JP6116010B2 - Double arm working machine - Google Patents

Description

  The present invention relates to a double-arm work machine.

  In general, a work machine (also referred to as a construction machine) is equipped with one work device (also referred to as a front). In a working machine equipped with one such working device, a safety device that prevents the working device from colliding with the cab is conventionally known (for example, Patent Documents 1 and 2).

  In recent years, work machines are required to cope with complicated and delicate work such as recycling, hazardous material processing, and disaster relief. In order to meet such a demand, a double-arm work machine, which is a work machine equipped with two work devices, has been put into practical use.

JP 2000-27242 A JP-A-9-111798

  In a double-arm work machine, the driver's attention tends to be low with respect to a non-operating work device among the two work devices. It is desired to call attention to non-operating work devices.

(1) A double-arm working machine according to claim 1 is a traveling body, a revolving body installed on the traveling body so as to be able to swivel, a first working device provided on the revolving body, and an obstacle around the first working device. A first obstacle detecting unit provided in the first working device for detecting an object (hereinafter referred to as a first obstacle), a second working device provided in the revolving structure, and an obstacle around the second working device A second obstacle detection unit provided in the second working device to detect an object (hereinafter referred to as a second obstacle) and whether the first working device is operated or whether the second working device is operated. When it is determined by the operation determining unit and the operation determining unit that the first work device is being operated, when the second obstacle detecting unit detects the second obstacle, a predetermined emergency operation is performed to determine the operation. When it is determined that the second work device is being operated by the unit, the first obstacle detection unit Characterized in that it comprises upon detecting an obstacle and a monitoring unit for performing a predetermined emergency operation, the.
(2) The double-arm work machine according to claim 2 is the double-arm work machine according to claim 1, wherein the monitoring unit sets the first work device or the first work as the region where the first obstacle or the second obstacle exists. 2 An area setting unit in which an operation area that requires an emergency operation to avoid collision of the work device with the first obstacle or the second obstacle and a non-operation area that does not require an emergency operation to avoid the collision are set. A region determination unit that determines whether the first obstacle or the second obstacle exists in the operation region or the non-operation region based on a detection signal from the first obstacle detection unit or the second obstacle detection unit; When the determination unit determines that the first obstacle or the second obstacle exists in the operation area, an emergency operation is performed, and the area determination unit determines that the first obstacle or the second obstacle exists in the non-operation area. And the control unit to prevent emergency operation Characterized in that it comprises a.
(3) The double-arm work machine according to claim 3 is the double-arm work machine according to claim 2 , in which the first work device or the second work device collides with the first obstacle or the second obstacle. An operation for warning that the first working device or the second working device decelerates the speed at which the first working device or the second working device approaches the first obstacle or the second obstacle, the first working device or the second working device is the first obstacle or One of the operations for stopping the operation approaching the second obstacle is included.
(4) The double-arm work machine according to claim 4 is the double-arm work machine according to claim 3, wherein the first obstacle detector and the second obstacle detector are the first work device and the second work device. The first obstacle or the second obstacle existing in the turning direction is detected, and the operation area is an area provided in the turning direction of the first work device and the second work device, and the operation of decelerating and stopping is performed. The object is a turning motion of the turning body.
(5) In the double-arm work machine according to claim 5, in the double-arm work machine according to claim 2, the first to third areas are set as the operation areas in order from the first work apparatus or the second work apparatus. Based on the signal from the first obstacle detection unit or the second obstacle detection unit, it is discriminated whether the first obstacle or the second obstacle exists in the first region, the second region, or the third region. When the monitoring unit is discriminated from the first region by the discrimination unit as an emergency operation, the first working device or the second working device collides with the first obstacle or the second obstacle. When alarming and discriminating from the second region by the discriminating unit, the speed at which the first working device or the second working device approaches the first obstacle or the second obstacle is reduced, and discriminating from the third region by the discriminating unit Then, the first working device or the second working device becomes the first obstacle or the second obstacle. Characterized by stopping the operation of approaching the object.

