JPH01142133A - Interference preventer for working machine - Google Patents

Abstract

PURPOSE:To raise the operability of working machine by a method in which a flexing action sensor, a discriminator to judge whether or not working machine goes into a interference danger area, and a controller for working machine lever are provided for ensuring safer operations. CONSTITUTION:Boom, arm, and offset cylinder are provided with position detection limit switches 51, 52, and 53 for each. When a working machine goes into a danger area to interfere with operation room, the switches 51, 52, and 53 turn on and a buzzer 98 sounds through a main relay 72. A solenoid 79 is electrified, the position of a solenoid valve 68 is changed to operate an operating cylinder 60, and a lever 58 is turned through a piston rod 61 to turn the working machine lever 54 toward the direction of arrows. The working machine is stopped at the neutral position. A constitution using a potentiometer or control box may also be used.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a work machine interference prevention device for preventing interference with a driver's cab of a work machine in a work vehicle such as an excavation and loading vehicle.

[Conventional technology]

In a work vehicle such as a power shovel that has a work arm mechanism with a parallelogram configuration in which a part of the articulated work machine arm link mechanism that makes bending movements can be offset in the lateral direction, the work machine is placed in the driver's cab. When excavating and implanting work with an offset to the front side, the operating range of the work equipment includes an area that interferes with the operator's cab, making operation of the work equipment dangerous.

[Problem that the invention seeks to solve]

One way to eliminate such dangerous operations is to sound a buzzer when the work equipment enters the area that interferes with the operator's cab, but in this case, it is necessary to immediately stop operating the work equipment in response to the buzzer, which is not safe. This made it impossible to work with peace of mind, resulting in a decline in work efficiency.

[Purpose of the invention]

The present invention has been made in view of the above circumstances, and its purpose is to prevent interference by automatically stopping the work equipment when the work equipment enters the interference area to the operator's cab. To provide a work machine interference prevention device that enables work to be carried out safely and with peace of mind and to improve work efficiency.

[Means for solving problems]

In order to achieve the above object, the present invention provides a work vehicle in which a work machine is mounted on a vehicle body so that the work machine is offset to the front side of the driver's cab and can perform a bending movement toward the driver's cab.
Refraction motion detection means for detecting the operation of the work implement; and determination means for determining whether the work implement has entered an interference danger zone where the work implement interferes with the operator's cab based on signals from the refraction motion detection means. and a work machine lever control means for positioning the work machine lever in a neutral position based on a command from the determination means.

[For production]

The movement of the work equipment is detected by the refraction motion detection means, and based on the signal from the refraction motion detection means, the determination means determines whether the work equipment has entered the interference danger area, and it is determined that the work equipment has entered the interference danger area. At this time, a command is given to the work machine lever control means to position the work machine lever in the neutral position and stop the operation of the work machine.

〔Example〕

Hereinafter, the present invention will be explained based on the drawings. FIG. 1 shows a side view of a working vehicle as an excavation and loading vehicle, and FIG. 2 shows the same plane. The work vehicle is equipped with an upper revolving body 4 as a vehicle body provided on a frame 2 of an undercarriage 1 via a turning mechanism 3, and a frame 5 of this upper revolving body 4 has a turning center P.
A driver's cab 6 is mounted on the left side of the vehicle, and a working machine 7 is mounted on the frame 5.

The center Q of the working machine 7 is located at a distance g to the right of the turning center P.

The work machine 7 is equipped with a first boom 8.
The boom 8 is attached at its base end to the mounting bracket 12 of the frame 5 by a pin 13 so as to be able to rise and fall.
A second boom 9 is attached to the tip of the boom 8 by a pin 10 so as to be swingable in the left and right directions.

A lower bracket 14 and left and right side brackets 15 and 16 are fixed to the tip of the first boom 8, and a cylinder mounting bracket 17 is attached to the frame 5 of the upper rotating body 4.
is fixed.

This cylinder mounting bracket 17 has a boom cylinder 1.
The base end of 8 is swingably attached by a pin 19,
A piston rod 20 of the boom cylinder 18 is connected to the lower bracket 14 by a pin 21.

