offset angle of the second boom 22, and the angle of the arm 24. The arm angle signal from the arm angle sensor 44 is input to the controller 40. Then, the controller 40, based on these signals, the work machine speed control means for operating the work machine 4 at the first speed, and whether or not the work machine 4 is in the folded folding posture (transport posture). A transport posture detecting means for detecting the above, a deceleration area intrusion detecting means, and an interference preventing means are realized. The deceleration area intrusion detection means detects whether or not the work machine 4 has entered a deceleration area (described later). In addition, when the work implement 4 is predicted not to be in the folded posture, the interference prevention unit prohibits the work device 4 from approaching within the first distance from the upper swing body, and when the work implement 4 is in the folded posture. When predicting, the work implement 4 is allowed to approach a position at a second speed that is lower than the first speed and a distance that is a second distance that is closer to the upper turning body than the first distance.

  The “folding posture (transport posture)” is a folding posture in which the arm tip of the work machine 4 is an area between the extension lines inside the left and right crawler belts 13 and 14 and below the height of the crawler belts 13 and 14. This is the posture of the work machine when entering the area (shaded area in FIGS. 1 and 2). Specifically, it is determined whether the arm tip is in the neutral position and the arm tip height is within the crawler belt height. Here, whether or not the arm tip is in the “neutral position” is determined based on the offset angle. That is, if the offset angle is within 5 °, for example, in the left-right direction, it is determined that the arm tip is in the neutral position. The range in the forward direction of the folding posture region is defined by the distance L from the turning center. (L can be appropriately changed depending on the length of the arm, etc., but is usually set to 2,000 mm.) Further, the upper revolving unit side is from the second distance to the front position by the maximum length in plan view when the bucket is rotated. (See FIGS. 1 and 2). Further, the distance between the work implement 4 and the upper swing body is the portion of the bucket 25 that is located closest to the bucket side (front) of the pawl tip (hereinafter simply referred to as “bucket tip”) and the upper swing body of the vehicle. The first distance is set to 200 mm, for example, and the second distance is set to 70 mm, for example. In particular, for the second distance, when the work machine 4 is in a folded posture during transportation and the bucket tip approaches and stops at the second distance, the tip end upper end 21a (see FIG. 1) of the first boom 21 moves to the cab 15. Is set to be lower than the upper end 15a.

  Naturally, there is no problem if the folding posture region is defined at the bucket tip position, but the region in that case is offset backward by the maximum length in plan view when the bucket is rotated.

  Here, the 1st speed and 2nd speed of the working machine 4 are demonstrated concretely using FIG. The first speed is a speed at a position where the work machine 4 is further away from the upper swing body than the deceleration region, and a command value of 100% is output with respect to a preset operating speed. Then, when it is predicted that the work implement 4 (specifically, the bucket tip) enters the deceleration region, the work implement 4 is operated toward a region that is not in the folded posture, as the work implement 4 approaches the upper swing body. The deceleration pattern A of the first deceleration is set so that the speed is lower than the first speed. On the other hand, when it is predicted that the work machine 4 operates toward the folded posture, the deceleration pattern B having the second deceleration larger than the deceleration pattern A is set. The second speed in the interference region (described later) is a speed command value C that is the minimum speed command value of the deceleration pattern B, and a command value that outputs a constant speed is output here (solid line). . A command value for gradually decreasing the speed may be output (broken line). Here, the “region that is not in the folding posture” is a region that can be operated by the boom and / or the arm in a region outside the vehicle body in the deceleration region from the “folding posture region”.

  The position of the tip of the bucket 25 can be obtained by obtaining the arm tip (described later) of the work machine 4 from each angle signal, and further obtaining the position of the bucket tip from the arm tip. More specifically, as shown in FIG. 1, the rotation fulcrum R to which the bucket 25 is rotatably connected at the distal end of the arm 24 is referred to as an “arm distal end”. Since the positional relationship with the claw tip is known in advance, the position of the claw tip (bucket tip) of the bucket 25 can be known by calculating the position of the rotation fulcrum R based on each angle signal input to the controller 40. it can.

