JPH11181822A - Working machine controller for hydraulic shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothly and automatically enable a working machine to avoid a danger by setting larger the distance between the boundary face of an automatic avoidance zone set ahead of a cab and the cab as it is far from a zone which the working machine reaches after transfer and making the working machine transfer alone the boundary face of the automatic avoidance zone when it has reached the zone. SOLUTION: When a working machine 14 has reached an automatic avoidance zone K set ahead of a cab, it is forced to transfer along the boundary face N of the automatic avoidance zone K. The distance from the boundary face N of the automatic avoidance zone to the cab 11 is set larger as it is far from a zone which the working machine 14 reaches after transfer. That is, the forward distance L1 of the forward left side of the cab 11 far from the safe zone which the machine reaches after avoidance is set larger than the distance S1 of the forward right side of the cab 11. In this way, as the working machine 14 is located in a position where a time is required to reach the area, since it starts an offset transfer from a position separated from the cab 14 as shown in the arrow mark A, the movement becomes smooth and the automatic avoidance time can be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work machine for side excavation mounted on a front side of a cab so as to be capable of performing an offset operation.
The present invention relates to a working machine control device for a hydraulic shovel that prevents interference of the working machine with the cab.

[0002]

2. Description of the Related Art FIG. 6 is an overall side view of a backhoe described in Japanese Patent Publication No. Hei 7-116730. FIG. 7 is an overall plan view of the backhoe shown in FIG.
In the backhoe shown in FIGS. 6 and 7, when the bucket 8 reaches the first restraint surface N1 from the allowable range during the manual operation of the backhoe device 6 by the operation lever, the detection of the bucket 8 with respect to the driving cabin 3 based on the potentiometer. The position matches the first check surface N1. Thereby, the deceleration means forcibly operating the deceleration mechanism constituted by the throttle valve mechanism and the like incorporated in the middle of the hydraulic oil supply / discharge path to the control valve of each of the hydraulic cylinders C1, C2, C3, C4 operates. The moving speed of the bucket 8 from the first restraining surface N1 to the second restraining surface N2 is decelerated. Further, the backhoe device 6 is artificially operated by the operation lever,
When the bucket 8 reaches the second check surface N2 from the deceleration range,
Operation cabin 3 of bucket 8 based on potentiometer
And the second restraint surface N2 coincide with each other. As a result, the check means for forcibly switching the control valves of the hydraulic cylinders C1, C2, C3, and C4 via the operation circuits thereof is operated, and the bucket 8 stops at the second check surface N2. . And the bucket 8 is the second
In the state of reaching the check surface N2, the boom 1 is operated by the operation lever.
If the bucket 8 is moved upward or the operating lever is used to swing the arm 9 toward the driving unit 4, the front boom portion 10 </ b> C is moved until the bucket 8 reaches a position where it does not interfere with the driving cabin 3. Is automatically laterally moved to the side opposite to the driving unit 4.

[0003]

Conventionally, in a hydraulic shovel equipped with a work machine capable of performing an offset operation, various devices for preventing the work machine from interfering with a cab have been considered. In a hydraulic excavator (backhoe) according to one embodiment of the related art shown in FIG.
When reaching the check surface N2, the hydraulic cylinder C for the arm 9
The check means operates so that only the extension operation of No. 3 becomes impossible, and the bucket 8 stops. And the hydraulic cylinder C2
, The bucket 8 is moved laterally to the position opposite to the driving cabin 3 so that the bucket 8 does not interfere with the driving cabin 3 in the lateral direction, and then the arm 9 is again operated to extend the hydraulic cylinder C3. Is to be continued. Therefore, the operation of the hydraulic excavator itself is temporarily interrupted by the stop of the bucket 8, and the operation of the work machine after the stop of the bucket 8 is not performed smoothly, resulting in poor work efficiency and poor condition. SUMMARY OF THE INVENTION It is an object of the present invention to provide a hydraulic shovel working machine control device that includes a selection unit that selects an automatic avoiding unit and an operation stopping unit of a working machine and that can perform a smooth automatic avoiding operation.

