JPH03110223A - Swing controller of construction machinery - Google Patents

Abstract

PURPOSE:To make it possible to prevent a collision between an operation device and a lower traveling body by deciding from a turning angle detection signal of an upper turning body against the lower traveling body and a position detection signal of the operation device to operate or stop a turning device. CONSTITUTION:A turning angle detector 21 is provided t a turning device 5, and a turning angle of an upper turning body 2 against a lower traveling body 1 is detected. After that, angle detectors 22, 23 and 24 are provided, rotation angles a, and of a boom 7, a 8 and bucket 10 centering on points A, B and C are detected to detect a position of an operation device 6. Then, a pilot valve 30 is connected to each of pilot sections of a directional selector valve 29 through pilot pipe lines 31A and 31B. When a solenoid valve 32 is changed over to a stop position (b), the directional selector valve 29 is held on a neutral position (a) irrespective of control of a control level 30A, and a turning motor 25 is stopped.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a swing control device for a construction machine suitable for use in a construction machine such as a hydraulic excavator. The present invention relates to a turning control device for construction machinery that can prevent collisions with running objects.

[Prior Art] FIGS. 6 and 7 show a hydraulic excavator equipped with a loader packet as a construction machine of the prior art.

In the figure, reference numeral 1 indicates an upper revolving body 2 which is rotatably mounted on the lower traveling body 1;
has a driver's cab 4 on the front left side adjacent to the bracket 3,
In the driver's cab 4, operating levers for driving, turning, and front operation (all not shown) are provided. A swing device 5 including a swing motor (not shown) is provided between the upper revolving structure 2 and the lower traveling structure 1, and the swing device 5 rotates the upper revolving structure 2 around the swing center O. The lower traveling body 1 is made to turn as illustrated in FIG. 7.

Reference numeral 6 indicates a working device as a front attachment that is installed at the front of the revolving upper structure 2 so as to be able to move up and down. , an arm 8 attached to the tip of the boom 7 so as to be movable up and down, and a rotor packet 10 rotatably attached to the tip of the arm 8 via a pair of brackets 9.9. . The working device 6 has a boom 7, and the arm 8 has a boom cylinder 11.
．． Actuated by arm cylinder 12, packet 10
is adapted to be pivoted by the packet cylinder 13 via links 14,15.

In the conventional hydraulic excavator configured as described above, the boom cylinder 11. While the boom 7 and arm 8 are raised and lowered by the arm cylinder 12, the packet cylinder 13
The packet 10 is rotated by the operator, and the excavation work of earth and sand is performed using the packet 10. and,
When excavated earth and sand is to be discharged using the packet 10, the packet 10 is rotated upward while extending the boom 7 and the arm 8, and in this state, the upper rotating structure 2 is moved to the rotating device 5.
The entire working device 6 is oriented in a desired direction, and the earth and sand in the packet 10 is discharged to a desired position.

[Problem to be solved by the invention]

By the way, in the above-mentioned conventional technology, when the boom 7 and arm 8 of the working device 6 are moved downward and excavation work of earth and sand is performed using the packet IO as illustrated in FIG. 6,
If the driver accidentally touches the operating lever for turning inside the operator's cab 4, the turning device 5 may be driven and the upper rotating body 2 may turn together with the working device 6 to the position shown in FIG. There is a problem in that the bracket 9, link 15, etc. of the packet 10 located at the tip side of the working device 6 collide with the lower traveling body 1 and are damaged.

The present invention has been made in view of the problems of the prior art described above, and the present invention provides turning control for construction machinery that can prevent the tip side of the working device from colliding with the lower traveling body and improve safety. It provides equipment.

[Means for Solving the Problems 1 A feature of the configuration adopted by the present invention in order to solve the above-mentioned problems is a turning angle detection means that is provided in the turning device and detects the turning angle of the upper rotating structure with respect to the lower traveling structure. and a position detection means provided on the work device for detecting the position of the work device, and whether or not the work device approaches the undercarriage based on signals from the position detection means and the turning angle detection means. and an operation stopping means for stopping the operation of the swing device when the determining means determines that the working device has approached the undercarriage.

[Operation] With the above configuration, when the working device approaches the lower rotating structure, the operation of the swing device can be automatically stopped, and it is possible to prevent the working device from continuing to turn together with the upper rotating structure.

〔Example〕

Embodiments of the present invention will be described below with reference to FIGS. 1 to 5. In this embodiment, the same components as those of the prior art shown in FIGS. 6 and 7 described above are given the same reference numerals, and their explanations will be omitted.

