JPH02285113A - Interference-preventing device for working equipment of miniature swing power shovel - Google Patents

Abstract

PURPOSE:To contrive to prevent interference of a working equipment with surrounding objects by stopping operation of the working equipment with a warning given thereto when the working equipment comes into an area predetermined by detecting swing angles of each of arms of the working equipment. CONSTITUTION:A swing angle alpha of a boom 1 and swing angles beta and gamma of an arm 2 are detected with potentiometers 4, 5 and 6 attached respectively to each of swing shafts, and a swing angle theta of an upper structure 8 is detected with a rotary encoder 7 installed to its swing shaft, and detected values are taken into a computer and operation is processed to determine the position of a working equipment. In advance of starting the work, the working equipment is operated and brought close to a critical area and information for the critical area is stored in a memory of the computer. When the working equipment is driven close to the predetermined area, a warning is given to an operator for stopping the working equipment. Thereby collision between the working equipment and external obstructions at a working site in a narrow space can be prevented.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a work equipment interference prevention device for an ultra-small swing power excavator that can freely control the attitude of the work equipment consisting of a boom, an arm, etc. The present invention relates to a work equipment interference prevention device for an ultra-small swing power shovel that operates in a narrow area restricted by objects.

[Prior Art] As is well known, some power excavators are equipped with a working machine consisting of a boom, an arm, and a packet that each rotate in the vertical direction.

With a power shovel like this, it is almost impossible to work inside a narrow road.

However, in ultra-small turning power excavators, the minimum turning radius is extremely small compared to the conventional power shovels mentioned above, and it is possible to turn within the width of the vehicle. Ultra-small turning power excavators are used in areas where there is only a narrow space, as shown in Figure 9, because they have the advantage of being able to work within a single lane of roadway.

In Fig. 9, 95 is the body of an ultra-small swing power shovel;
96.96' indicates an external interference object, as shown in Figure 9(a).
is an overhead view, and (b) is a front view.

In such work sites where there is only a small space, operators work while being careful to prevent the work equipment from interfering with surrounding structures.

FIG. 10 is a schematic explanatory diagram showing the relationship between the ultra-small swing power shovel and an external area where there is a risk of interference.

In FIG. 10, O is the turning center of the upper structure of the ultra-small turning power excavator, that is, the turning center of the working machine, and 90.90' is the distance between the interference area and the safety area that exist on the left and right respectively. , where a and a' are the distances from the center axis of the vehicle body to the interference area 90 on the right side, and b and b' are the distances from the center axis of the vehicle body to the interference area 90' on the left side. JJ is the working machine 92 from the rotation center 0 of the upper structure.
It shows the effective horizontal length to the tip.

Further, 91 indicates a loading platform of a dump truck into which the earth and sand excavated by the ultra-small swing power shovel is thrown into a packet, and D is the loading place. In other words, the ultra-small swing power excavator needs to turn at a turning angle θ without protruding from the lateral direction of 90.90' from the current position of the working equipment until the tip of the working equipment reaches the 0 point. be.

From the turning center of the super small swing power excavator upper structure,
Since the effective horizontal length to the tip of the work equipment, that is, the horizontal distance, is , the trajectory taken by the tip of the arm when the superstructure of the ultra-small swing power shovel turns is 9 from the center of rotation. It will pass along the circumference of the radius.

Therefore, as shown in FIG. 9, if the distance between the center of rotation and the interference area 90 on the right side is a, and the distance from the interference area 90' on the left side is b, there is a risk of interference surrounded by A and A' on the left and right sides. It turns out that there is a region and it is safe to operate along route B.

[Problem to be Solved by the Invention 1] When working in a narrow space as described above by operating a large number of movable mechanisms such as an ultra-small swing power shovel,
There are many things that the operator must observe and judge.
Turning so that the tip of the work machine follows the path shown in B is a difficult task even for experienced operators.
In some cases, there is a fear that the work equipment may collide with an external interfering object.

Therefore, in the present invention, when there is a risk that the work machine may enter a dangerous area, a warning is issued to the operator, and the operation is obstructed to prevent the work machine from interfering with surrounding objects even during normal operation. The purpose of the present invention is to provide a working machine interference prevention device for an ultra-small swing power excavator.

[Means for Solving the Problems] In order to solve the above-mentioned problems, the present invention provides an upper revolving body including a working machine comprising at least a plurality of arms and respective joints connecting the arms, and the upper part. In an ultra-small swing power shovel comprising a lower traveling body to which a swinging body is mounted via a swinging mechanism, a detection means for detecting the swinging angle of each arm, a means for detecting a swinging angle of the swinging mechanism; a calculation means for determining the position of the working machine based on each turning angle detected by the detection means; a means for inputting predetermined data; a means for storing the input value as a predetermined area; and the calculation means calculation determination means for determining whether or not the position of the work equipment determined by has reached the area; and if the calculation determination means determines that the position of the work equipment has reached the area, The device is characterized by comprising means for preventing operations in directions that may intrude into the area.