[0004]

According to the present invention, there is provided a working machine mounted on an upper revolving body so as to be swingable in the front-rear direction, and the working machine is provided on the working machine so that the working machine can be offset to the front of the cab. In a hydraulic shovel having an offset unit, an automatic avoidance area set in front of the cab and an automatic avoidance mechanism that moves along a boundary surface of the automatic avoidance area when the work implement reaches the automatic avoidance area. The distance between the driver's cab and the boundary surface of the automatic avoidance area is set to be larger as the distance from the area where the work machine reaches after moving is increased. That is, in order to smoothly perform the automatic avoidance operation, the distance increases as the distance from the area reached after the avoidance increases. Thus, as the work machine is located at a position where it takes time to reach this area, the offset movement is started from a position farther from the cab, so that the operation becomes smoother and the time required for automatic avoidance can be reduced. Further, in the above case, the distance between the boundary surface of the automatic avoidance area and the cab is reduced as the distance from the base end of the work machine decreases. That is, more specifically, since it is desirable that the working machine fit within the vehicle width after avoiding the interference, the distance is shortened in this direction. Therefore, the operation of storing the work machine in the offset storage position can be performed smoothly and quickly. Further, the distance between the boundary surface of the automatic avoidance area and the cab is shortened as approaching the upper surface of the cab. Therefore, for example, in order to move the working machine while avoiding interference while working near the upper part of the cab, it is more efficient to escape to the safety area above the cab than to let the bucket of the working machine escape in the offset direction.

In the hydraulic excavator provided with the working machine control device of the present invention, the operation stopping means for stopping the operation of the working machine in a direction approaching the cab when the working machine reaches the automatic avoidance area is provided. Selecting means for selecting the automatic avoidance means and the operation stop means as control means for the work implement when the work implement reaches the automatic avoidance area. Therefore, when the work implement reaches the automatic avoidance area when the automatic avoidance means is selected, it is possible to automatically avoid interference with the cab without stopping the work implement. When the operation stop means is selected and the work implement reaches the automatic avoidance area, the operation of the work implement can be automatically stopped.

[0006]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a plan view of a hydraulic shovel provided with a working machine control device according to one embodiment of the present invention. In the figure, 1 is a lower traveling body of a hydraulic shovel, 2
Is an upper revolving structure connected to the upper part of the lower traveling structure 1, 11 is a cab equipped on the upper revolving structure 2 (including a case where the cab body is a cab, a canopy, and a simple driving unit); Is a working machine mounted on the front part of the upper swing body 10, 15 is a boom constituting the working machine 14, 16 is an arm, 18 is a bucket as a working tool, and 15a is a boom 1
5 is a rear boom, 15b is a front boom, 1
5c is an upper boom, 19 is a boom cylinder (the boom cylinder 19 is attached to the abdominal surface of the rear boom 15a and is shown by a broken line in the drawing), 20 is an arm cylinder, 22 is an offset cylinder, and 27 is a base end of the front boom 15b. An offset potentiometer, which is an offset state detecting means provided in the connecting portion, and a range indicated by a symbol K (a range shaded) is preset along the front side, the upper side, and the side side of the cab 11. The automatic avoidance area, N is the boundary surface of the automatic avoidance area K, and the dimension X is the neutral position (offset storage position) center line 0-0 'of the work implement 14.
Offset amount from the FIG. 2 is a side view of the excavator in FIG. In the drawing, reference numeral 21 denotes a bucket cylinder, 23 denotes a boom potentiometer provided at a base end connecting portion of the boom 15 as a boom posture detecting unit, 24 denotes an arm potentiometer which is an arm posture detecting unit provided at a base end connecting portion of the arm 16, and 25 denotes a boom potentiometer. The radius R of the controller mounted on the upper revolving unit 2 is the radius of curvature of the trajectory drawn by the toe P of the bucket 18 that rotates about the tip pin 26 of the arm (16).