  ADVANTAGE OF THE INVENTION According to this invention, even if it is the state where the driver | operator's attention is not paid to the non-operating working apparatus, the safe dual arm working machine can be provided with respect to the surrounding environment.

The figure which shows the double arm working machine of this invention. The system diagram of the double arm working machine of this invention. The processing system figure performed in the monitoring part in a control apparatus. The figure which shows the emergency operation | movement issuing area | region when the left working device is non-operation. The flowchart figure at the time of turning. The figure which shows the double arm working machine of this invention.

-First embodiment-
FIG. 1 is a perspective view of a double arm working machine 100. In the double-arm work machine 100, the swing body 11 is attached to the traveling body 12 so as to be capable of swinging. A driver's cab 14 is attached to the front of the revolving structure 11. A right working device 40 and a left working device 60 are attached to the front side of the swing body 11 so as to be rotatable in the vertical direction and the horizontal direction (left and right direction). The right working device 40 and the left working device 60 have substantially the same shape and are arranged symmetrically.

  The left working device 60 includes a boom 61 attached to the front portion of the swing body 11 so as to be rotatable in the vertical direction and the horizontal direction, an arm 62 attached to the tip of the boom 61 so as to be rotatable in the vertical direction, The grapple 63 attached to the front-end | tip of 62 so that rotation to an up-down direction was possible. The boom 61 is rotated by a swing cylinder 69 in a horizontal direction that is the same direction as the turning direction of the swing body 11. Further, the boom 61 is rotated in the vertical direction with respect to the swing body 11 by the boom cylinder 64. The arm 62 is rotated in the vertical direction with respect to the boom 61 by the arm cylinder 65. Further, the grapple 63 is rotated in the vertical direction with respect to the arm 62 by the grapple cylinder 66. The grapple 63 incorporates a claw opening / closing cylinder 67 (FIG. 2).

  The right working device 40 is attached symmetrically to the left working device 60 with respect to the center line of the revolving structure 11 and has the same configuration as the left working device 60. That is, the right working device 40 includes a boom 41 attached to the front portion of the revolving structure 11 so as to be rotatable in the vertical direction, an arm 42 attached to the tip of the boom 41 so as to be rotatable in the vertical direction, and the arm 42. And a grapple 43 attached to the front end thereof so as to be rotatable in the vertical direction. Although not shown in FIG. 1, the boom 41 is rotated in a horizontal direction that is the same as the turning direction of the swing body 11 by a swing cylinder 49 (FIG. 2) that is mounted symmetrically with the swing cylinder 69. Further, the boom 41 is rotated in the vertical direction with respect to the swing body 11 by the boom cylinder 44. The arm 42 is rotated in the vertical direction with respect to the boom 41 by the arm cylinder 45. Further, the grapple 43 is rotated in the vertical direction with respect to the arm 41 by the grapple cylinder 46. The grapple 43 has a built-in claw opening / closing cylinder 47 (FIG. 2). The grapples 43 and 63 can be turned in the horizontal direction by a turning motor (not shown).

  With reference to FIG. 2, the system configuration of the double-arm working machine 100 will be described. The double-arm work machine 100 travels with the travel motor 31 and the revolving body 11 revolves with the revolving motor 32. The main pump 201 is connected to the traveling motor 31 via the traveling control valve 204a, and is connected to the turning motor 32 via the turning control valve 205a. The traveling control valve 204a supplies the traveling motor 31 with an amount of pressure oil corresponding to the amount of depression of the traveling pedal, and the double-arm work machine 100 travels at a speed corresponding to the amount of depression of the traveling pedal. The turning control valve 205a supplies the turning motor 32 with an amount of pressure oil corresponding to the depression amount of the turning pedal, and the double-arm work machine 100 turns at a speed corresponding to the depression amount of the turning pedal.

  In this embodiment, the amount of depression of the travel pedal is detected by the travel detector 71 and output to the control device 300 as a travel speed request signal, and a travel drive signal for driving the travel control valve 204a is output from the control device 300. Is output. Further, the depression amount of the turning pedal is detected by the turning detector 72 and output to the control device 300 as a turning speed request signal, and a turning drive signal for driving the turning control valve 205a is output from the control device 300. The travel proportional solenoid valve 204b and the swing proportional solenoid valve 205b are driven by the travel drive signal and the swing drive signal from the control device 300, respectively, and hydraulically driven from each proportional solenoid valve to the travel control valve 204a and the swing control valve 205a. A signal is output.