[Function] According to the present invention, the position of the working machine is determined based on the detected turning angle of each arm, and when the determined position of the working machine reaches a predetermined area, This has the excellent effect of issuing a warning and stopping the movement of the working machine, thereby preventing interference in the area of the working machine.

[Example] Hereinafter, an example of the working machine interference prevention device for a micro-swing power shovel according to the present invention will be described in detail with reference to the drawings.

1 to 4 show one embodiment of the work machine interference prevention device according to the present invention, and FIGS. 5 to 8 show other embodiments of the work machine interference prevention device according to the present invention.

FIGS. 1(a) and 1(b) show a side view and a plane of a micro-swinging power shovel, which is mounted on the upper part of a lower transverse body 9 equipped with a leg area for movement. For example, an upper structure 8 that rotates horizontally is provided with a boom 1 and an arm 2 that rotate in the vertical direction.
and Packet 3 as working machines.

As shown in Fig. 2 (a), the boom 1 has a rotational fulcrum of the boom 1 as a rotational fulcrum, and a straight line connecting the rotational fulcrum of the boom 1 and the rotational fulcrum of the boom and the arm with respect to a vertical line passing through the rotational fulcrum. The arm 2 turns vertically at a turning angle α with respect to the boom 1, as shown in FIG. ), the lower part of the boom 1 is installed at a position shifted laterally by dl and forward by d2 with respect to the rotation center of the upper structure 8, so that the upper structure 8 is displaced from the lower structure 9. As the working machine turns at a turning angle θ, the working machine turns left and right with the offsets of dl and a2.

The boom 1 also has a first small arm 10 as shown in FIG.
1. It has a second small arm part 102 and a third small arm part 103, and these small arm parts are connected to each other. Here, the second small arm 102 turns left and right with respect to the first small arm 101, and accordingly, the first small arm 101 and the third
The third small arm 103 maintains a substantially parallel posture due to the mechanical structure. Therefore, the arm 2 connected to the third small arm 103 has an offset angle γ with respect to the boom 1 as shown in FIG. 2(b). Turn left and right.

A potentiometer 4 is provided on the rotation axis of the boom 1, and a potentiometer 5 is provided on the rotation axis of the arm 2.
A second small arm portion 1 of the boom 1 is provided.
A potentiometer 6 is provided on the rotating shaft of 02. These potentiometers 4.5 and 6 have a rotation angle α
, a turning angle β, and an offset angle γ are detected, respectively.

Further, a rotary encoder 7 is provided on the rotation axis of the upper horizontal corpse 8 located in the lower structure 9 to detect the turning angle θ.

Now, when the offset angle of the boom 102 is zero and the swing angle α of the boom 1 and the swing angle β of the arm 2 are maintained sufficiently large, the tip of the arm 2 extends sufficiently forward, so in this state When the upper structure 8 rotates, as shown in FIG. 4, when an external structure 20.20' is present near the side of the ultra-small swing power shovel, the entire working machine mechanism (hereinafter referred to as the working machine) 22's tip may interfere sufficiently with the external structure 20. Here, if the vicinity of the structures 20 and 20' that the tip of the work equipment 22 may interfere with are designated as dangerous areas A and A', and the other areas are designated as safe areas, the dangerous areas and safe movement routes are as shown in Figure 4. It can be shown as follows.

In FIG. 4, ○ is the turning center of the upper structure of the ultra-small swing power excavator, that is, the turning center of the working machine, and 20 is a line showing the boundary between the dangerous area and the safe area on the right side. 20' is a line indicating the boundary between the dangerous area and the safe area on the left side. a, a' is the turning center 0
b and b' are the distances from the vehicle body center line passing through the turning center 0 to the left boundary line 20'. No indicates the effective horizontal length from the center of rotation of the upper structure of the working machine 22 including the boom, arm, and packet.

Further, 21 indicates the loading platform of a dump truck into which the earth and sand excavated into packets by the ultra-small swing power shovel are thrown, and D is the loading place.