A bracket 22 is fixed to the right side of the tip of the second boom 9, and the base end of an offset cylinder 23 is attached to the right bracket 16 of the first boom 8 by a pin 24 so as to be swingable in the left and right direction. Offset cylinder 2
The piston rod 25 of No. 3 is connected to the bracket 2 of the second boom 9.
2 with a pin 26.

A third boom 27 is attached to the tip of the second boom 9 with a pin 28 so as to be able to swing in the left-right direction.
A bracket 29 is fixed to the left side of the front end of the boom 27.

The base end of a link 30 is connected to the left bracket 15 of the first boom 8 with a pin 31, and the tip end of the link 30 is connected to the bracket 29 with a pin 32.

An arm 33 is attached to the tip of the third boom 27 by a pin 34 so as to be swingable in the vertical direction. 3rd boom 27
The base end of the arm cylinder 35 is swingably attached to the rear end of the arm cylinder 35 with a pin 36, and the piston rod 37 of the arm cylinder 35 is attached to the rear end of the arm 33 with a pin 38.

A packet 39 is attached to the tip of the arm 33 by a pin 40 so as to be able to swing vertically, and the base ends of links 42 and 43 are attached to the bracket 41 of the packet 39 and the tip of the arm 33 by pins, respectively. The proximal end of a packet cylinder 47 is attached to the bracket 46 of the arm 33 by a pin 48, and the piston rod 49 of this packet cylinder 47 is connected to the bracket 46 of the arm 33 by a pin 48.
are connected to the tips of the links 42 and 43 by pins 50.

The boom cylinder 18 is provided with a boom position detection limit switch 51 as shown in FIGS. 5 to 7, and the arm cylinder 35 is provided with an arm position detection limit switch 52 as shown in FIGS. 8 to 10. The offset cylinder 23 is provided with an offset position detection limit switch 53 as shown in FIGS. 11 to 13.

That is, in the boom cylinder 18, as shown in FIGS. 5 to 7, a plate 2 is attached to the piston rod 20.
00 is fixedly installed, and a roller 202 is pivotally supported on the cylinder body 18' via a support member 201, and the roller 202 is inserted into the rail portion 203 of the plate 200. A plate 200 is movably held. A boom position detection/mitt switch 51 is fixed to the cylinder body 18', and a switch closing member 204 is fixed to the plate 200.

In addition, in the arm cylinder 35, a plate 20 is attached to the piston rod 37 as shown in FIGS. 8 to 10.
5 is fixedly installed, and a roller 207 is pivotally supported on the cylinder body 35' via a support member 206. The roller 207 is inserted into the rail portion 208 of the plate 205, and the roller 207 A plate 205 is movably held. An arm position detection limit switch 52 is fixed to the cylinder body 35' via a holding member 209, and a switch closing member 210 is fixed to the plate 205.

In the offset cylinder 23, a plate 211 is fixedly attached to the piston rod 25 as shown in FIGS. supported,
A roller 213 is inserted into a rail portion 214 of the plate 211, and the plate 211 is movably held by the roller 213. and the cylinder body 23'
An offset position detection limit switch 53 is fixedly attached to the plate 211, and a switch closing member 2 is attached to the plate 211.
15 is fixed.

The first boom 8 is raised and lowered by the telescoping operation of the boom cylinder 18, the arm 33 is raised and lowered by the telescoping operation of the arm cylinder 35, and the packet 39 is raised and lowered by the telescoping operation of the packet cylinder 47. Due to the telescoping operation, the second boom 9, the third boom 27, the arm 33, and the packet 39 are offset in the left-right direction.

By combining these operations, the working machine 7 has a working area A as shown in FIG.

In this working area A, the shaded area is an interference danger area entrance where there is a danger that the packet 39 may interfere with the operator's cab 6, and the area other than this interference danger area entrance is the working machine safety area.

Table 1 shows the relationship between the boom cylinder 18, the arm cylinder 35, the offset cylinder 23, and the working machine safety range C.

Table 1 Also, the sensing area 2 of the boom position detection limit switch 51 and the sensing area H of the arm position detection limit switch 52 at the time of maximum left offset are as shown in FIG. The overlapping part becomes the interference danger area.

FIG. 16 shows a safety circuit in the work machine interference prevention device.