FIG. 3 is a main part circuit diagram of the working machine control device according to the present embodiment. In the figure, 28 is a boom pilot switching valve which is a directional switching valve for controlling the boom cylinder 19, 29 is an arm pilot switching valve which is a directional switching valve for controlling the arm cylinder 20, and 30 is a directional switching valve for controlling the offset cylinder 22. An offset pilot switching valve, 31 is a boom hydraulic remote control valve, 32 is an arm hydraulic remote control valve, 34 is an offset hydraulic remote control valve, 35, 36, and 37 are electromagnetic proportional pressure reducing valves, respectively, 38
Is a main pump that discharges main pressure, 39 is a pilot hydraulic pressure source such as a pilot pump that derives a pilot primary pressure, 40 is a shuttle valve, 41 is an oil tank, and 42 is a selection switch. Symbols ii and ro indicate the tangents to the pilot pipeline. FIG. 4 is a block diagram illustrating the configuration of the work implement control device according to the present embodiment. FIG. 5 is a flowchart illustrating the operation of the work implement control device of the present embodiment.

Next, the configuration and operation of the working machine control device of the present embodiment will be described with reference to FIGS. In the hydraulic excavator of the present embodiment, the boom 15, the arm 16, the bucket 1
8 is offset in front of the operator's cab 11, is connected to the operator's cab 11 so as to be able to bend and rotate, and is connected to the operator's cab 11 on the front, upper, and side sides. An automatic avoidance area K is set along the area. Signals from a boom potentiometer 23 as a boom attitude detecting means, an offset potentiometer 27 as an offset state detecting means, and an arm potentiometer 24 as an arm attitude detecting means are input to a controller 25, as shown in FIG. The working machine 14
Boom hydraulic remote control valve 3 as boom raising operation means
An electromagnetic proportional pressure reducing valve 3 is connected to a communication line between the boom pilot switching valve 28 and the boom raising side pilot port 28a.
5, an electromagnetic proportional pressure reducing valve 36 is provided in a communication line between an arm hydraulic remote control valve 32 as an arm pulling operation means and an arm pulling side pilot port 29a of the arm pilot switching valve 29. Also, the pilot port 3 on the offset right operation side of the pilot switching valve 30 for offset.
A shuttle valve 40 is provided in a pipeline communicating with the pilot valve 0a, and a pilot secondary pressure derived from the offset hydraulic remote control valve 34 or a pilot derived from the disposed electromagnetic proportional pressure reducing valve 37 via the shuttle valve 40. The secondary pressure is selected to act on the offset right operation side pilot port 30a. The solenoids 35, 36a, 37 of the electromagnetic proportional pressure reducing valves 35, 36, 37 are used.
A command signal from the controller 25 can be output to a.

In the hydraulic excavator equipped with a circuit as described above, in the working machine control device of the present embodiment, the automatic avoidance area K set in front of the cab 11 as shown in FIG.
And automatic avoidance means (described later) for moving the work implement 14 along the boundary surface N of the automatic avoidance region K when the work implement 14 reaches the automatic avoidance region K. N and the distance between the cab 11
Is set farther from the area where the vehicle reaches after the movement (the safety area such as the front side or the upper side). That is, work machine 1
As shown in FIG. 1, in order to smoothly perform the automatic avoidance operation of the driver's cab 4, the distance L1 in front of the left side of the front of the driver's cab 11 far from the area of the safety area reached after avoidance is set to the distance S1 in the front right of the driver's cab 11 Set larger. As a result, as the work implement 14 is located at a position where it takes time to reach the previous period, the offset movement starts as indicated by an arrow C from a position farther from the cab 14, so that the operation becomes smoother and the time required for automatic avoidance is obtained. Can be shortened. Further, in the above case, the distance between the boundary surface N of the automatic avoidance area K and the cab 11 is shortened as approaching the base end of the work implement 14. That is, more specifically, after avoiding the interference, it is desirable that the work implement 14 fits within the vehicle width (the vehicle width having the dimension W shown in FIG. 1). Therefore, the distance is shortened in this direction. Therefore, the storing operation of the work machine 14 at the offset storing position (the storing position returning to the neutral position of the center line 0-0 ') can be performed smoothly and quickly.