  The swing cylinders 49 and 69, the boom cylinders 44 and 64, the arm cylinders 45 and 65, the grapple cylinders 46 and 66, and the claw opening and closing cylinders 47 and 67 are detected by detectors 83 to 87, respectively. Based on the signals from the detectors 83 to 87, the pressure oil from the main pump 201 is supplied to the swing control valve 203a, the boom control valve 206a, the arm control valve 207a, the grapple control valve 208a, and the claw opening / closing control valve 209a. It is driven by pressure oil controlled by. 203b to 209b are proportional solenoid valves for each cylinder.

  In the double-arm work machine 100 of the present embodiment, a work device (hereinafter referred to as a non-operation work device) different from a work device operated by the driver (hereinafter referred to as an operation work device), and a non-operation work A distance from an obstacle that is an obstacle to the apparatus, for example, an obstacle that exists in the turning direction, is detected by a signal from the obstacle sensor 90 connected to the control apparatus 300, and an obstacle existence area (hereinafter referred to as an emergency) is detected from the distance. Defined as the operation command area). And according to the distance to the obstacle, that is, according to the defined emergency operation command area, the driver is warned by the alarm device 91 connected to the control device 300, the turning speed is slowed down, and the turning is performed. Stop. Therefore, the control unit 300 is provided with a monitoring unit 301.

  The control device 300 includes a CPU, a ROM, a RAM, various interfaces, and other devices, and performs a turning drive control process to be described later according to a program stored in advance.

  The obstacle sensor 90 is an ultrasonic sensor provided on the left and right side walls of the boom and arm, for example. The ultrasonic sensor includes an ultrasonic oscillator that emits an ultrasonic wave in a turning direction, and a receiver that receives a reflected wave in which the emitted ultrasonic wave is reflected from an obstacle. The distance from the obstacle sensor to the obstacle can be measured based on the difference between the time when the ultrasonic wave is emitted and the time when the reflected wave is received.

For example, a total of four obstacle sensors can be installed on the boom side wall, a pair of left and right sides and a pair of left and right sides on the arm side wall. In this case, it is preferable to reduce the power consumption by operating the left and right obstacle sensors only on one side according to the turning direction.
An infrared sensor or the like may be used instead of the ultrasonic wave. Alternatively, an imaging device may be used as the obstacle sensor, and the presence / absence of the obstacle and the distance to the obstacle may be calculated by image processing on the acquired image.

  Although these obstacle detection techniques are well known and will not be described in detail, the working device of the double-arm working machine is composed of a boom, an arm and a grapple, which rotate in the vertical direction etc. Therefore, an obstacle sensor is provided on each of the left and right side walls of the boom and the arm and the upper and lower plates provided between the left and right side walls, and the four sensors are considered as one set so that there is no blind spot in the detection range of the sensor. However, depending on the length of the boom and arm, it is desirable to provide at a plurality of locations of the boom and arm.

  FIG. 3 shows the signal processing in the monitoring unit 301 in the control device 300. The monitoring unit 301 outputs signals SSLD and SSRD obtained by performing a process of multiplying the turning drive signals SSL and SSR output from the detector 71 with the signal DS corresponding to the area where the obstacle exists. Therefore, the monitoring unit 301 includes a coefficient generator 301a that outputs a coefficient corresponding to an area where an obstacle exists, and a multiplier 301b that multiplies the input signals SSL and SSR by a coefficient output from the coefficient generator 301a. Yes. The coefficient generator 301a outputs a predetermined coefficient depending on whether an obstacle exists in an emergency operation instruction area A to C described later or a safety area. “1” is output for the safety zone or region A, “0.5” is output for the region B, and “0” is output for the region C. Therefore, in the safety zone or region A, the vehicle turns at a speed corresponding to the depression amount of the swing pedal, in the region B, turns at a speed corresponding to half the depression amount of the swing pedal, and in the region C, the swing pedal. The turn stops even if you step on.

