JPH06136782A - Working scope control method for construction machine - Google Patents

Abstract

PURPOSE:To realize the safety of an excavation work by setting a working limit area in a plane visivility making the rotary center as the center of the working limit area, setting the outer side as a working scope area, inputting the boundary position to a controller for regulation, and outputting an arm drawing stop instruction signal. CONSTITUTION:From a circular area A making the distance R from the rotary center O to the front and outer side end of a crawler 2R plus the rotating radius r of the front end of a bucket 12 as its radius, the front area S1 at the inner side between the left side crawler 2L and the right side crawler 2R opposing each other, and the rear area S2 are subtracted so as to set a working limit area. And the outer side area is set as a working scope area, and the boundary position is stored in the memory of a controller. And the boundary position is regulated by operating a setting switch for working limit. Then, a detecting signal from an angular sensor is output to the controller, so as to calculate the position of a front end pin 18 depending on the input detecting signal. Consequently, the working efficiency can be increased as well as the striking or the interference of a bucket to the crawlers in an automatic excavation can be prevented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention mainly relates to a work range control method for an upper swing type construction machine such as a crawler type hydraulic excavator.

[0002]

2. Description of the Related Art FIG. 4 is a side view of a crawler type hydraulic excavator. In the figure, 1 is a lower traveling body of a hydraulic excavator, 2L and 2R are left and right crawlers wound around the lower traveling body 1, 3L and 3R are left and right traveling motors, 4 is a swing bearing, 5 is an upper swing body, 6 is a controller mounted inside the upper swing body 5, 7 is a swing motor, 8 is a center frame, 9 is a work attachment mounted on the front part of the upper swing body 5, 10 is a boom of the work attachment 9, 11 is an arm, 12 is a bucket, 13, 14, 15
Are pin connecting parts, 16 are boom foot pins of the pin connecting parts 13, 17 are boom tip pins of the pin connecting parts, 1
8 is an arm tip pin of the pin coupling portion 15, 19 is a boom cylinder, 20 is an arm cylinder, 21 is a bucket cylinder, and 22 is a boom 10 for the upper swing body 5 (in the case of FIG. 4, for the horizontal line HL). A boom angle sensor that detects the rotation angle a, 23 is an angle sensor that detects the rotation angle b of the arm 11 with respect to the boom 10, and 61 is a rotation angle of the bucket 12 with respect to the arm 11 (not shown).
An angle sensor for detecting the turning angle of the upper swing body 5, a turning angle sensor for detecting the turning angle of the upper swing body 5, 0-0, a swing center of the upper swing body 5, l1 is a boom length, l2 is an arm length, and r is a bucket. 12 is the radius of gyration of the tooth tip a. Figure 5
[Fig. 5] is a plan view of a main part of Fig. 4. In the figure, P-P 'is the front-rear centerline of the lower traveling body 1, Q-Q' is the front-rear centerline of the work attachment 9, and C is P-0 (the turning center is 0 because it is a plan view). Revolving superstructure 5 based on
(That is, the work attachment 9).

In a hydraulic excavator, as shown in FIG. 4, a work attachment 9 in which a boom 10, an arm 11 and a bucket 12 are sequentially connected is attached to a front portion of an upper swing body 5, and a rotation angle position of the work attachment 9 and A means for detecting the turning angle position of the upper-part turning body 5 is provided. That is, during the operation of the hydraulic excavator, the detection signals are input to the controller 6 from the angle sensors 22, 23, 61, 24, respectively. Therefore, the controller 6 performs arithmetic processing based on the signals, and from the turning center 0-0 to the arm tip. The distance to the pin (18) position is calculated.

[0004]

As shown in FIG. 5, when a hydraulic excavator performs excavation work while the upper revolving structure is swung by an angle C (for example, about 40 °) with respect to the front of the lower traveling structure, The bucket tooth may collide with the lower part of the front end of the crawler, resulting in a damage accident. Further, if there is an obstacle within the working range of the hydraulic excavator, the bucket or arm may collide with and interfere with the obstacle, which is unsatisfactory for safety and maintenance. The present invention is
An object of the present invention is to provide a work range control method for an upper swing type construction machine that can solve the above problems.

[0005]

In the work range control method of the present invention, the tooth tip turning radius of the bucket is added to the distance from the turning center to the front outer end of the crawler with the turning center in the plan view. From the circular area whose radius is the length, the front and rear areas inside which the left and right crawlers face each other are excluded to set the work restriction area, and the outside of the work restriction area is set as the work area. , The boundary position between the work range area and the work restriction area is input to the controller, and the boundary position can be adjusted by operating the work restriction setting switch. When the boundary position is reached, the controller outputs an arm pulling stop command signal to the arm cylinder via the electro-oil converter. In addition, a circular area whose radius is the sum of the turning center and the front outer edge of the crawler plus the turning radius of the tooth tip of the bucket is set as the first work restriction area in plan view. In addition, outside the first work restriction area, a required angle range centered on the turning center is set as the second work restriction area, and an area other than the first and second work restriction areas is operated. The range is set.