Reference numeral 54 in FIG. 16 is a working machine lever, and this working machine lever 54 is designed to rotate around a fulcrum 55, and an arm 57 is attached to a leg portion 56 of the working machine lever 54.

Reference numeral 58 denotes a lever having a swinging fulcrum 59 in the center. One end of this lever 59 is connected to a piston rod 61 of an operating cylinder 60 with a pin 62, and a return spring is installed in a rod side chamber 64 of this operating cylinder 60. 63 is accommodated. The rod side chamber 64 and the bottom side chamber 65 of the actuating cylinder 60 are connected to the boats 68a, 68b of the solenoid valve 68 via conduits 66, 67, and the pump boat 68C of the solenoid valve 68 is connected to the discharge side of the pump 69 via a conduit. The tank port 68d of the solenoid valve 68 communicates with the tank 71.

In the circuit, 72 is a main relay, 73 is a sub relay,
The contact piece COM of the main relay 72 and the contact piece CON of the sub relay 73 are connected to the (+) pole of the battery 74 with the lead wire 75.7.
One contact N, C of the main relay 72 and one contact NSC of the sub-relay 73 are connected to the solenoid 79 of the solenoid valve 68 via a lead wire 77.
It is connected to. A boom position detection limit switch 51, an arm position detection limit switch 52, and an offset position detection limit switch 53 are connected in parallel between the coil 80 of the main relay 72, the coil 81 of the sub-relay 73, and the (+) pole of the battery 74. Built-in contact point 82 on each OFF side of boom, arm, offset position detection limit switch 51, 52, 53
．． 83 and 84 are grounded through resistors 85, 86, 87 and light emitting diodes 88, 89 and 90. Further, the coils 80 and 81 are grounded via a pilot lamp 91.

92, 93, 94 in the circuit are surge absorption diodes, 9
5, 96.97 is a current bypass blocking diode, 98
is a buzzer.

Next, the operation will be explained.

When the work equipment 7 approaches the interference danger area entrance, the boom, arm and offset position detection limit switch 51.52.5
3 is turned off (
OFF) position, light emitting diode 8g, 89.90
lights up.

Then, the work equipment 7 enters the interference danger area entrance, and the boom, arm and offset position detection limit switches 51, 52.
53 are all turned off (OF Solenoid 79 is energized.

By energizing the solenoid 79, the position of the solenoid valve 68 is switched, and the hydraulic pressure from the pump 69 is applied to the operating cylinder 60.
The lever 58 rotates clockwise via the piston rod 61 and interferes with the arm 57, causing the work implement lever 54 to rotate in the direction of the arrow and return to the neutral position. For this reason, the boom, arm, and offset operation valves (not shown) linked to the work equipment lever 54 become neutral, and the operations of the boom cylinder 18, arm cylinder 35, and offset cylinder 18 are stopped, and the operation of the work equipment 7 is stopped. Movement stops.

In addition, in the above circuit, the main relay 72 may be disconnected due to some reason (for example, a disconnection of the coil, poor contact of the switch, etc.)
If it is inoperable, the sub-relay 73 is immediately switched to continue the operation of the safety device. and pilot lamp 91
goes out, indicating that the main relay 72 is out of order.

Other embodiments of the present invention are shown in FIGS. 17 to 33. In this embodiment, a potentiometer is used to detect the position of the working machine 7.

As shown in FIG. 17, a boom potentiometer 99 as a boom angle sensor for detecting the position of the first boom 8 is attached to the side surface of the base of the base boom 8 of the first boom. is the arm potentiometer 1 as an arm angle sensor that detects the position of the arm 33.
00 is installed, and the offset link part has a second
An offset potentiometer 101 as an offset angle sensor for detecting the amount of offset of the boom 9 is attached.

The installed state of the boom potentiometer 99 is
This is shown in FIGS. 21 to 21.

That is, a holder 102 is fixed to the side surface of the base of the first boom 8 with bolts 103, and a boom potentiometer 99 is attached to this holder 102. An arm member 105 is fixed to the rotating shaft 104 of the boom potentiometer 99. One end of a yoke 106 is connected to the arm member 105 with a pin 107, and the other end of the yoke 106 is connected to a mounting bracket 12. It is connected with a bin 109 to a bracket 108 provided at the top.