  The “deceleration area” is an area in which the distance between the bucket tip and the upper swing body is in a range from a third distance (for example, 500 mm) to a first distance (for example, 200 mm). The distance between the tip of the 25 claws and the upper turning body is a region in a range from a first distance (for example, 200 mm) to a second distance (for example, 70 mm).

  Then, the controller 40 determines whether the tip of the arm operates toward the folding posture region by the boom and / or the arm or the region not in the folding posture as follows. That is, the controller 40 acquires the angular positions of the first boom 21, the second boom 22 and the arm 24 to be operated at a predetermined cycle, predicts the trajectory of the arm tip from these data, and determines whether the predicted value is the folding posture region. Judgment is based on whether the area is other than that.

<Control processing>
Next, control processing for preventing interference with the upper swing body of the work machine 4 will be described with reference to the flowchart of FIG.

  First, in step S1, a boom angle signal, an offset angle signal, and an arm angle signal are acquired. Next, in step S2, the position of the arm tip is calculated from these angle data. As described above, since the relation between the arm tip position and the bucket tip is known in advance, the movable range of the position of the claw tip of the bucket 25 can be predicted by obtaining the arm tip position by calculation.

  In step S3, it is determined whether or not the bucket tip has entered the deceleration region, that is, whether or not the distance between the bucket tip and the exterior has entered the third distance. A command value corresponding to 100% (first speed) of the set speed V is output to the EPC valve 38 until the bucket tip enters the deceleration area (within the third distance from the upper swing body).

  Next, in step S4, it is predicted from the value obtained in step S2 whether or not the bucket tip is toward the folding posture region. When predicting that the predicted value is a region that is not in the folded posture, it is determined that there is no possibility of interference between the work implement 4 and the upper swing body, and the process proceeds to step S5. In step S5, the speed of the work machine 4 is controlled according to the speed table of the deceleration pattern A. That is, the command value is output to the EPC valve 38 in accordance with the deceleration pattern A table. In step S6, it is determined whether or not the bucket tip has entered the interference region (whether or not the distance from the upper swing body is within the first distance). Stop operation. If the bucket tip does not reach the interference area, the process returns to step S1, and the processing from step S1 is executed.

  On the other hand, when it is predicted that the value obtained in step S2 is a value in the folding posture region, it is assumed that the work implement 4 and the upper swing body may interfere with each other, and the process proceeds to step S7. In step S7, the speed of work implement 4 is controlled according to the speed table of deceleration pattern B. That is, the command value is output to the EPC valve 38 in accordance with the deceleration pattern B table. Therefore, in this case, the work implement 4 operates at a lower speed than the deceleration pattern A within the deceleration range.

  Here, “prediction” is to see the minimum clearance of the upper swing body and the bucket tip in the movable range from the current position of the arm, the first boom, and the second boom (offset).

  That is, the position of the arm tip when the arm is lowered (excavated) with the first boom fixed at the current position, the position of the arm tip when the first boom is lowered with the arm fixed, and the arm and the first boom fixed 2 The position of the arm tip when the boom is offset is predicted, and the minimum clearance between the bucket tip and the upper swing body when the bucket rotates is predicted.

  "Prediction of whether or not it is in a folded position" is to predict whether the predicted arm tip is "entering the folded position area" or "out of the folded position area" when entering the deceleration area .

  The prediction is always executed at a predetermined cycle.

  Here, the pattern A and the pattern B may be different for the arm, the first boom, and the second boom.

  Next, in step S8, it is determined whether or not the bucket tip has entered the interference area (within the first distance from the upper swing body). If the bucket tip has not entered the interference area, the process returns to step S1, and the process is executed from step S1.

  If the bucket tip has entered the interference area, the process proceeds from step S8 to step S9. In step S9, the speed command value is set to C in order to set the speed of the work machine 4 to the second speed. Thereby, the work machine 4 operates slowly at a very low speed. For this reason, the movement inertia of the work implement 4 is reduced, and even if the bucket tip is brought closer to the upper swing body, the bucket 25 does not flow and interfere with the upper swing body.

