JPH1171780A - Interference prevention device of construction machinery - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an interference prevention device of construction machinery capable of being operated by an operator without feeling any sense of incompatibility as well as the damage in controllability of an operating machine and preventing the interference between the operating machine and an operator room. SOLUTION: This interference prevention device is equipped with a position detector including a boom angle detector 3a provided to a hydraulic shovel equipped with a main body 1 having an operator room 2 and an operating machine 12 of a plurality of joint movable sections and detecting a position of the operating machine 12, a lateral displacement detector 5a, an arm angle detector 6a and a bucket angle detector 7a, an interference prevention area α set around the operator room 12 to store, an operational device 15 for performing operations of a positional relation between the operating machine 12 and interference prevention area a based on a position signal of the position detector and a moving device for moving the operator room 12 in accordance with an operational result by the operational device 15. This moving device includes a rail 14 laid on the main body 1 and holding the operator room 12 in a movable manner and a hydraulic cyliner 13 having one end connected to the operator room 12 and having the other end connected to the main body 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction machine interference prevention device for preventing interference between a working machine and a cab when the working machine approaches a cab.

[0002]

2. Description of the Related Art A conventional interference preventing device for construction machines will be described below with reference to the drawings, taking a hydraulic shovel as an example. FIG. 5 is a side view of an offset hydraulic excavator capable of grooving, and FIG. 6 is a side view showing a state in which a working machine of the hydraulic excavator approaches a cab. In FIG. 5, 1 is a main body, 2 is a cab provided in the main body 1, 3 is a boom,
6 is an arm rotatably connected to the boom 3;
Is a bucket rotatably connected to the arm 6, 8
Is a boom cylinder for driving the boom 3, 9 is an offset cylinder mounted on the boom 3, 10 is an arm cylinder for driving the arm 6, and 11 is a bucket cylinder for driving the bucket 7. Each of the cylinders 8, 9, 10, and 11 is operated by an operation lever, which will be described later, disposed in the cab 2. When the driver appropriately operates these operation levers,
The supply amount of pressure oil supplied to each of the cylinders 8, 9, 10, and 11 is controlled based on an instruction signal corresponding to the operation amount.

The boom 3 includes a first boom 4 rotatably provided on the side of the cab 2 of the main body 1 and a second boom movably connected to the first boom 4 in a lateral direction. 5
And a connecting portion 4a connecting the first boom 4 and the second boom 5; and the offset cylinder 9.
By these connecting portion 4a and offset cylinder 9,
An offset mechanism that holds the second boom 5 movably in the lateral direction is configured. The boom 3 and the arm 6
The work implement 12 is constituted by the and the bucket 7.

Conventionally, in such a hydraulic shovel, various types of hydraulic shovel interference prevention devices for preventing interference between the working machine 12 and the cab 2 have been proposed. There is an invention described in Japanese Unexamined Patent Application Publication No. H10-209,878. The present invention relates to a hydraulic excavator,
A boom angle sensor for detecting a vertical swing angle of the boom 3 with respect to the arm, an arm angle sensor for detecting a swing angle of the arm 6 with respect to the boom 3, and a lateral displacement sensor for detecting a lateral displacement amount with respect to the main body 1, Based on the detection results of these sensors, the position of the bucket 7 with respect to the cab 2 is determined, and when it is determined that the bucket 7 has entered the interference prevention area with respect to the cab 2, the bucket 7 is prevented from entering. The boom cylinder, the arm cylinder, and the offset cylinder are automatically operated in the direction in which the bucket 7 and the cab 2 are prevented from interfering with each other.

[0005]

In the above-described conventional hydraulic shovel interference prevention device, when the bucket 7 enters a predetermined interference prevention region set around the cab 2, the bucket 7 is operated. Each of the cylinders 8, 9, and 10 automatically operates to retreat in the direction away from the chamber 2, and the first boom 4, regardless of the operation of the operator.
The arms 6 move forward, and the second boom 5 moves sideways. For this reason, there is a problem that the operation of the work machine 12 is interrupted and the operational feeling is impaired, and when returning to the desired posture, a complicated lever operation is required, resulting in poor operability.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances of the prior art, and has as its object to reduce the operability of a working machine without impairing the operability of the working machine and to allow the operator to feel uncomfortable with the operation of the working machine. An object of the present invention is to provide a construction machine interference prevention device capable of preventing interference with a cab.