From the turning center of the super small swing power excavator upper structure,
The horizontal distance to the tip of the arm 2, that is, the effective horizontal length of the work implement 22, is determined by the offset amount di, ct2 of the mounting position of the boom 1, and the length of the arm 2, as shown in FIG. , l) Angle between 2 and arm 2 with the vertical line (calculated from boom swing angle α and arm swing angle β),
and the length of the boom, i.e. the length of the first boom 101, 0101, the length of the second boom 102 J) 102 the length of the third boom 103, the force 103 and the offset angle γ and the application of more trigonometric functions It can be calculated by applying trigonometric functions from No1 calculated by the calculation and the turning angle α of the boom. Assuming that the horizontal distance connecting this calculated effective turning center and the tip of the arm, that is, the effective horizontal length of the work equipment 22, is "the effective horizontal length of the work equipment 22," The trajectory that the tip passes will pass on the circumference of the sword radius from the center of rotation.9 Therefore, as shown in Fig. 4, the distance between the center line of rotation and the danger area on the right side is a, a', and the center of rotation. If the distance between the line and the danger area on the left side is b', then A on each side is
, A' is a dangerous area of interference, and the turning operation is performed by reducing the boom turning angle α and the arm turning angle β so that the tip of the work equipment 22 avoids this area. It turns out that it is safe.

Next, the present invention will be explained in detail with reference to FIG. 3, a block diagram of a control circuit of a control device based on the present invention.

In FIG. 3, 4, 5.6 are potentiometers that detect the swing angles α, β, and γ of the boom and arm described above in FIG. 1, respectively, and 7 is a rotary encoder that detects the swing angle of the upper structure. It is.

An electronic circuit 35, including a multiplexer, an analog/digital conversion circuit and a DC power supply for the potentiometers, converts the analog signal from each potentiometer 4.5.6 into a digital signal and sequentially sends it to the computer 31 via a path line 32. Fit in. Further, the output of the rotary encoder 7 is input to the computer 31 via the electronic circuit 41. 10 is a switch for teaching the computer about the dangerous area, and 11 is a switch for teaching the computer to erase the dangerous area. . 40 is an electronic circuit for inputting a switch closing signal including a power source for the switch into the computer.

When the switch 10 or 11 is closed, the electronic circuit 40 transmits the signal to the computer 3 via the pass line 32.
Enter 1.

The lotus line 32 has the electronic circuit 35.40.41 mentioned above.
In addition to the computer 31, the following circuits are connected. That is, 33 is a memory that stores a program to be executed by the control device according to the present invention and fixed constants such as the length of each small arm of the boom 1 and the arm 2, and 34 is a memory that is input by the switch 10. This is a memory for recording dangerous areas and temporarily storing data during arithmetic processing. 3
Reference numeral 6 denotes an electronic circuit including a signal latch circuit for driving the alarm device 37 in response to a signal output when the computer 31 determines that the situation is dangerous based on input data.

Further, in response to a signal output when the computer 31 determines that it is dangerous based on the input data, a mechanism for forcibly stopping the rotation of the working machine, that is, the rotation of the upper structure 8 is operated. An electronic circuit 38 that drives a solenoid valve 39 that operates the solenoid valve 39 is connected to an electronic circuit 42 that drives a solenoid valve 43 that operates a mechanism for restricting the operation of each arm of the working machine.

Next, the function of the above-mentioned circuit will be explained.

Before starting work in the situation described above with reference to FIG. The bucket 3 is operated, and the upper structure 8 is rotated from the front to the rear on the side where the dangerous area exists, and is operated to the vicinity of the dangerous area 20. When the switch 10 is closed after the above operation, the closed circuit signal is processed by the electronic circuit 40 and then input to the computer 31 via the pass line 32. In response to the closed circuit signal, the computer 31 inputs and records the instantaneous values of each potentiometer 4, 5, 6 and the low-return encoder 7, which are always taken in via the electronic circuit 35, into the memory 34, and stores them in the memory 33. The distance a of the dangerous area from the center of rotation ○ is calculated using the constants of each arm of the working machine 22 and the above-mentioned trigonometric functions.
to be recorded. Furthermore, when the work equipment is turned to a predetermined position behind the excavator body while being careful not to collide with external interfering objects, and the switch is closed again, the distance a indicating another danger area is determined by the same calculation as above.
' is recorded.

Two data a, a recorded by the above two operations
The area outside the vertical plane including the straight line connecting ' is stored as a dangerous area.

As described above, when excavator work is performed in a situation where a dangerous area has been recorded, the data of each potentiometer 4, 5, 6 and low re-encoder 7 is constantly stored in the computer 31.
Based on the data, the computer 31 calculates the effective horizontal length of the working machine using the program stored in the memory 33, and calculates the line connecting the distances tea, a/ of the dangerous area recorded above. Compare with.