When implementing the automatic avoidance means in the present embodiment, the selection switch 42 shown in FIG. 3 is selected to the avoidance operation side (on operation) and the work machine 14 is moved. When the work machine 14 reaches the boundary N of the automatic avoidance area K, the controller 25 outputs an avoidance command signal to the electromagnetic proportional pressure reducing valve 37. The pilot pressure derived from the electromagnetic proportional pressure reducing valve 37
5. Acts on the offset right operation side pilot port 30a of the offset pilot switching valve 30 through the shuttle valve 40 and the pipeline 46. Since the offset pilot switching valve 30 performs the switching operation and the offset cylinder 22 performs the contracting operation (drive for the offset right operation in the present embodiment), the arm 16 and the bucket 18 of the working machine 14 are used.
To the side where the driver's cab 11 is not disposed (to the right as indicated by the arrow C in FIG. 1). That is, interference can be automatically avoided without stopping the work machine 14.

In this embodiment, as shown in FIG. 2, the distance between the boundary N of the automatic avoidance area K and the cab 11 is
The distance between the upper surface of the driver's cab 11 and the boundary surface N between the upper surface of the driver's cab 11 and the upper surface of the driver's cab 11 is shorter than the dimension S2.
The distance between the front lower side of the cab 11 and the boundary surface N is the dimension L2, but S2 <L2). Therefore, for example, in order to move the work machine 14 while avoiding interference while working near the upper part of the cab 11, it is more efficient to escape to the safety area above the cab 11 than to let the bucket 18 of the work machine 14 escape in the offset direction. is good.

In the hydraulic shovel provided with the working machine control device of the present embodiment, when the working machine 14 reaches the automatic avoidance area K, the operation of the working machine 14 in the direction approaching the cab 11 is stopped. A work stop means (described later) for causing the work implement 14 to control the work implement 14 when the work implement 14 reaches the automatic avoidance area K, by the automatic avoidance means (described above) and the operation stop means. (Selection means for inputting the operation signal of the selection switch 42 shown in FIG. 3 to the controller 25)
Was provided. Here, when the operation stopping means is implemented, the selection switch 42 shown in FIG. 3 is operated to the operation stop side (in this embodiment, the selection switch 42 is turned off) to move the work implement 14. Boom potentiometer 2
3. Signals from the arm potentiometer 24 and the offset potentiometer 27 are input to the controller 25.
, The controller 25 outputs a stop command signal to the electromagnetic proportional pressure reducing valves 35 and 36, respectively. Since the electromagnetic proportional pressure reducing valves 35 and 36 operate, the boom raising side pilot port 28a of the boom pilot switching valve 28 is connected to the pipe 43 and the electromagnetic proportional pressure reducing valve 35.
The arm pull-side pilot port 29a of the arm pilot switching valve 29 communicates with the oil tank 41 through a pipeline 44 and an electromagnetic proportional pressure reducing valve 36. As a result, both the boom pilot switching valve 28 and the arm pilot switching valve 29 return to the neutral position, so that the operation of the work implement 14 can be automatically stopped. Therefore, the driver can judge the work situation, and can select whether to automatically avoid or stop the operation of preventing the work implement 14 from interfering with the cab 11 by selecting the selection switch 42. Above, very convenient.