[0007]

In order to achieve the above object, an apparatus for preventing interference of a construction machine according to claim 1 of the present invention is provided.
A position detecting means provided on a construction machine having a main body having a cab and a working machine including a plurality of articulated movable parts rotatably connected to the main body, and detecting a position of the working machine; Calculating means for storing an interference prevention area set around the operator's cab and calculating a positional relationship between the work implement and the interference prevention area based on a position signal detected by the position detecting means; A construction machine interference preventing device for preventing interference between the working machine and the cab based on the calculation result by the calculating means, wherein the interference between the working machine and the cab according to the calculation result by the calculating means. Moving means for moving the cab in a direction in which the cab is blocked.

According to the above arrangement, the calculating means calculates the position of the work machine based on the position signal from the position detecting means, calculates the positional relationship between the work machine and the interference prevention area, and the moving means calculates the result of the calculation. , The driver's cab can be moved in a direction that prevents interference with the working machine, for example, in a direction away from the working machine. For this reason, it is possible to prevent interference between the working machine and the cab without impairing the operability of the working machine and without causing the operator to feel uncomfortable with the operation of the working machine.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. The same parts as those of the conventional offset hydraulic excavator shown in FIGS. 5 and 6 are denoted by the same reference numerals, and the description thereof is partially omitted.

FIG. 1 is a diagram showing the configuration of an interference prevention device for a hydraulic shovel according to one embodiment of the present invention, and FIG. 2 is a block diagram showing details of an arithmetic unit provided in the embodiment shown in FIG. As shown in FIG. 1, in the interference prevention device according to the present embodiment, the main body 1 and the cab 2 are connected by a hydraulic cylinder 13. For example, the bottom side of a hydraulic cylinder 13 is fixed to the main body 1, and the rod side of the hydraulic cylinder 13 is fixed to the cab 2. 1
It moves, for example, in the front-rear direction on the rail 14 provided above. A work implement 12 formed by the boom 3 including the first boom 4 and the second boom 5, the arm 6, and the bucket 7 has position detecting means for detecting the position of the work implement 12, that is, a main body. Boom angle detection device 3a for detecting the vertical swing angle of the boom 3 with respect to the boom 3;
A lateral deviation detection device 5a for detecting a lateral deviation with respect to
An arm angle detector 6a for detecting the swing angle of the arm 6 with respect to the boom 3 and a bucket angle detector 7a for detecting the swing angle of the bucket 7 with respect to the arm 6 are provided. Then, relative angle signals θ1, θ2, θ3 between the respective members of the work machine 12 detected by the boom angle detection device 3a, the lateral displacement amount detection device 5a, the arm angle detection device 6a, and the bucket angle detection device 7a. θ4 is taken into the calculating means, that is, the calculating device 15.

As shown in FIG. 2, this arithmetic unit 15
A coordinate calculation unit 1 that calculates coordinates of a predetermined location of the work machine 12 based on the above-described relative angle signals θ1, θ2, θ3, θ4.
6, an interference prevention area storage unit 17 for storing an interference prevention area α to be described later, and a work machine 12 calculated by the coordinate calculation unit 16.
Is in the interference prevention area α, and outputs a predetermined control signal in accordance with the result.
And a drive control unit 19 that outputs a predetermined control signal to the hydraulic drive circuit 20 in accordance with the control signal from the comparison operation unit 18.
And

Returning to FIG. 1, the hydraulic drive circuit 20 comprises a main hydraulic pump 22, a pilot hydraulic pump 23, and a flow control valve 24 for controlling the flow of hydraulic oil supplied from the main hydraulic pump 22 to the hydraulic cylinder 13. And other illustrations of the working machine cylinder, the turning and traveling motors are omitted. The flow control valve 24 has a switching position (A) for supplying the hydraulic oil discharged from the main hydraulic pump 22 to the bottom side of the hydraulic cylinder 13, a switching position (C) for supplying the hydraulic oil to the rod side, and A switching position (B) for interrupting the supply of hydraulic oil to the hydraulic cylinder 13. The pilot hydraulic pump 23 and the pilot pressure receiving portions 24a and 24b of the flow control valve 24 are connected by pilot pipelines 25 and 26, respectively, and the flow rate is controlled by the pilot pressure acting on the pilot pressure receiving portions 24a and 24b. Valve 24 switches.

The pilot pipes 25 and 26 are provided with electromagnetic proportional valves 27 and 28, respectively. The solenoid proportional valve 27 operates in proportion to the current value of the control signal output from the arithmetic unit 15, and when the maximum level of current is input, is switched to the switching position (a) to fully open the pilot line 25, When the minimum level current is input, the switch is switched to the switching position (b) and the pilot line 25 is cut off.
When the current value of the control signal is between the maximum level and the minimum level, the switching position is set according to the current value, and the pilot pressure is reduced by squeezing the hydraulic oil in the pilot line 25. The operation of the electromagnetic proportional valve 28 is the same as that of the electromagnetic proportional valve 27, and a description thereof will be omitted.