  FIG. 4 is a diagram illustrating an emergency operation issuing area during turning. The emergency operation command area is set in front of the revolving structure 11 and is within a range in which the right working apparatus 40 and the left working apparatus 60 can be operated in the front-rear direction. The range in which the device 60 moves to the left and right during work is set. In the present embodiment, fan-shaped regions set in the range of 90 degrees on the sides of the right working device 40 and the left working device 60, respectively, at equal intervals from the side closer to each working device. Area C, area B, and area A are set. Then, areas other than the area C, the area B, and the area A are set as safety areas. The areas A to C on the left in the figure represent emergency operation issuing areas during a left turn when the left working device 60 is not operated. The areas A to C on the right side in the figure represent emergency operation issuing areas during a right turn when the right working device 40 is not operated. These areas A to C are set in advance before the dual-arm work machine 100 is operated.

  When the double-arm working machine 100 turns left when the left working device 60 is not operated, the obstacle sensor 90 on the left side of the left working device 60 operates. When the obstacle detected by the obstacle sensor 90 exists in the emergency operation issuing areas A to C when turning left, the monitoring unit 301 performs a predetermined emergency operation. Details will be described later with reference to FIG.

  Similarly, when the double-arm working machine 100 turns right when the right working device 60 is not operated, the obstacle sensor 90 on the right side of the right working device 40 operates. When the obstacle detected by the obstacle sensor 90 exists in the emergency operation issuing areas A to C when turning right, the monitoring unit 301 performs a predetermined emergency operation. Details will be described later with reference to FIG.

  FIG. 5 is a flowchart illustrating an operation performed by the monitoring unit 301 of the control device 300 of the double arm work machine 100 when the double arm work machine 100 is turning. When turning starts in step S1, the monitoring unit 301 determines in step S2 whether the non-operating work device is left or right. When the right working device 40 is not operated, the process proceeds to step S3, and when the left working device 60 is not operated, the process proceeds to step S4.

  In step S3, the monitoring unit 301 determines whether the turning direction is left or right. If it is a left turn, the process proceeds to step S5. If it is a right turn, the process proceeds to step S6. In step S4, the monitoring unit 301 determines whether the turning direction is left or right. In the case of a left turn, the process proceeds to step S7, and in the case of a right turn, the process proceeds to step S8.

  If it progresses to step S5, it will be determined whether turning operation was complete | finished, and if it determines with NO, it will return to step S5. If it determines with YES, it will progress to step S14 and will be complete | finished. Similarly, if it progresses to step S8, it will be determined whether turning operation was complete | finished, and if it determines with NO, it will return to step S8. If it determines with YES, it will progress to step S14 and will be complete | finished.

  If it progresses to step S6, the obstacle sensor 90 of the right side of the right working apparatus 40 will act | operate, and it will progress to step S9. When the process proceeds to step S7, the left obstacle sensor 90 of the left working device 60 is activated, and the process proceeds to step S9.

  In step S9, it is determined whether there is an obstacle in one of the emergency operation command areas A to C defined by the obstacle sensor 90 activated in the process of step S6 or S7 or the safety area. When it is determined that there is an obstacle in the area C, the process proceeds to step S10, the turning of the double-arm work machine 100 is stopped, the process proceeds to step S14, and the process ends. If there is no obstacle in the area C and there is an obstacle in the area B, the process proceeds to step S11, the turning of the double-arm work machine 100 is decelerated, and the process returns to step S9. If there are no obstacles in the areas B and C and there is an obstacle in the area A, the process proceeds to step S12, the alarm 91 connected to the control device 300 of the double-arm work machine 100 is sounded, and the process returns to step S9. . If there are no obstacles in the areas A to C and there are obstacles only in the safety range, the process returns to step S9 until it is determined in step S13 that the turning operation has been completed.

  Note that the flowchart shown in FIG. 5 only shows the operation of the monitoring unit 301, and therefore it is naturally possible to stop the double-arm work machine 100 by determining that the driver has turned to a predetermined position. It is.