[0006]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a plan view showing a work range limited by the work range control method according to claim 1 of the present invention. In the figure, the same reference numerals are given to those using the same constituent elements as those in the prior art. 5'is an upper swing body. FIG. 2 is a circuit diagram of the work range control device according to the present invention. In the drawing, the same reference numerals are given to those using the same constituent elements as those in the prior art. 25, 26, 27,
28 are hydraulic remote control valves for boom, arm, bucket, and turning respectively (the hydraulic remote control valve is for convenience of explanation,
(Shown in a divided manner), 29, 30, 31, 32 are pilot switching valves 33, ..., which are directional switching valves, respectively.
40 is a shuttle valve for selecting pilot pressure, 4
1, to 48 are electro-hydraulic converter electromagnetic proportional pressure reducing valves, 49 is a main pump, 50 is a pilot pump, 5
1 is a controller, 52 is a memory of the controller 51,
Reference numeral 53 is an automatic / manual selection switch for excavation work, 54 is a volume operation unit for the driver to set a target excavation reaction force in advance when performing automatic excavation, 55 is a work limit setting switch, 5
6 is a switch for canceling stop processing, 57 is a reference setting switch for display, and 58 is an indicator.

Next, the work range control method according to claim 1 of the present invention will be described with reference to FIGS. In claim 1 of the present invention,
Centering on the turning center 0 in a plan view, the distance R from the turning center 0 to the front outer end of the crawler 2R (2L is the same)
From the circular area A whose radius is the length obtained by adding the tooth tip rotation radius r of the bucket 12 to the left and right crawlers 2L, 2
The work area is set excluding the front area S1 and the rear area S2 on the inner side of R, and all the work area outside the work area is set as the work area (hatched area shown in FIG. 1). The boundary position between the work range area and the work restriction area is stored in the memory 52 of the controller 51, and the work restriction setting switch 55 is operated so that the boundary position can be adjusted. Therefore, during the automatic excavation of the hydraulic excavator, for example, the angle sensors 22, 2
Detection signals from 3, (61) and 24 (shown in FIG. 2) are input to the controller 51 every moment. Controller 5
At 1, the calculation is performed based on the detection signal to calculate the position of the arm tip pin 18 of the work attachment 9. When the position of the arm tip pin 18 reaches the boundary position, the controller 51 determines and outputs an arm pulling stop command signal to the arm electromagnetic proportional pressure reducing valves 44 and 43. As a result, the electromagnetic proportional pressure reducing valves 44, 43
Is activated to switch the arm pilot switching valve 30, so that the movement of the arm 11 is stopped or the arm pushing operation is performed. At the same time, the controller 51 outputs preset end position command signals to the electromagnetic proportional pressure reducing valves (41, 42, 45, 46) for the boom cylinder 19 and the bucket cylinder 21, respectively. In this way, it is possible to prevent the arm tip pin 18 from entering the work restricted area. Therefore, it is possible to prevent collision interference of the bucket 12 with the crawlers 2L and 2R during automatic excavation, and to perform automatic excavation up to the range of the front inner area S1 and the rear area S2 on the inner sides of the left and right crawlers 2L and 2R facing each other. be able to. The stop processing state for the arm cylinder 20 and the end position processing state for the boom cylinder 19 and the bucket cylinder 21 are released by operating the stop processing release switch 56, so that excavation can be safely started again. .

Next, FIG. 3 is a plan view showing a work range limited by the work range control method according to claim 2 of the present invention. In the figure, the same components as those of the work range control device in claim 1 are designated by the same reference numerals. Reference numerals 59 and 60 denote, for example, two obstacles as an example of at least one obstacle existing in the excavation work range of the hydraulic excavator. The circuit of the work range control device mounted on the hydraulic excavator according to claim 2 is the same as the circuit diagram shown in FIG.

Next, a work range control method according to claim 2 of the present invention will be described with reference to FIGS. In claim 2 of the present invention,
Centering on the turning center 0 in a plan view, the distance R from the turning center 0 to the front outer end of the crawler 2R (2L is the same)
A circular area A whose radius is a length obtained by adding the tooth tip rotation radius r of the bucket 12 to the first work restriction area,
Also, outside the first restricted area (circular area A),
Required around the turning center 0 (the work attachment 9 may interfere with the obstacles 59 and 60)
The angle (angle d shown in FIG. 3) range is set as the second work restriction area, and the area other than the first and second work restriction areas (the area within the hatched area shown in FIG. 3) is set as the work range area. Set. If the obstacle does not exist in the front parts on the inner sides of the left and right crawlers 2L and 2R, the front area S1 as in the case of claim 1 can be set. When the arm tip pin 18 reaches the boundary position between the work range area and the first and second work restriction areas during, for example, automatic excavation of the hydraulic excavator, the same operation as in the case of claim 1 is performed. , The work attachment 9 is an obstacle 59,
It is possible to prevent interference with the 60 and the crawlers 2L and 2R.