FIG. 3 is a diagram showing an interference prevention area α set around the operator cab 2 of the hydraulic shovel according to the present embodiment. In FIG. 3, the interference prevention area α indicated by hatching is stored in the interference prevention area storage unit 17 described above. 3A shows a plane of the hydraulic shovel, and FIG. 3B shows a side surface of the hydraulic shovel.

The above-described rail 14, hydraulic cylinder 13,
The flow control valve 24, the main hydraulic pump 22, the pilot lines 25 and 26, the electromagnetic proportional valves 27 and 28, and the pilot hydraulic pump 23 interfere with the working machine 12 and the cab 2 according to the calculation result by the calculation device 15. Cab 2 in the direction to prevent
Moving means for moving.

Next, the operation of this embodiment will be described with reference to the flowcharts of FIGS. 1, 2, and 4. When there is no possibility that the operator's cab 2 and the bucket 7 will interfere with each other, the operator's cab 2 is fixed to, for example, the frontmost position, a minimum current flows through the electromagnetic proportional valves 27 and 28, and the switching positions are set to (B ) (D) position.

First, in step S1 of FIG.
The relative angle between the two is detected by a boom angle detection device 3a, a lateral displacement amount detection device 5a, an arm angle detection device 6a, and a bucket angle detection device 7a, and relative angle signals θ1, θ2, θ3, θ.
4 is input to the arithmetic unit 15. In step S2, the coordinate calculation unit 16 in the calculation device 15 shown in FIG. 2 calculates, for example, the tip coordinates of the bucket 7 based on the input relative angle signals θ1 to θ4. In step S3, the comparison operation unit 18 determines whether or not the tip coordinates of the bucket 7 calculated in step S2 are within the interference prevention area α stored in the interference prevention area storage unit 17, and according to the result, The drive control unit 19 outputs a predetermined control signal to the hydraulic drive circuit 20. That is, if it is determined in step S3 that the coordinates of the tip of the bucket 7 are within the interference prevention area α, the process proceeds to step S4 to perform a process of moving the cab 2 backward. In this case, the maximum current flows from the drive control unit 19 to the electromagnetic proportional valve 28, the switching position is switched to (C), and the pressure oil from the pilot pump 23 is supplied to the pilot pressure of the flow control valve 24 via the pilot line 26. It is supplied to the section 24b. Then, the flow control valve 24 is switched to the position (C), the hydraulic oil discharged from the main hydraulic pump 22 is supplied to the rod side of the hydraulic cylinder 13, and as the hydraulic cylinder 13 contracts, the cab 2 It moves backward on the rail 14.

On the other hand, if the coordinates of the tip of the bucket 7 are outside the interference prevention area α, the process proceeds from step S3 to step S5 in FIG. If it is determined that the cab 2 is not at the position for normal work (the foremost position), the process moves the cab 2 forward in step S6 and returns to the normal work position. In this case, the drive control unit 19
Then, the maximum current flows to the electromagnetic proportional valve 27 to switch the switching position to (A), and the minimum current flows to the electromagnetic proportional valve 28 to switch the switching position to (D). The pressure oil discharged from the pilot pump 23 is supplied to a pilot pressure receiving portion 24a via a pilot line 25. Flow control valve 2
4 is switched to the position (A), and the hydraulic oil discharged from the main hydraulic pump 22 is supplied to the bottom side of the hydraulic cylinder 13. For this reason, the hydraulic cylinder 13 extends, and accordingly, the cab 2 moves forward on the rail 14.

When the operator cab 2 returns to the normal (frontmost) position, the procedure shifts from step S5 to step S7 in FIG.
The cab 2 is fixed at the normal position. In this case, the drive control unit 19 supplies a minimum current to both the electromagnetic proportional valves 27 and 28 to fix the switching positions to (b) and (d), respectively. Then, the switching position of the flow control valve 24 is switched to the neutral (B) position, and the supply of hydraulic oil from the main hydraulic pump 22 to the hydraulic cylinder 13 is shut off. For this reason, the hydraulic cylinder 13 stops the expansion and contraction operation, and the cab 2 is fixed at the normal position.

After the processing operations of steps S4, S6 and S7, the process returns to step S1 and the operations of steps S1 to S7 are repeated.