When the tip of the work implement 22 reaches point p in FIG. Send to. The electronic circuit 36 inputting the alarm signal drives the alarm 37 to notify the operator of danger. Further, if the computer 31 determines that the calculated effective horizontal length interferes with the dangerous area, it sends an alarm signal to the electronic circuit 38 via the path line 32. The electronic circuit 38 into which the alarm signal is input is the solenoid valve 39
The hydraulic circuit of the hydraulic motor for driving the upper structure 8 (not shown in the drawings) is cut off, the supply of pressure oil to the hydraulic motor is stopped, and the rotation of the hydraulic motor is stopped.
Therefore, the rotation of the upper structure 8 is stopped to prevent the tip of the working machine from interfering with the dangerous area A.

In response to the alarm, the operator rotates the boom 1 and arm 2 to shorten the effective horizontal length until the tip of the work implement 22 reaches point q, and the computer 31 causes the readings of each potentiometer 4, 5, and 6 to change. Since the alarm device 37 determines that the dangerous area has been cleared and stops sending the alarm to the electronic circuit 36, the alarm device 37 stops issuing the alarm. computer 3
1 also determines that the reading value of each potentiometer 4, 5, 6 changes and is released from the danger area and stops sending an alarm to the electronic circuit 38, so the solenoid valve 3
9 stops driving, and the superstructure 8 becomes pivotable, allowing the operator to continue working.

When the operator swivels the superstructure 8 until the tip of the implement 22 reaches a point, the computer 31 records the readings of each potentiometer 4,5,6 and the rotary encoder 7.
Based on the data, it is determined that it is safe to extend the length of the work implement 22 to its original length, and a predetermined safety signal is sent to the electronic circuit 36 via the pass line 32. The electronic circuit 36 inputting the safety signal drives the alarm 37 to issue a predetermined safety signal to notify the operator that the tip of the work implement 22 may be extended to eight points. When the operator rotates the multi-arms of the working machine 22 and extends the tip of the working machine beyond point S, the computer 31 controls each potentiometer 4.5.
．． 6 and the data stored as the dangerous area, it is determined that the tip of the working machine is dangerous due to interference with the dangerous area A, and an alarm signal is sent to the electronic circuit 36 via the pass line 32.

The electronic circuit 836 inputting the alarm signal drives the alarm device 37 to notify the operator of danger. Also, computer 3
1 sends the alarm signal to the electronic circuit 42 via the pass line 32.
Send to. The electronic circuit 42 inputting the alarm signal drives the solenoid valve 43 to cut off the hydraulic circuit that drives the multiple arms of the boom 1 and the arm 2, which are not shown in the drawings, to operate in the dangerous direction. 2 is stopped in the dangerous direction to prevent the tip of the working machine from interfering with the dangerous area A. It is possible to drive the boom 1 and arm 2 in the direction opposite to the danger area A based on the configuration of the hydraulic circuit.

When the work site is changed, when the switch 11 is closed, the computer 31 that receives input via the electronic circuit 40 erases the hazardous area recorded in the memory 34.

Further, although the explanation has been given in which the dangerous area is recorded by operating the work machine, the distance of the dangerous area can also be directly input using a so-called numeric keypad instead of the switch 10. In that case, the structure of the switch 10, electronic circuit 40, and program needs to be tailored to the intended use, but other circuit components do not need to be changed. There's no need to worry about it.

In addition, in the above explanation, two operations are performed to record the dangerous area, but only the - operations are performed, and the distance that has been accommodated by the - operations is parallel to the vehicle body. It may be assumed that it exists.

Furthermore, the operating functions after the tip of the work machine is likely to interfere with a dangerous area can be freely set on the computer in accordance with machine conditions and environmental conditions, in addition to the above-mentioned explanation means.

In addition, when there is a risk that the tip of the work equipment may interfere with a dangerous area, it is possible to only issue an alarm and allow the work equipment to be operated, or to allow the work equipment to be operated but to reduce its operating speed. It is also possible to

In addition to the function of detecting and preventing the above-mentioned dangerous area, the data processing program of the present invention has the function of detecting and preventing the above-mentioned dangerous areas. When it is determined that there is an abnormality, an alarm is issued in the same manner as described above, the alarm device 37 is activated to notify the operator of the abnormality, and the three solenoid valves 42 are activated to stop the rotation of the work equipment. You can also.

5 to 8 show other embodiments of the working machine interference prevention device according to the present invention.

FIG. 5 and FIG. 6 show a schematic configuration of an ultra-small swing power shovel, and this ultra-small swing power shovel has a lower structure 86 with legs for movement, and an upper structure that swings horizontally. The upper structure 85 is provided with a boom 63, an arm 64, and a packet 65, which each rotate in the vertical direction, as working devices.