  In step S10, it is determined whether or not the distance between the bucket tip and the upper swing body has become the second distance. Steps S8 and S9 are repeatedly executed until the distance between the bucket tip and the upper swing body becomes the second distance. Here, for example, even when the bucket tip enters within the first distance and operates at the second speed, the bucket tip exceeds the first distance from the upper swing body until the interval reaches the second distance. If it is far away, the process returns to step S1 and the above process is executed. And if an interval becomes the 2nd distance, it will shift to Step S11 from Step S10, and work implement 4 will stop.

<Features>
(1) When there is no possibility that the work implement 4 approaches the upper swing body, the work implement 4 operates at a normal speed, so that work efficiency is not impaired.

  On the other hand, when the work machine 4 is close to the upper swing body and there is a possibility of interference, and when it is predicted that the work machine 4 is not in the folded posture, the work machine 4 is separated from the upper swing body by a first distance (200 mm). ). For this reason, it can prevent reliably that the working machine 4 interferes with an upper turning body.

  Furthermore, when it is predicted that the work machine 4 is in the folded posture during transportation, the work machine 4 operates at a second speed (speed command value C) lower than the normal movement speed (first speed), and It is allowed to approach the upper swing body up to a second distance (70 mm) shorter than the first distance. For this reason, the work implement 4 can be folded more compactly while preventing interference between the work implement 4 and the upper swing body. In particular, the upper end 21a of the tip of the first boom 21 can be made lower than the upper end 15a of the cabin 15, so that the first boom 21 can be reliably prevented from interfering with other structures during transportation. . In addition, the total height can be accommodated within the legal restrictions, and there is no need to limit the transport trailer to the low floor type.

  Further, as shown in FIG. 4, the work machine 4 can be operated smoothly without the operating speed changing suddenly.

  (2) The work speed of the work implement 4 is gradually decelerated from the first speed when the work implement 4 enters the deceleration zone, and the second speed when the work implement 4 reaches a position separated from the upper swing body by the first distance. Can be switched to. For this reason, like the above, normal workability | operativity is not impaired and interference with the working machine 4 and an upper turning body can be prevented reliably.

  (3) In the deceleration region, when it is predicted that the work machine 4 operates toward the region that is not in the folded posture, the vehicle is gradually decelerated with the deceleration pattern A of the first deceleration. On the other hand, when it is predicted that the work machine 4 operates toward the folded posture, the work machine 4 is decelerated in the deceleration pattern B of the second deceleration having a larger deceleration than the deceleration pattern A. That is, the work machine 4 is operated at a relatively high speed when it is predicted that there is no possibility of interference with the upper-part turning body, and is operated at a relatively low speed when it is predicted that there is a possibility of interference. . Therefore, it is possible to reliably prevent interference between the work implement and the upper swing body without impairing workability.

  (4) From the angular position of the first boom 21, the second boom 22 and the arm 24, the arm tip position is detected from moment to moment, and whether the working machine 4 is operating toward the region that is not in the folding posture, or toward the folding posture. It is predicted whether it is operating. And since the deceleration pattern is controlled according to this prediction value, it can prevent reliably that a working machine flows and interferes with an upper revolving body, without impairing workability | operativity.

  (5) Since the tip end upper end 21a of the first boom 21 can be folded lower than the upper end 15a of the cab 15, it is ensured that the work implement 4 does not interfere with other structures when the hydraulic excavator 1 is transported. Can do. In addition, the total height can be accommodated within the legal restrictions, and there is no need to limit the transport trailer to the low floor type.

  (6) By appropriately changing the second distance according to the length of the arm, the work implement can be folded compactly even in a vehicle having a long arm.

<Other embodiments>
(a) In the above embodiment, the operation lever is a hydraulically operated lever. However, as shown in FIG. 6, the present invention is similarly applied to the case where the operation lever is an electric lever. Can do. Similarly to FIG. 6, only the system for controlling the arm is shown in FIG. 6, but the systems for controlling the other booms are similarly configured.