In the figure, reference numeral 21 indicates a turning angle detector as a turning angle detection means provided in the turning device 5, and the detector 21 detects the turning angle θ of the upper rotating structure 2 with respect to the lower traveling structure 1 as shown in FIG. This detection signal is output to a controller 33, which will be described later. 22 is an angle detector provided between the bracket 3 and the boom 7, 23 is an angle detector provided between the boom 7 and the arm 8, and 24 is the arm 8.
and the packet 10;
The angle detectors 22, 23, 24 are at point A.

Boom 7, arm 8 centered around B and C. packet 10
The rotation angles α, β, and γ of the controller 3 are detected.
3 constitutes a position detecting means for detecting the position of the working device 6.

Next, in FIG. 3, reference numeral 25 indicates a swing motor provided in the swing device 5, and the swing motor 25 is connected to a pair of main pipes 26A, 2
6B via hydraulic pump 27. connected to the tank 28,
By supplying and discharging pressure oil from the hydraulic pump 27, the swing device 5 is driven, and the upper swing structure 2 is caused to swing relative to the lower traveling structure 1. 29 is the main pipe 26A, 2
6B shows a hydraulic pilot type directional switching valve installed in the middle of the valve 29, which is switched from the neutral position (A) to the left and right switching positions (B) and (C) by pilot pressure, which will be described later. , the swing motor 25 is rotated in forward and reverse directions.

Reference numeral 30 indicates a pressure reducing valve type pilot valve provided in the operator's cab 4 of the upper revolving structure 2, the pilot valve 30 has a swing operation lever 30A, a pair of pilot pipes 31A,
It is connected to each hydraulic pilot section of the directional switching valve 29 via 31B.

The pilot valve 30 moves the direction switching valve 29 from the neutral position (A) to the switching position (B) by tilting the operating lever 30A from the neutral position in one direction and in the other direction.
c). Reference numeral 32 indicates an electromagnetic valve as an operation stopping means provided in the middle of the pilot pipes 31A and 31B. From position (d) to stop position (
(e). When the solenoid valve 32 is switched to the stop position (E), the directional control valve 29 is held at the neutral position (A) and the swing motor 25 is stopped, regardless of the operation of the operating lever 30A. ing.

Further, 33 indicates a controller as a control device constituted by a microcomputer or the like, and the input side of the controller 33 is a turning angle detector 21, an angle detector 22, etc.
, 23, 24, and the output side is connected to the solenoid 32A of the electromagnetic valve 32. The controller 33 stores a program shown in FIG. 5 in a memory circuit, and performs switching processing of the solenoid valve 32. Further, the memory circuit of the controller 33 is connected to the memory area 33 of the controller 33.
In A, there is a dimension I21 between points A and B corresponding to the length dimension of the boom 7, a dimension I21 between points B and C corresponding to the length dimension of the arm 8, and a bottle diameter 2 provided on the bracket 9 of the packet 10. The dimension between points C and D that corresponds to the dimension of! 23 etc. are stored, and an area f where a collision can be prevented even if the light of the working device 6 approaches the lower traveling body 1 even if it rotates due to inertia,
A function corresponding to g (shown by dotted lines in FIGS. 1 and 2) and dimensions H, L, T, etc. in FIGS. 1 and 2 are stored.

Here, the controller 33 calculates the dot positions (D,, D,') illustrated in FIG. .

and, According to formula (1).

based on Next, the rotating position of the dot (D,) illustrated in FIG.

D, ) is calculated by the turning angle θ from the turning angle detector.

The swing control device for a hydraulic excavator according to this embodiment has the above-mentioned configuration.Next, the switching process of the electromagnetic valve 32 by the controller 33 will be explained with reference to FIG.

First, when the processing operation starts, in step 1, the rotation angle α is determined from the angle detectors 22, 23, and 24.

β and γ are read, and in step 2, the position (D,

D,) is calculated. Then, the process moves to step 3, where it is determined whether the dot position (D, , D,) is within the area f illustrated in FIG. Since the working device 6 has moved down to a position where the link 15 etc. may collide with the undercarriage 1, the process moves to step 4 to read the turning angle θ from the turning angle detector 22, and in step 5, the turning angle θ is read from the turning angle detector 22. Rotating position of the dot illustrated in the figure (D
,.

D,) is calculated using the above equation (3).