That is, as shown in FIG. 5, a boom 63 includes a first small arm part 61 and a second small arm part 62 that pivot in the vertical direction;
The working machine includes an arm 64 that pivots in the vertical direction and a packet 65 that pivots in the vertical direction. The first small arm 61 of the boom 63 turns vertically at a turning angle α' with respect to the vehicle body, as shown in FIG. 6(a), and the second small arm of the boom 63 As shown in FIG. 6, the portion 62 pivots in the vertical direction at a pivot angle β' with respect to the first small arm portion 61. Furthermore, the arm 64 pivots in the vertical direction at a pivot angle γ' with respect to the second small arm portion 62.

Note that the arm 64 not only pivots in the vertical direction, but also rotates around the central axis of the arm, thereby rotating the packet 65. Further, as shown in FIG. 6(b), the lower part of the boom 63 is mounted at a position shifted by al in the transverse direction and d2 in the forward direction with respect to the turning center of the upper structure 85. As the motor turns at a turning angle θ with respect to the turning center on the lower structure 86, it turns left and right with an offset of d1d2.

A potentiometer 66 is provided on the rotation axis of the first small arm 61, a potentiometer 67 is provided on the second small arm 62, and a potentiometer 68 is provided on the rotation axis of the Sarania-Muro 4. ing. These potentiometers 66, 67 and 68 are connected to the pivot angle α'
The turning angle β' and the turning angle γ' are detected respectively.9 Further, a row encoder 69 is provided on the rotation axis of the upper structure 85 relative to the lower structure 86, and detects the turning angle θ'.

Now, the turning angles α' and β' of the boom 63.

When the turning angle γ' of the arm 64 is maintained sufficiently large, the tip of the arm 64 extends sufficiently forward, so if the upper structure 68 turns to the right in this state, it will turn as shown in FIG. As such, when an external structure 50 is present in the lateral vicinity of the ultra-small swing power shovel, the tip of the arm 64 can sufficiently interfere with the structure 50. Here, if the vicinity of the structure 5o that the tip of the arm 64 can interfere with is defined as a dangerous area, and the other areas are defined as a safe area, the dangerous area and the safe area can be shown as shown in FIG.

In FIG. 8, O is the turning center of the upper structure 85 in the ultra-small swing power excavator, that is, the turning center of the working machine, and 50 is a line showing the boundary between the dangerous area and the safe area on the right side. 50' is a line indicating the boundary between the dangerous area and the safe area on the left side. a and a' are the distances from the vehicle center line passing through the turning center 0 to the right boundary line 5o, and b and b' are the distances from the vehicle body center line passing through the turning center 0 to the left boundary line 50'. ing. ” is a boom,
It shows the effective horizontal length of the entire working machine mechanism (hereinafter referred to as working machine) 52 including the arm and the packet.

Further, numeral 51 indicates a loading platform of a dump truck into which earth and sand excavated by the ultra-small swing power shovel is thrown into a packet, and D is the loading place.

The horizontal distance from the center of rotation of the ultra-small swing power excavator upper structure to the tip of the arm, that is, the effective horizontal length J of the work implement 52, is the length of the first small arm 61,
Length of second small arm 62 62, length of arm 64 blade 6
4. and the turning angle α' of the first small arm 61, the turning angle β' of the first small arm 61 and the second small arm 62, and the turning angle of the second small arm 62 and the arm 64. It can be calculated by applying trigonometric functions from γ', 91 calculated by applying trigonometric functions, and the offset amount ald2 of the boom mounting position.

Therefore, as shown in Fig. 8, if the distances between the turning center and the right boundary line 50 are a and a', and the distances from the left boundary line 50' during turning are s and b', then A
, A' is a dangerous area of interference, and it can be seen that it is safe to perform a turning operation so that the tip of the work implement 52 avoids this area.

Next, the present invention will be explained in detail with reference to FIG. 7, which is a block diagram of a control circuit of a control device based on the present invention.

Reference numerals 66, 67, and 68 in FIG. 7 are potentiometers for detecting the rotation angles of the first small arm, the second small arm, and the arm described above in FIG. This is a low-resolution encoder that detects corners.

The electronic circuit 75 includes a multi-7 lexer and an analog/digital conversion circuit and a DC power supply for the potentiometer.
The analog signals from each potentiometer 66, 67, 68 are converted into digital signals and are sequentially sent to the computer 71 via the path line 72.

Also, the output of the rotary encoder 69 is electronic! ! The data is taken into the computer 71 via 70. 80 is a switch for teaching the computer the dangerous area,
81 is a switch for instructing the computer to erase the dangerous area, and 82 is an electronic circuit that includes a power source for the switch and receives the closing signal of the switches 80 and 81 into the computer. The electronic circuit 82 inputs the signal to the computer 71 via the path line 72 when the switch 80 or the switch 81 is closed.