The mounting state of the arm potentiometer 100 is
This is shown in FIGS. 2 and 23.

That is, the holder 11 is attached to the side surface of the tip end of the third boom 27.
0 is fixed with a bolt 111, and the arm potentiometer 1 is attached to this holder 110 via a holding member 110'.
00 is fixed, and this arm potentiometer 1
The axis of the rotating shaft 112 of 00 is the axis 113 of the bin 34.
It is located as an extension of An arm member 114 is fixed to this rotating shaft 112, and this arm member 11
A guide hole 115 is formed at the tip of 4 along the axial direction thereof. A rod 116 protruding from the arm 33 is slidably inserted into this guide hole 115.

The mounted state of the offset potentiometer 101 is shown in FIGS. 24 and 25.

That is, a holder 117 is fixed to the upper surface of the right side bracket 16 of the first boom 8 with bolts 118, and an offset potentiometer 101 is fixed to this holder 117.
The axial center of the rotating shaft 119 is located on an extension of the axis 120 of the bin 24. An arm member 121 is fixed to this rotating shaft 119, and this arm member 121
A guide hole 122 is formed at the tip of the guide hole 122 along the axial direction of the guide hole 122 . Then, the link 3 is inserted into this guide hole 122.
A rod 123 protruding from the bottom is slidably inserted.

The boom, arm, and offset potentiometers 99, 100, 101 are connected to the input side of a multiplexer 127 via interfaces 124, 125, and 126, respectively, as shown in FIG. 26, and the output side of the multiplexer 127 is A. It is connected to the input side of a computer 129 via a /D converter 128, and a memory 130 is connected to the computer 129. The output side of the computer 129 is an interface 131.
Solenoid 79 of solenoid valve 68 (see Fig. 16)
It is connected to.

Next, the operation will be explained.

By operating the work equipment lever 54, each operation valve is operated, and the boom cylinder 8, arm cylinder 35, and offset cylinder 23 are moved to expand and contract, and the first boom 8, arm 33
And the second boom and the other parts are activated,
The position of the first boom 8 is detected by the rotation of the first boom 8, which rotates the rotating shaft 104 of the boom potentiometer 99 via the yoke 106 and the arm member 105. .

Further, the position of the arm 33 is determined by rotating the arm 33, so that the rod 116 slides in the guide hole 115 and pushes the arm member 114, and the arm potentiometer 100
By rotating the rotating shaft 112 of the arm potentiometer 99, detection is performed.

Further, the amount of offset of the second boom 9 is determined by rotating the second boom 9, causing the rod 123 of the link 30 to slide within the guide hole 122 and push the arm member 121, and the rotation axis of the offset potentiometer 101 By rotating the offset potentiometer 119, the offset potentiometer 101 detects the offset.

The boom, arm, and offset potentiometer 9
The detection signals detected by 9, 100, and 101 are input to the computer 129 through the multiplexer 127 and the A/D converter 128. The computer 129 judges whether or not the three detection signals are at the interference danger area entrance based on a predetermined relationship, and if it enters the interference danger area entrance, the solenoid valve 68 is
sends a stop signal to A flow chart of this operation is shown in FIG. In this way, the position of the solenoid valve 68 is switched by energizing the solenoid 79, and the hydraulic pressure from the pump 69 acts on the bottom side chamber 65 of the operating cylinder 60.
The lever 58 rotates clockwise via the piston rod 61 and interferes with the arm 57, causing the work implement lever 54 to rotate in the direction of the arrow and return to the neutral position. For this reason, the boom, arm, and offset operation valves (not shown) linked to the work equipment lever 54 become neutral, and the operations of the boom cylinder 18, arm cylinder 35, and offset cylinder 23 are stopped, and the movement of the work equipment 7 is stopped. Stop.

As shown in FIGS. 17 and 18, the computer 129 calculates the work equipment position by setting the boom swing angle to α, the offset angle to β, and the arm swing angle to γ, δ1, δ2, L1 to
When t, , , ASB is a constant, the directional position X is:
δ, ) + L 3SIn (a + 61 + 62) + L 4 S 1n (a + β + γ + δ, + δ2) + A.