  In the embodiment shown in FIG. 6, the main pump 31, the pilot pump 50, and the arm operation valve 37 are provided, and each hydraulic cylinder including the arm cylinder 28 (only the arm cylinder is shown in FIG. 6) is operated. Driven by a valve.

  An operation lever 52 for operating each part of the work machine 4 is an electric lever, and a signal corresponding to the operation is input to the controller 40.

  The controller 40 is configured by a microcomputer having a RAM, a ROM, and a CPU, as in the above embodiment. In addition to the signal from the operation lever 52, the same boom angle signal, offset angle signal, and arm angle signal from the sensors 42 to 44 are input to the controller 40. Based on these signals, the controller 40 implements the same work implement speed control means, transport attitude detection means, deceleration area intrusion detection means, and interference prevention means as described above. Depending on the result, a command is output to the corresponding EPC valve. Each EPC valve supplies a pilot pressure corresponding to a command from the controller 40 to the corresponding operation valve. In this embodiment, the pilot pressure is supplied from the EPC valve 38a to the excavation side of the arm operation valve 37, and the pilot pressure is supplied from the EPC valve 38b to the dump side.

  Also in this embodiment, it is possible to obtain the same effect as that of the above embodiment.

  (b) Specific numerical values of the respective regions and distances in the embodiment are examples, and are not limited to these numerical values.

1 Hydraulic Excavator 4 Working Machine 21 First Boom 22 Second Boom 24 Arm 25 Bucket 40 Controller

Claims (7)

A working machine control device for an offset boom type hydraulic excavator having a working machine comprising a boom supported by an upper swing body and an arm having a bucket attached to the tip,
A work machine speed control means for operating the work machine at a first speed;
A transport posture detection means for detecting whether or not the working machine is in a folded posture for transport;
When predicting that the working machine is not in a folded position, the working machine is prohibited from approaching within a first distance from the upper swing body, and when predicting that the working machine is in a folded position, An interference preventing means for allowing the work implement to approach a position separated from the upper swing body by a second distance closer than the first distance at a second speed lower than the first speed;
A working machine control device for an offset boom type hydraulic excavator equipped with a motor.   2. The offset boom hydraulic pressure according to claim 1, wherein the interference prevention means switches the operating speed of the work implement to the second speed when the work implement reaches a position separated from the upper swing body by a first distance. Excavator work machine control device. Further comprising a deceleration area intrusion detecting means for detecting whether or not the work machine has entered the deceleration area;
The interference preventing means reduces the speed of the work implement from the first speed as the work implement approaches the upper swing body when the work implement enters the deceleration area.
The work machine control apparatus of the offset boom type hydraulic excavator according to claim 2. The hydraulic excavator has left and right crawler belts,
The transport posture detection means determines that the arm tip of the work implement is in a folded posture when entering between the left and right crawler belts and an area equal to or lower than the height of the crawler belts.
The work machine control apparatus of the offset boom type hydraulic excavator according to claim 3. The interference preventing means is
When it is predicted that the tip of the arm of the work implement does not enter the folding posture region set in advance by the boom and / or the arm, the first deceleration is performed as the work implement approaches the upper swing body in the deceleration region. Reduce the speed of the working machine,
When it is predicted that the arm tip of the work implement enters a preset folding posture region, in the deceleration region, as the work implement approaches the upper swing body, the first deceleration that is larger than the first deceleration is obtained. 2 Decrease the speed of the working machine by deceleration,
The work machine control apparatus of the offset boom type hydraulic excavator according to claim 4.   When the work implement speed control means detects the position of the boom and arm to be operated at a predetermined cycle to predict the locus of the tip of the arm, and predicts that the predicted value is not the folding posture region in the deceleration region The speed of the work implement is controlled by the first deceleration, and the speed of the work implement is controlled by the second deceleration when the predicted value is predicted to enter the folding posture region. Work machine control device for an offset boom type hydraulic excavator. The hydraulic excavator has a cab in which an operator seat and a work machine operation device are provided,
The interference prevention means controls the movement of the work implement so that the upper end portion of the work implement when folded is at a height equal to or lower than the upper end portion of the cab.
The work machine control apparatus of the offset boom type hydraulic excavator according to claim 6.

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