[0013]

According to the hydraulic shovel provided with the working machine control device of the present invention, the working machine including the boom, the arm and the bucket can be offset in front of the cab and can be bent and turned toward the cab. And the automatic avoidance area is set along the front side, the upper side, and the side side of the cab, but in the work implement control device of the present invention, the boundary between the automatic avoidance area and the The distance from the room was set to be larger as the working machine was farther from the area reached after the movement. Thus, as the work machine is located at a position where it takes time to reach this area, the offset movement is started from a position farther from the cab, so that the operation becomes smoother and the time required for automatic avoidance can be reduced. Then, in the above case, it is desirable that the working machine fits within the vehicle width after avoiding the interference, so that the distance between the boundary surface of the automatic avoidance area and the cab is shorter as approaching the base end of the working machine. did.
Therefore, the operation of storing the work machine in the offset storage position can be performed smoothly and quickly. Further, the distance between the boundary surface of the automatic avoidance area and the cab is shortened as approaching the upper surface of the cab. Therefore, for example, in order to move the working machine while avoiding interference while working near the upper part of the cab, it is more efficient to escape to the safety area above the cab than to let the bucket of the working machine escape in the offset direction.
Further, since the work machine is provided with selection means for selecting the automatic avoidance means and the operation stop means, the control means for the work machine when the work machine reaches the automatic avoidance area, the driver determines the work situation, Since it is possible to select whether to automatically avoid or prevent the operation of the working machine from interfering with the operator's cab, it is very convenient for the operation of the hydraulic shovel.

[Brief description of the drawings]

FIG. 1 is a plan view of a hydraulic excavator provided with a working machine control device according to an embodiment of the present invention.

FIG. 2 is a side view of the excavator in FIG.

FIG. 3 is a main part circuit diagram of a work machine control device according to one embodiment of the present invention.

FIG. 4 is a block diagram illustrating the configuration of the work implement control device shown in FIG. 3;

FIG. 5 is a flowchart showing an operation of the work implement control device shown in FIG. 3;

FIG. 6 is an overall side view of a backhoe according to an embodiment of the prior art.

FIG. 7 is an overall plan view of the backhoe shown in FIG. 6;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Lower traveling body 2 Upper revolving superstructure 8,18 Bucket 9,16 Arm 10,15 Boom 11 Operator's cab 14 Work machine 19 Boom cylinder 20 Arm cylinder 21 Bucket cylinder 22 Offset cylinder 23 Boom potentiometer 24 Arm potentiometer 25 Controller 27 Offset potentiometer 42 Selection switch

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Masayuki Komiyama 3-12-4 Gion, Asa-minami-ku, Hiroshima-shi, Hiroshima Inside Aburaya Heavy Industries, Ltd.

Claims (4)

[Claims] 1. A hydraulic system comprising: a working machine attached to an upper revolving unit so as to be swingable in the front-rear direction; and offset means provided on the working machine and capable of performing an offset operation of the working machine in front of a cab. The shovel has an automatic avoidance area set in front of the operator's cab, and automatic avoidance means for moving along a boundary surface of the automatic avoidance area when the work implement reaches the automatic avoidance area, A work machine control device for a hydraulic shovel, wherein a distance between a boundary surface of the automatic avoidance area and the cab is set to be larger as the work machine is farther from an area reached after the movement. 2. The work implement control device for a hydraulic shovel according to claim 1, wherein a distance between a boundary surface of the automatic avoidance area and the operator cab is reduced as approaching a base end of the work implement. . 3. The work implement control device for a hydraulic shovel according to claim 1, wherein a distance between a boundary surface of the automatic avoidance area and the cab is shorter as approaching an upper surface of the cab. 4. An operation stopping means for stopping operation of the work machine in a direction approaching the cab when the work machine reaches the automatic avoidance area, wherein the work machine reaches the automatic avoidance area. 4. The work control device for a hydraulic shovel according to claim 1, further comprising a selection unit that selects the automatic avoidance unit and the operation stop unit as the control unit of the work machine when the operation is performed.