In addition, the left-right position Y is Y-L2SInβ by.

Moreover, the vertical position 2 is Z-LCos a+L2 Cosβ(α+61)+L
2 C08((Z+δ, +δ2)+L4Cos(a+
β+δ1+δ2) Based on 10B.

FIG. 28 shows the relationship between the boom swing angle α, the arm swing angle γ, and the offset angle β. ■ in Figure 28 is the offset angle β-
■ is the stopping curve when the left offset angle is β - 15°; ■ is the stopping curve when the left offset angle is β - 30 @; ■ is the stopping curve when the left offset angle is β - 30 @. This is a stopping curve when the maximum offset angle is β-43, 29'.

The intrusion prevention range of the tip 33' of the arm 33 in the case of the offset angle β-0@ is the shaded area in FIG.
The intrusion prevention range of the tip end 33' of the arm 33 in the case of the left offset angle β-15@ is the shaded area in FIG. Further, the intrusion prevention range of the tip 33' of the arm 33 in the case of the left offset angle β■30@ is the shaded area in FIG. The intrusion prevention range 33' is the shaded area in FIG.

Further, the relationship between the distance from the right end of the operator's cab 6 to the left end of the packet 39 of the working machine 7, that is, the gap A, and the offset angle β is shown in FIGS. 33 and 34.

In order to take a small turning attitude, the operations of the first and second booms 8.9 and the arm 33 are not stopped at a right offset angle of β-8.4 degrees or more.

Other embodiments of the present invention are shown in FIGS. 33 to 44.

This embodiment includes a control box 140. As shown in FIGS. 36 and 37, this control box 140 includes a box main body 141, and one side of the box main body 141 has a support shaft 142.
is attached, and the first and second levers 1 are attached to this support shaft 142.
43 and 144 are swingably attached to boss portions 145 and 148 on one end side.

A central portion of a third lever 147 is swingably attached to a central portion of the third lever 143 by a support shaft 148 . The other end of a spring 150, which has one end locked to the right end surface 149 of the box body 141, is locked to the tip of the second lever 144. Moreover, the other ends of springs 152 and 153, which have one end locked to the left end surface 151 of the box body 141, are locked to both ends of the third lever 147.

Further, a first limit switch 154 is fixed to the middle part of the first lever 143, and a second limit switch 155 is fixed to the bottom of the box body 141.

At the end of the second lever 144, there is a dog portion 1 for operating the mover 156 of the first limit switch 154.
57, and a dog portion 159 for actuating the mover 158 of the second limit switch 155 is formed on the left edge of the intermediate portion of the second lever 144.

The control box 140 configured as described above is fixed to the upper side of the first boom 8 as shown in FIG. 35. One end of the core wire 161 of the boom-side push-pull cable 160 is connected to one end of the third lever 147 with a pin 162, and the arm-side push-pull cable 163 is connected to the other end of the third lever 147. Core wire 164
One end is connected with a pin 165, and the first lever 1
The offset side push-pull cable 1 is attached to the tip of 43.
One end of each core wire 167 of 66 is connected by a pin 168.

The end of the boom-side push-pull cable 160 is connected to the third
As shown in FIGS. 8 and 39, it is attached to the side surface of the base of the first boom 8 by a mounting member 169.

A lever 170 is attached to a pin 1 on the side surface of the base of the first boom 8.
This lever 170
The other end of the core wire 161 of the boom-side push-pull cable 160 is connected to one end of the boom-side push-pull cable 160 by a pin 172. A roller 1 is connected to the other end of the lever 17G via a support shaft 173.
74 is provided, and this roller 174
It is in contact with a plate 175 fixed to the mounting bracket 12 of the frame 5.

The end of the arm-side push-pull cable 163 is connected to the fourth
As shown in FIGS. 1 and 41, it is attached to the side surface of the third boom 27 via an attachment member 176. A holder 177 is fixed to this third boom 27, and this holder 1
A spindle pin 178 is attached to the spindle pin 177.
The axis 78 is on an extension of the axis 179 of the pin 34. A lever 180 is swingably attached to this spindle pin 178, and the other end of the core wire 164 of the arm-side push-pull cable 163 is connected to one end of this lever 180 by a pin tSt. The other end is rotatably attached to a bracket 182 fixed to the arm 33.