The above-mentioned electronic circuit 75.70.82 is connected to the pass line 72.
In addition to the computer 71, the following circuits are connected. That is, 73 is a memory that stores programs to be executed by the control device according to the present invention and fixed constants such as the length of each small arm of the boom 63 and the arm 64, and 74 is a memory that is input by the switch 80. record the hazardous areas
It is also a memory that temporarily stores data during arithmetic processing. 78 is an electronic circuit including a signal latch circuit for driving the alarm device 77 in response to a signal output from the computer.

In addition, a solenoid valve 79 is installed to forcibly stop the rotation of the working machine, that is, the rotation of the upper structure, in response to a signal output when the computer 71 determines that it is dangerous based on the input data. a driving electronic circuit 78;
An electronic circuit 83 is connected to drive a solenoid valve 84 for restricting the operation of the multiple arms of the working machine 52.

Next, the function of the above-mentioned circuit will be explained.

Before starting work in the situation described above in FIG. 7, the operator maneuvers the ultra-small swing power shovel to a predetermined location, and then moves the multi-arm of the machine, that is, the first small arm 61. The second small arm 62, the arm 64, and the packet 65 are operated, and the upper structure 85 is further rotated from the front to the rear to be operated close to the danger area 50. When the switch 80 is closed after the above operation, the closing signal is transmitted to the electronic circuit 8.
2 and then input to the computer 71 via a pass line 72. The computer 71 inputs and records the values of the potentiometers 66, 67, 68 and six rotary encoders, which are constantly taken in via the electronic circuit 75, into the memory 74 according to the closed circuit signal, and stores them in the memory 73. Calculate the distance a of the dangerous area from the center of rotation 0 using arithmetic expressions that utilize trigonometric functions and constants such as the lengths of the first small arm 61, the second small arm 62, and the arm 64, and the measured values. and recorded in the memory 74. Furthermore, while being careful not to interfere with the dangerous area with the work equipment 52, while operating the first small arm 61, second small arm 62, and arm 64, the upper structure 85 is rotated to the rear of the excavator body. When the switch 80 is closed again, a distance a' indicating another dangerous area is recorded by the same calculation as described above.

The area outside the perpendicular plane connecting the two data recorded by the two-plane operation will be stored as the dangerous area A.

As described above, when excavator work is performed in a situation where danger area A is recorded, each potentiometer 66.67
．． The data from the rotary encoder 68 and the rotary encoder 69 are constantly input to the computer 71, and the computer 71 uses the program stored in the memory 73 to calculate the effective horizontal length of the work machine based on the data and records it as described above. Compare with the distance a of the dangerous area.

When the tip of the work implement 52 reaches point p in FIG. Send to. The electronic circuit 76 inputting the alarm signal drives the alarm 77 to notify the operator of danger. Further, when the computer 71 determines that the calculated effective horizontal length sword interferes with the dangerous area, it sends an alarm signal to the electronic circuit 78 via the pass line 72. The electronic circuit 78 inputting the alarm signal drives seven solenoid valves to cut off the hydraulic circuit of the hydraulic motor for rotating the upper structure 85 (not shown in the drawing), thereby stopping the supply of pressure oil to the hydraulic motor. Then, the rotation of the hydraulic motor is stopped, thereby stopping the rotation of the upper structure 85 to prevent the tip of the working machine from interfering with the dangerous area A.

In response to the alarm, the operator operates the first small arm 61, the second small arm 62, and the arm 64 to determine the effective horizontal length.
When the voltage is shortened until the point is reached, the computer 71 determines that the reading value of each potentiometer 66, 67, 68 changes and is released from the dangerous area, and stops sending out the alarm, so the alarm 77 stops the alarm and the solenoid valve 79
stops driving, allowing the upper structure 85 to pivot and allowing the operator to continue working.

When the operator turns the upper structure 85 and the tip of the workpiece 52 reaches point r, the computer 71 calculates the length of the work implement 52 from the readings of each potentiometer 66, 67, 68 and the data of the six rotary encoders. The original
It is determined that it is safe to extend the time to a maximum of 100 degrees, and a predetermined safety signal is sent to the electronic circuit 76 via the pass line 72. The electronic circuit 76 inputting the safety signal drives the alarm 77 to issue a predetermined safety signal to notify the operator that the tip of the work implement 52 may be extended to three points.