[0010]

When the hydraulic excavator excavates while the upper revolving structure is swiveled by about 40 ° with respect to the front of the lower traveling structure, the tooth tip of the bucket collides with the lower part of the front end of the crawler and is damaged. Will cause Further, if there is an obstacle within the working range of the hydraulic excavator, the bucket or arm may collide with and interfere with the obstacle, which is unsatisfactory for safety and maintenance. However, in the work range control method of the present invention, a circular area having a radius centered on the turning center in plan view and having a radius from the turning center to the front outer edge of the crawler plus the tooth tip turning radius of the bucket , The work area is set by excluding the front and rear areas inside which the left and right crawlers oppose each other, and the work area is set outside of the work area. The boundary position with respect to the restricted area is input to the controller, and the boundary position can be adjusted by operating the work restriction setting switch. Therefore, when the arm tip pin position of the work attachment reaches the above boundary position during, for example, automatic excavation of the hydraulic excavator, the controller outputs an arm pulling stop command signal to the arm cylinder via the electro-hydraulic converter, It is possible to prevent the tip pin from entering the work restricted area. Therefore, it is possible to prevent the collision interference of the bucket with the crawler during the automatic excavation, and it is possible to perform the automatic excavation up to the range of the front area and the rear area on the inner side where the left and right crawlers face each other. That is, it is possible to maximize the excavation range and improve work efficiency. Further, in the present invention, the first work is a circular area whose radius is a length obtained by adding the tooth tip turning radius of the bucket to the distance from the turning center to the front outer end of the crawler in plan view. The angle range is set to the limit range, and the required angle range outside the first work limit range, centering around the turning center, is set to the second work limit range, and other than the first and second work limit ranges. The area of is set as the work range area. As a result, it is possible to prevent the work attachment from interfering with an obstacle or a crawler. Therefore, in the work range control method of the present invention, during excavation work of the upper swing type construction machine, it is possible to prevent an accident in which the bucket collides and interferes with the crawler or the obstacle, and to expand the safe excavation range to the maximum extent to improve work efficiency. Can be higher.

[Brief description of drawings]

FIG. 1 is a plan view showing a work range limited by a work range control method according to claim 1 of the present invention.

FIG. 2 is a circuit diagram of a work range control device according to the present invention.

FIG. 3 is a plan view showing a work range limited by the work range control method according to claim 2 of the present invention.

FIG. 4 is a side view of the crawler type hydraulic excavator.

5 is a plan view of an essential part of FIG. 4. FIG.

[Explanation of symbols]

 1 Lower Traveling Body 2L, 2R Crawler 5,5 'Upper Revolving Body 6,51 Controller 9 Work Attachment 12 Bucket 18 Arm Tip Pin 19 Boom Cylinder 20 Arm Cylinder 21 Bucket Cylinder 22, 23, 24, 61 Angle Sensor 41, ~ , 48 Electromagnetic proportional pressure reducing valve 55 Work limit setting switch 56 Stop processing release switch 59, 60 Obstacle

Claims (2)

[Claims] 1. A work attachment, in which a boom, an arm, and a bucket are sequentially connected, is attached to a front portion of an upper revolving superstructure, and means for detecting a rotation angle position of the work attachment and a revolving angular position of the upper revolving superstructure are provided. In the work range control method for construction machinery, a circular area whose radius is the center of the turning center in plan view and the distance from the turning center to the front outer edge of the crawler plus the turning radius of the tooth tip of the bucket , The work area is set by excluding the front and rear areas inside which the left and right crawlers oppose each other, and the work area is set outside of the work area. By inputting the boundary position with the limit area to the controller and operating the work limit setting switch, the boundary position can be adjusted, When the arm tip pin position of the work attachment reaches the boundary position, the controller outputs an arm pulling stop command signal to the arm cylinder via the electro-hydraulic converter. Work range control method. 2. The work range control method according to claim 1, wherein the turning radius of the tip of the tooth of the bucket is set at a distance from the turning center to the front outer end of the crawler with the turning center in the plan view. A circular area with the added length as a radius is set as the first work restriction area, and the required angular range outside the first work restriction area around the turning center is set as the second work restriction area. And setting the areas other than the first and second work restriction areas as work range areas.