The end of the offset push-pull cable 18B is attached to the right side bracket 16 of the first boom 8 via an attachment member 182', as shown in FIGS. 42 to 44.

Further, a support pin 184 is attached to the right side bracket 1B via a holder 183, and the axis of this support pin 184 is on the extension of the axis of the pin 34. A lever 145 is swingably attached to the spindle pin 184, and the lever 14
5, the other end of the core wire 167 of the offset side pushinable cable 166 is attached with a pin 185, and the other end of the lever 145 is provided with a roller 187 via a support shaft 186. This roller 187 is in contact with a plate 188 fixed to the link 30.

The limit switches 154 and 155 are incorporated into the electric circuit of the solenoid 79 of the electromagnetic valve 68. Similarly to the first embodiment, the solenoid valve 68 is incorporated into the hydraulic circuit of the actuating cylinder 60.

Next, the operation will be explained.

The first boom 8 moves up and down as the boom cylinder 18 expands and contracts.
The lever 70 rotates around the spindle pin 171, and the core wire 16 of the boom-side push-pull cable 160 is moved upward.
1 moves.

Therefore, the position of the first boom 8 is transmitted to the control box 140 by the boom-side push-pull cable 160.

Also, the arm 3 is extended and contracted by the arm cylinder 35.
3 moves up and down, and at this time, the lever 180 rotates due to the rotation of the arm 33, and the core wire 164 of the arm-side push-pull cable 163 moves. Therefore, arm 3
The position No. 3 is transmitted to the control box 140 by the arm-side push-pull cable 163.

Also, due to the expansion and contraction movement of the offset cylinder 23, the second
The boom 9 is offset, but at this time the link 30 also moves together with the second boom 9.

Due to this movement of the link 30, the roller 187 provided on the lever 145 moves on the plate 188 of the link 30, the lever 145 rotates around the support pin 184, and the core wire 167 of the offset side push-pull cable 166 moves. .

Therefore, the position of the second boom 9 is adjusted to the control box 14 by the offset side push-pull cable 166.
0 can be communicated.

In this control box 140, when the core wire 161 of the boom-side push-pull cable 160 is pulled, one end of the third lever 147 moves by the rotation Jl of the first boom 8 (the stroke amount of the boom cylinder 18).

Also, the core wire 164 of the arm side push-pull cable 163
When is pulled, the other end of the third lever 147 moves by the amount of rotation of the arm 33 (the amount of stroke of the arm cylinder 35).

For this reason, the second lever 144 swings about the support shaft 142 by the amount of rotation of the first boom 8 plus the rotation amount of the arm 33, and the packet 39 of the work implement 17 enters the interference danger area entrance. When the rotation amount of the first boom 8 and the arm 33 reaches the amount in the case where the first boom 8 and the arm 33 are rotated, the dog portion 157 of the first lever 147 operates the limit switch 154. In this case, due to the offset of the second boom 9, the second lever 144 swings by the offset side push-pull cable 166, and the position of the limit switch 154 changes.

Further, when the offset amount of the second boom 9 reaches the offset amount when the packet 39 enters the interference danger area entrance, the dog portion 159 of the second lever 144 operates the limit switch 155.

Due to the operation of these limit switches 154 and 155, the solenoid 79 of the solenoid valve 68 is energized, so that the solenoid valve 6
8 is switched, the hydraulic pressure from the pump 69 acts on the bottom side chamber 65 of the operating cylinder 60, and the lever 58 rotates clockwise via the piston rod 61 and interferes with the arm 57, causing the work equipment lever to 54 in the direction of the arrow to return it to the neutral position. For this reason, the boom, arm, and offset operation valves (not shown) linked to the work equipment lever 54 are brought into a neutral state, and the boom cylinder 18,
The arm cylinder 35 and offset cylinder 23 stop operating, and the work machine 7 stops moving.