  The double arm working machine 100 according to the first embodiment is summarized as follows. When the right working device 40 is not operated, emergency operation issuing areas A to C when turning right are set in advance. Further, emergency operation command areas A to C when turning left when the left working device 60 is not operated are set in advance. An obstacle sensor 90 is provided in each of the work devices 40 and 60. When the obstacle detected by the obstacle sensor 90 of the non-operating work device exists in the area C, the monitoring unit 301 stops the turning of the double-arm work machine 100. When the obstacle does not exist in the area C but exists in the area B, the monitoring unit 301 reduces the turning speed of the double-arm work machine 100. When the obstacle is not in the areas B and C but in the area A, the monitoring unit 301 sounds the alarm device 90. As a result, it is possible to perform an emergency operation according to the position of the obstacle with respect to the non-operating work device, and even if the driver is not paying attention to the non-operating work device, it is safe for the surrounding environment. An arm work machine can be provided.

-Second embodiment-
The present invention can also be applied to the double-arm work machine 500 of FIG. 6, that is, the double-arm work machine 500 having two non-equivalent work devices. In the description of the double-arm working machine 500, the same configuration as that of the double-arm working machine 100 in FIG. 1 is omitted.

  The double-arm working machine 500 includes non-equivalent working devices 540 and 560. The work device 540 is provided at the front center of the revolving structure 511. On the other hand, the working device 560 is provided on the front left side of the revolving structure 511. The reason why the double-arm working machine 500 has such a non-equivalent working device is that the respective roles are clearly divided. The work device 540, for example, grips and transfers waste, grips and holds one of the members embedded in the waste during the work of separating the members in the waste, or reduces the demolished concrete wall. Used for splitting. On the other hand, the working device 560 is used, for example, to separate a member embedded in the waste from the waste or to hold the concrete wall in a standing state at the time of separating the member.

  By attaching obstacle sensors to the working devices 540 and 560 of the above-described double-arm working machine 500 and setting the respective emergency areas, emergency operation issuing areas defined by the obstacle sensors of the non-operating working apparatus at the time of turning Therefore, it is possible to provide a safe double-arm working machine.

The dual arm working machine according to the first and second embodiments described above can be modified as follows.
(1) In the first and second embodiments, only the obstacle sensor attached to the non-operation work device and detecting the obstacle in the turning direction is set to operate during turning. All obstacle sensors of the non-operation work device can be set to operate when turning. By setting in this way, the ability to detect an obstacle increases, and a safer two-arm work machine can be provided.

(2) In the above description, the warning, deceleration, and stop of the turning operation have been described. However, for the forward movement of the traveling body, the alarm processing, the processing for reducing the traveling speed, and the processing for stopping the traveling are performed in the same manner as turning. May be. In this case, the obstacle sensor may be provided so as to be able to detect an obstacle present in front of the first and second working devices. Therefore, the operation area is an area provided in front of the work device, and the object of the operation of decelerating and the operation of stopping is the traveling operation of the traveling body.

(3) In the above, the areas A to C are set in the turning direction. However, as the area where the obstacle exists, the emergency operation for avoiding the first work device or the second work device colliding with the obstacle in the future is performed. You may set as two area | regions of the operation area | region required and the non-operation area | region which does not require the emergency operation | movement which avoids a future collision.
In this case, when the area determination unit determines that the first obstacle or the second obstacle exists in the operation area, an emergency operation is performed, and the area determination unit includes the first obstacle or the second obstacle in the non-operation area. Then, a control unit is provided so as not to perform an emergency operation when it is determined.
The emergency operation is an operation for alarming that the first working device or the second working device collides with the first obstacle or the second obstacle, and the first working device or the second working device is the first obstacle or the first working device. 2 One of the operation | movement which decelerates the speed which approaches an obstruction, and the operation | movement which stops the operation | movement which a 1st work apparatus or a 2nd work apparatus approaches a 1st obstruction or a 2nd obstruction are included.