When the operator operates the working machine 52 to extend the tip of the working machine 52 to five or more points, the computer 71 calculates the working machine from the reading values of each potentiometer 66, 67, 68 and the data stored as the dangerous area. It is determined that the tip is dangerous because it interferes with the dangerous area A, and an alarm signal is sent to the electronic circuit 76 via the pass line 72. The electronic circuit 76 inputting the alarm signal drives the alarm 77 to notify the operator of danger. The computer 71 also sends an alarm signal to the electronic circuit 83 via the pass line 72. The electronic circuit 83 into which the alarm signal is input is the solenoid valve 84
The hydraulic circuit that drives the first small arm section 61, the second small arm section 62, and the arm 64 (not shown in the drawings) to operate in a dangerous direction is cut off, and thus the first small arm section 61, 2nd
The small arm 62 and the arm 64 are stopped from turning in the dangerous direction to prevent the tip of the working machine from interfering with the dangerous area A. It is possible to drive the first small arm portion 61, the second small arm portion 62, and the arm 64 in the direction opposite to the danger area A based on the configuration of the hydraulic circuit.

When the work site changes, close the switch 81.
The computer 71 inputted via the electronic circuit 82 erases the dangerous area recorded in the memory 74.

In the above explanation, two operations are performed to record the dangerous area, but only one operation is performed.

It may be assumed that the distance acquired by the second operation is parallel to the vehicle body.

Further, although the explanation has been given in which the dangerous area A is recorded by operating the work machine, the distance of the dangerous area can also be directly input using a so-called numeric keypad instead of the switch 80.

In that case, the switch 80, the electronic circuit 81, and the program need to have a structure that suits the purpose, but other circuit components do not need to be changed. There's no need to worry about it.

Furthermore, the operating functions after the tip of the work machine is likely to interfere with a dangerous area can be freely set on the computer in accordance with machine conditions and environmental conditions, in addition to the above-mentioned explanation means.

Also, when there is a risk that the tip of the work equipment may interfere with a dangerous area, a warning may be issued but the work equipment can still be operated, or the work equipment may be operated but the operating speed must be reduced. You can also do that.

In addition to the function of detecting and preventing the dangerous area mentioned above, the data processing program also has the function of detecting and preventing dangerous areas, and also when it is determined that the input value is abnormal, such as when the input value of the potentiometer suddenly changes without changing continuously. Similarly to the above, it is also possible to issue an alarm and drive the alarm 77 to notify the operator of the abnormality, and also to drive the solenoid valve 79 to stop the rotation of the working machine.

In the above explanation, the reason why a potentiometer for detecting the rotation angle is not attached to the rotation axis of the packet is because
In normal excavator work, the packet at the tip is rolled inwards, so it has nothing to do with the effective horizontal length of the shovel.If it is related depending on the structure of the work equipment, a detection potentiometer is attached and a detection potentiometer is installed during the work. The dimensions of the machine must be recorded and included in the calculations.Also, other angle sensors may be used instead of potentiometers for the angle detectors of each rotation axis.Also, in the above explanation, the dangerous area was assumed to be a vertical plane. If necessary, it is also possible to set a three-dimensional danger area.

To do this, we installed a switch to set the distance in the horizontal direction, a switch to set the top direction in the vertical direction, and a switch to set the bottom direction in the vertical direction. Calculates the dangerous area by performing calculations based on the input values. To calculate the tip distance of the work equipment in the vertical direction, instead of the offset distances dl and ci2 used to calculate the above-mentioned effective horizontal length, the lower structure of the ultra-small swing power excavator is used. It is sufficient to use trigonometric functions and calculation formulas that match the structure of the work machine, including the height of the body, that is, the dimension from the bottom surface of the vehicle body at the position where the boom is attached.

When defining a dangerous area in the vertical direction, it is also possible to easily input values using a switch that allows direct input of numerical values.

Furthermore, although the above explanation deals with turning clockwise from the front, interference with dangerous areas in the environment should be prevented in the same way when turning counterclockwise from the front or clockwise or counterclockwise from the rear. I can do it.

[Effects of the Invention] According to the present invention, the position of the working machine is determined based on the detected turning angle of each arm, and when the determined position of the working machine reaches a predetermined area, , an alarm is issued and the movement of the working machine is stopped, which has the excellent effect of preventing interference in the area of the working machine.