〔Effect of the invention〕

As described in detail above, the work equipment interference prevention device according to the present invention is provided in a work vehicle in which the work equipment is mounted on the body of the vehicle so that the work equipment is offset to the front side of the driver's cab and can perform a bending movement toward the driver's cab. refracting motion detection means for detecting the motion of the working machine; and a judgment for determining whether the working machine has entered an interference danger zone where the working machine interferes with the operator's cab based on the signals from these deflecting motion detecting means. The present invention is characterized by comprising a means for controlling the work implement lever and a work implement lever control means for positioning the work implement lever in a neutral position based on a command from the determining means.

Therefore, the movement of the work equipment is detected by the refraction motion detection means, and based on the signal from the refraction motion detection means, the determination means determines whether or not the work equipment has entered the interference danger area. When the determination is made, it is possible to instruct the work implement lever control means to position the work implement lever in the neutral position and stop the operation of the work implement.

Therefore, interference with the operator's cab of the working machine can be prevented, and work can be carried out safely and with peace of mind, thereby improving work efficiency.

[Brief explanation of the drawing]

FIG. 1 is a side view of a working vehicle equipped with a one-machine interference prevention device according to the present invention, FIG. 2 is a plan view of the same, and FIG. Figure 4 is the same plan view, Figure 5 is an explanatory diagram of the installation of the boom position detection limit switch in the boom cylinder, and Figure 6 is Figure 5 Vl-V.
Figure 7 is a cross-sectional view taken along line 1 in Figure 5, Figure 8 is an explanatory diagram of the installation of the arm position detection limit switch in the arm cylinder, Figure 9 is Figure 8 X-X. 10 is a sectional view taken along the line X-X in FIG.
Figure 1 is a cross-sectional view along line xn-x■, Figure 13 is Figure 11 x
A sectional view along the m-xm line, Fig. 14 is an explanatory diagram of the safety area and interference danger area of the work equipment, Fig. 15 is an explanatory diagram of the sensing area of the boom and arm position detection limit switch at the maximum left offset, and Fig. Fig. 16 is an explanatory diagram of the configuration of the safety circuit, Fig. 17 is a side view of the work vehicle for explaining the boom angle, arm angle, offset angle, and each constant, Fig. 18 is a plan view of the same, Fig. 19
The figure is an explanatory diagram of the installation of the boom potentiometer, Figure 20 is a view from the direction of arrow XX in Figure 19, Figure 21 is a sectional view taken along the line XXI-XXI in Figure 20, and Figure 22 is the installation of the arm potentiometer. Explanatory diagram, Figure 23 is Figure 22xx
A cross-sectional view along the line m-xxm, Fig. 24 is an illustration of the installation of the offset potentiometer, and Fig. 25 is Fig. 24 xx
26 is a configuration explanatory diagram of the safety circuit (electromagnetic valve control circuit); Figures 29 to 32 are illustrations of the intrusion prevention range of the arm tip at each offset angle, Figures 33 and 34 are illustrations of offset angles and gaps, Figure 35 is an illustration of control box installation, and Figure 36 is an illustration of the control box installation. The figure is a plan view of the control box, Figure 37 is a longitudinal sectional view of the same, and Figure 38 is a front view of the operating mechanism of the boom side push-pull cable.
Fig. 39 is a plan view of the same, Fig. 40 is a front view of the operating mechanism of the arm side push-pull cable, Fig. 41 is a longitudinal sectional view of the same,
FIG. 42 is a front view of the operating mechanism of the offset push-pull cable, FIG. 43 is a side view of the same, and FIG. 44 is a side view of the plate. 6 is the driver's cab, 7 is the work equipment, and 54 is the work equipment lever. Applicant: Komatsu Manufacturing Co., Ltd. Agent: Patent attorney: Masaaki Yonehara

Claims (1)

[Claims] In a work vehicle in which a work machine is mounted on a vehicle body so that the work machine can perform a bending movement toward the driver's cab after being offset to the front side of the driver's cab, a bending motion detection means for detecting the movement of the work machine and the bending motion are provided. Judgment means for judging whether the work machine has entered an interference danger zone where the work machine interferes with the operator's cab based on a signal from the detection means, and positioning the work machine lever in a neutral position based on a command from the judgment means. A work machine interference prevention device comprising a work machine lever control means.