Then, in step 6, the rotation position of the dot (D,

D,) is within the region g illustrated in FIG. 2. If it is determined that rYESJ, bracket 9. Since the link 15 and the like are approaching the lower traveling body 1, the process moves to step 7, exemplifies the solenoid 32A, and switches the solenoid valve 32 from the operating position (D) to the stop position (E), thereby switching the directional control valve 29. is held at the neutral position (a) and the swing motor 25 is stopped. Also, in step 3.6 rN
If it is determined to be OJ, bracket 9. There is no risk of the link 15 etc. colliding with the lower running body 1, so step 8
Then, the solenoid 32A is demagnetized, the solenoid valve 32 is switched to the operating position (d), and the swing motor 25 can be driven to swing in accordance with the tilting operation of the operating lever 30A of the pilot valve 30.

Thus, according to this embodiment, the position of the dot on the tip side of the working device 6 (D,,D,) and the turning position (D,,D,)
is calculated, and depending on whether these are within the areas f and g,
Bracket 9. It is determined whether or not the link 15 etc. approaches the lower traveling body 1, and if it approaches, the swing motor 25 is stopped by switching the solenoid valve 32 to the stop position (E). Even if the driver accidentally touches 30A, it is possible to reliably prevent the bracket 9, link 15, etc. from colliding with the lower traveling body 1, and various effects such as improving safety can be achieved.

In addition, in the above embodiment, among the programs shown in FIG.
Step 3.6 shows a specific example of the determination means that is a component of the present invention.

Further, in the embodiment, the dot is located between the bracket 9 and the link 15 of the packet 10 (D).

Dy) and turning position (D,,D,) have been described above, but instead of this, by calculating the position of point E between links 14.15, etc., links 14.15, etc. are lower It may be determined whether the vehicle has approached the traveling object 1 or not. In this case, the position of point E, etc. can be calculated based on the dimensions of the links 14, 15, etc., the rotation angle γ, etc.

Further, in the above embodiments, a hydraulic excavator equipped with the loader packet 10 was explained as an example, but the present invention is not limited to this, and can be applied to various construction machines such as a backhoe type hydraulic excavator or a hydraulic crane. It's possible.

Further, in the embodiment, the solenoid valve 32 is connected to the pilot pipe 3.
1A and 31B, but instead of this, an electromagnetic on-off valve as an operation stopping means may be provided midway between the main pipes 26A and 26B.

[Effects of the Invention] As detailed above, according to the present invention, the position of the working device is detected and the operation of the swing device is stopped when the working device approaches the undercarriage. Even if a person accidentally touches the operating lever for turning and activates the swivel device, the operation of the swivel device can be automatically stopped when the work equipment approaches the undercarriage. It has various effects, such as being able to reliably prevent collisions with the body and improving safety.

[Brief explanation of drawings]

1 to 5 show embodiments of the present invention, FIG. 1 is a front view of the main parts of a hydraulic excavator, FIG. 2 is a plan view of FIG. 1,
Figure 3 is a hydraulic circuit diagram for swinging, Figure 4 is a control block diagram,
Fig. 5 is a flowchart showing the switching process of the solenoid valve, Figs. 6 and 7 show the prior art, Fig. 6 is a front view of the main parts of a hydraulic excavator, and Fig. 7 is a plan view of Fig. 6. . DESCRIPTION OF SYMBOLS 1... Lower traveling body, 2... Upper rotating body, 3... Bracket, 4... Driver's cab, 5... Swivel device, 6...
・Working equipment, 7...Boom, 8...Arm, 9...
・Bracket, 10...Packet, 14.15...
Link, 21... Turning angle detector (turning angle detection means),
22, 23° 24... Angle detector (position detection means),
25...Swivel motor, 27...Hydraulic pump, 29.
... Directional switching valve, 30... Pilot valve, 30A...
・Operation lever, 32... Solenoid valve (operation stopping means), 3
3...Controph, α. β γ...Turning angle, ρ ρ2 ℃3...Dimensions, θ...Turning angle, f, g...Area. Patent applicant Hitachi Construction Machinery Co., Ltd.

Claims (1)

[Claims] An undercarriage body, an upper revolving body rotatably mounted on the undercarriage body, a working device provided on the upper revolving body so as to be movable up and down, and between the undercarriage body and the upper revolving body. A construction machine comprising a swinging device for rotating the upper rotating structure with respect to the lower traveling structure, a turning angle detection means provided in the swinging device for detecting a turning angle of the upper rotating structure with respect to the lower traveling structure. and provided on the working device,
a position detection means for detecting the position of the working device; a determining means for determining whether the working device approaches the undercarriage based on signals from the position detecting means and the turning angle detecting means; A swing control device for a construction machine, comprising an operation stop means for stopping the operation of the swing device when it is determined by the means that the working device approaches an undercarriage.