In this embodiment constructed as described above, when the tip of the working machine 12, that is, the coordinate of the tip of the bucket 7 enters the interference prevention area α, the cab 2 is moved to the working machine 12
Since the work machine 12 is moved in a direction away from the operator, the work implement 12 does not operate differently from the intention of the operator, and the operability is not impaired. Therefore, interference between the working machine 12 and the cab 2 can be prevented without the operator feeling uncomfortable with the operation of the working machine 12.

In the present embodiment, the coordinates of the tip of the bucket 7 are detected by the relative angle signals θ1 to θ4 to detect the tip of the work machine 12, but the relative angle signal θ1 is detected without using the bucket angle detector 7a. Alternatively, the tip coordinates of the arm 6 may be obtained from? 3, and the tip of the working machine 12 may be derived from the tip coordinates of the arm 6.

In the present embodiment, when the operator's cab 2 is moved backward, it is determined whether the tip of the working machine 12 has entered the set interference prevention area α. Take in the lever operation information,
This may be added to the criterion.

In this case, even if the tip coordinate of the working machine 12 is within the interference prevention area α, if the working machine 12 is stopped or operated in the direction away from the cab 2, It may not be moved backward.

In the present embodiment, the electromagnetic proportional valve 27,
28 is switched between ON and OFF, but when the operation information of the operation lever described above is fetched and added to the judgment criterion, the electromagnetic proportional valves 27 and 28 are set in accordance with the moving speed of the working machine 12. The moving speed of the cab 2 may be controlled by adjusting the amount of current flowing.

In this embodiment, the cab 2 is moved in the front-back direction, but may be moved in the left-right direction.

[0027]

According to the hydraulic machine interference prevention device of the present invention, the cab is moved away from the work machine when the tip of the work machine enters the interference prevention area, thereby impairing the operability of the work machine. Therefore, it is possible to prevent interference between the working machine and the cab without the operator feeling uncomfortable with the operation of the working machine.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a configuration of an interference prevention device for a hydraulic shovel according to an embodiment of the present invention.

FIG. 2 is a block diagram showing details of an arithmetic unit provided in the embodiment shown in FIG. 1;

FIG. 3 is a diagram illustrating an interference prevention area provided around a cab of the hydraulic shovel according to the embodiment shown in FIG. 1;

FIG. 4 is a flowchart showing a cab moving process performed in the embodiment shown in FIG. 1;

FIG. 5 is a side view of a conventionally proposed offset hydraulic excavator.

FIG. 6 is a side view showing a state in which a working machine provided in the hydraulic shovel of FIG. 5 approaches a cab.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 2 Operator's cab 3a Boom angle detecting device (position detecting means) 5a Lateral displacement amount detecting device (position detecting means) 6a Arm angle detecting device (position detecting means) 7a Boom angle detecting device (position detecting means) 12 Work machine Reference Signs List 13 hydraulic cylinder (moving means) 14 rail (moving means) 15 arithmetic unit 22 main hydraulic pump 23 pilot hydraulic pump (moving means) 24 flow control means (moving means) 25 pilot pipeline (moving means) 26 pilot pipeline (moving) Means) 27 Electromagnetic proportional valve (moving means) 28 Electromagnetic proportional valve (moving means) α Interference prevention area

Claims (6)

[Claims] 1. A construction machine comprising: a main body having an operator's cab; and a working machine including a plurality of articulated movable parts rotatably connected to the main body. The construction machine detects a position of the working machine. An operation for storing a position detecting means and an interference prevention area set around the driver's cab, and calculating a positional relationship between the work implement and the interference prevention area based on a position signal detected by the position detecting means; Means for preventing construction equipment from interfering with the operator's cab on the basis of the calculation result by the calculation means. A device for preventing interference of a construction machine, comprising a moving means for moving the cab in a direction for preventing interference with the cab. 2. The operation unit moves the cab in a direction away from the work machine when it is determined by the calculation by the calculation means that the work machine has entered the interference prevention area. The apparatus for preventing interference of a construction machine according to claim 1, wherein the machine is retracted from the interference prevention area. 3. The moving means moves the cab in a direction of returning to the original position when it is determined by the calculation by the calculating means that the work implement has retreated from the interference prevention area. 3. The apparatus for preventing interference between construction machines according to claim 2, wherein 4. The apparatus for preventing interference of a construction machine according to claim 1, wherein a moving direction of the cab moved by the moving means is a front-rear direction with respect to the main body. 5. The apparatus for preventing interference of a construction machine according to claim 1, wherein a moving direction of the cab moved by the moving means is a left-right direction with respect to the main body. 6. The apparatus for preventing interference of a construction machine according to claim 1, wherein said moving means includes a cylinder.