(4) Although the areas A to C are set at equal intervals in the range of 90 degrees on the left and right of each work device in front of the revolving structure, different areas may be set on the left and right work devices. Regions can be set at arbitrary intervals.

(5) An angle sensor or the like is provided at each rotation fulcrum of the boom, arm, and grapple to detect the posture of the working device, and the position of the emergency operation issuing area in the front-rear direction is arbitrarily determined according to the posture of the working device or for each region Can also be set.

  The above description is merely an example, and the present invention is not limited to the above embodiment.

100 ... Double-arm work machine, 11 ... Revolving body, 12 ... Running body, 14 ... Driver's cab,
40, 60 ... working device, 41, 61 ... boom, 42, 62 ... arm,
43, 63 ... grapple, 31, 32 ... hydraulic motor,
44 to 46, 49, 64 to 67, 69 ... hydraulic cylinders,
71, 72, 83-87 ... detector,
90 ... Obstacle sensor, 91 ... Alarm,
300 ... Control device 301 ... Monitoring unit,
500 ... Double-arm work machine, 511 ... Revolving body, 514 ... Driver's seat,
540, 560 ... Working device

Claims (5)

A traveling body,
A revolving structure installed to be able to revolve in the traveling body;
A first working device provided in the revolving structure;
A first obstacle detection unit provided in the first work device to detect an obstacle around the first work device (hereinafter referred to as a first obstacle);
A second working device provided on the revolving structure;
A second obstacle detection unit provided in the second working device to detect an obstacle around the second working device (hereinafter referred to as a second obstacle);
An operation determination unit for determining whether the first work device is operated or the second work device is operated;
When it is determined by the operation determination unit that the first work device is being operated, when the second obstacle detection unit detects the second obstacle, a predetermined emergency action is performed, and the operation determination unit And a monitoring unit that performs the predetermined emergency operation when the first obstacle detecting unit detects the first obstacle when it is determined that the second working device is operated. . In the double arm working machine according to claim 1,
The monitoring unit
The emergency operation for avoiding the first working device or the second working device colliding with the first obstacle or the second obstacle as the region where the first obstacle or the second obstacle exists. An area setting unit that sets an operation area that requires a non-operation area that does not require an emergency operation to avoid the collision,
The detection signal from the first obstacle detection unit or the second obstacle detection unit, determines the area determine the first obstacle or the second obstacle is present in the operating region or the non-operating area And
When the region determination unit determines that the first obstacle or the second obstacle is present in the operation region, the emergency operation is performed, and the region determination unit detects whether the first obstacle or the second obstacle is present. A dual-arm work machine comprising: a control unit configured to prevent the emergency operation from being performed when it is determined that the vehicle is present in the non-operation area. In the double arm working machine according to claim 2 ,
The emergency operation is an operation of warning that the first working device or the second working device collides with the first obstacle or the second obstacle, and the first working device or the second working device is Operation to decelerate the speed of approaching the first obstacle or the second obstacle, and operation to stop the operation of the first work device or the second work device approaching the first obstacle or the second obstacle A double-arm work machine that includes one of these. In the double arm working machine according to claim 3,
Wherein the first obstacle detection unit and the second obstacle detection unit detects the first work device and the first obstacle exists in the turning direction of the second working device or the second obstacle,
The operating region is a region provided on the turning direction of the first work device and said second work device,
The double-arm work machine is a turning operation of the revolving body that is subject to the operation of decelerating and the operation of stopping. In the double arm working machine according to claim 2,
As the operation area, the first to third regions is set to farthest from said first work device and said second work device, based on a signal from the first obstacle detection unit or the second obstacle detection unit the first obstacle or the second obstacle is the first region, the second region comprises a discrimination unit for discriminating whether present in any of the third region,
The monitoring unit, as the emergency operation,
When discriminating from the first region by the discriminator, the first working device or the second working device warns that the first obstacle or the second obstacle collides,
When the discriminating unit discriminates from the second region, the first working device or the second working device decelerates the speed of approaching the first obstacle or the second obstacle,
A dual-arm working machine that stops the movement of the first working device or the second working device to approach the first obstacle or the second obstacle when the discriminating unit discriminates from the third region.

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