[Brief explanation of drawings]

FIG. 1 is a schematic configuration diagram showing an ultra-small swing power shovel according to an embodiment of the present invention. FIG. 2 is an explanatory diagram of the operation of the ultra-small swing power shovel according to the embodiment shown in FIG. 1. FIG. 3 is a circuit block diagram of an embodiment of the ultra-small swing power shovel working machine interference prevention device shown in FIG. 1. FIG. 4 is an explanatory diagram of the operation of the embodiment of the ultra-small swing power shovel working machine interference prevention device shown in FIG. 1. FIG. 5 is a schematic configuration diagram showing an ultra-small swing power shovel according to another embodiment of the present invention. FIG. 6 is an explanatory diagram of the operation of the ultra-small swing puff shovel of the embodiment shown in FIG. 5. FIG. 3 is a circuit block diagram of an embodiment of the bell working machine interference prevention device M. FIG. 8 is an explanatory diagram of the operation of the embodiment of the ultra-small swing power shovel working machine interference prevention device shown in FIG. 5. FIG. 9 is an explanatory diagram of an example of work performed by a conventional ultra-small swing power shovel. FIG. 10 shows an explanatory diagram of an example of work performed by a conventional ultra-small swing power shovel. 1...Boom 2...Arm 3...Packet 4.5.6...Potentiometer 7...
・O-9 re-encoder 8... Upper structure 9... Lower structure 10.11... Switch 20.20'... Border line 21. ... Dump truck 22 ... Work equipment 31 ... Computer 2 ... Pass line 33 ... Memory 34 ... Memory 35 ...Electronic circuit 36...Electronic circuit 37...Alarm 38...Three electronic circuits...Solenoid valve (upper structure rotation stop mechanism) 40 ...Electronic circuit/11...Electronic circuit 42...Electronic circuit 13...Solenoid valve (work machine arm rotation stop mechanism) 50.50'... ... Boundary line 51 ... Dump truck 52 ... Work 1 61.62 ... Small arm section 63 ... Boom 64 ... Arm 65...Packet 66.67.68...6 potentiometers.
...Rotary encoder 70 ...Electronic circuit 71 ...Computer 72 ...Pass line 73 ...Memory 74 ...Memory 75 ...Electronic circuit 76...Electronic circuit 77...Alarm 78...Electronic circuit 79...Solenoid valve (upper structure rotation stop Machine f 80.81...Switch 82...Electronic circuit 83...Electronic circuit 84...Solenoid valve (r) !> 5... Upper structure 86... Lower lateral body 3... Small arm part

Claims (1)

[Claims] 1. An upper revolving body including a working machine comprising at least a plurality of arms and respective joints connecting the arms, and a lower traveling body to which the upper revolving body is mounted via a rotating mechanism. An ultra-small swing power excavator comprising: a detection means for detecting the swing angle of each arm; a means for detecting the swing angle of the swing mechanism; a calculation means for determining the position of the work machine; a means for inputting predetermined data; a means for storing the input value as a predetermined area; and a calculation means for determining the position of the work machine by the calculation means. calculation and determination means for determining whether the position of the work equipment has reached the area; and if the calculation and determination unit determines that the position of the work equipment has reached the area, the operation is performed in a direction in which the work equipment is likely to enter the area. 1. A work machine interference prevention device for an ultra-small swing power shovel, characterized by comprising: a means for preventing the operation of a power shovel. 2. Preventing work equipment interference in the ultra-small swing power shovel according to claim 1, further comprising means for generating an alarm when the calculation means determines that the position of the work equipment reaches the area. Device. 3. A claim further comprising means for disabling an operation function in a direction where there is a risk of intrusion into the area when the calculation means determines that the position of the working machine reaches the area. 1. A working machine interference prevention device in the ultra-small swing power excavator according to 1. 4. The ultra-small swing power according to claim 1, wherein the working machine includes a boom and an arm that are connected to each other and each swing vertically, and the arm swings horizontally with respect to the boom. Work equipment interference prevention device for excavators. 5. The work machine includes a boom and an arm that are interconnected and each pivot in the vertical direction, and the boom includes a first small arm part and a second small arm part that are interconnected and each pivot in the vertical direction. A working machine interference prevention device in a micro-swing power shovel according to claim 1, characterized in that it has the following. 6. A switch is provided at the operating position, and by operating the switch, information from the detection means for the rotation angle of the upper rotating structure and information from the detection means for the rotation angle of each arm at the moment of the switch operation is detected. Claim 1 characterized by comprising means for inputting information and means for storing this information.
Work equipment interference prevention device for the ultra-small swing power excavator described above. 7. A switch is provided at the operating position, and by operating the switch, information from the detection means of the rotation angle of the upper revolving structure and information from the detection means of the rotation angle of each arm at the moment of the switch operation are detected. means for inputting, from the plurality of obtained information, means for calculating an effective straight line length from the rotation center of the upper revolving structure to the tip of the work equipment in the ultra-small swing power excavator, and a predetermined area beyond the calculated value. 2. The working machine interference prevention device for a micro-swing power shovel according to claim 1, further comprising means for storing the following information. 8. A switch is provided at the operating position, and means is provided for inputting a predetermined numerical value by operating the switch, and means for recording a range larger than the input value as a predetermined area. A working machine interference prevention device in a micro swing power excavator according to claim 1.