US20090030580A1 - Excavator - Google Patents

Excavator Download PDF

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Publication number
US20090030580A1
US20090030580A1 US12/139,996 US13999608A US2009030580A1 US 20090030580 A1 US20090030580 A1 US 20090030580A1 US 13999608 A US13999608 A US 13999608A US 2009030580 A1 US2009030580 A1 US 2009030580A1
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US
United States
Prior art keywords
area
top pin
arm top
bucket
point
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US12/139,996
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English (en)
Inventor
Takayuki Doi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kobelco Construction Machinery Co Ltd
Original Assignee
Kobelco Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kobelco Construction Machinery Co Ltd filed Critical Kobelco Construction Machinery Co Ltd
Assigned to KOBELCO CONSTRUCTION MACHINERY CO., LTD., reassignment KOBELCO CONSTRUCTION MACHINERY CO., LTD., ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: DOI, TAKAYUKI
Publication of US20090030580A1 publication Critical patent/US20090030580A1/en
Abandoned legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin

Definitions

  • the present invention relates to an excavator provided with a function of preventing contact between a bucket and a cabin.
  • FIGS. 5 to 7 A description will particularly be given taking an offset type hydraulic excavator in which contact between a cabin and a working attachment is easily generated as an example ( FIGS. 5 to 7 ).
  • a working attachment 3 is installed in a front section of an upper rotating body 2 mounted on a crawler type lower traveling body 1 .
  • the working attachment 3 is provided with a boom 5 to be raised and lowered taking a boom foot pin 4 as a center, an arm 7 attached to a front end of the boom 5 pivotally around a boom top pin 6 in the up and down direction, and a bucket 9 attached to a front end of the arm 7 pivotally around an arm top pin 8 in the up and down direction.
  • the boom 5 is formed by a rear boom 5 a and a front boom (also called an offset boom) 5 b .
  • a front boom also called an offset boom
  • the arm 7 and the bucket 9 are horizontally moved in the left and right direction (offset) so that an excavating work for ditch or the like is performed.
  • FIG. 6 shows a state that an offset action is performed to the left side, and the symbol ⁇ is an offset angle thereof.
  • the reference numeral 10 denotes a boom raising and lowering cylinder for raising and lowering the boom 5
  • the reference numeral 11 denotes an arm cylinder for turning the arm 7 in the up and down direction
  • the reference numeral 12 denotes a bucket cylinder for turning the bucket 9 in the up and down direction
  • the reference numeral 13 denotes an offset cylinder for turning the front boom 5 a in the left and right direction.
  • a cabin 14 is installed on one of the left and right sides in a front section thereof (generally on the left side in the front section as shown in the figure, hereinafter a description will be given with the above configuration). Various operations are performed within the cabin 14 .
  • a dozer 15 (not shown in FIG. 6 ) provided in a front section of the lower traveling body 1 , a ground leveling work and a dustpan work with using the bucket 9 are performed.
  • a contact area A serving as an area where the contact between the bucket 9 and the cabin 14 may be generated when the arm top pin 8 intrudes is set in front of the cabin 14 .
  • attachment actions generally actions of boom raising, arm pulling and left offset
  • the contact area A is set in the vicinity of the cabin 14 shown by a double chain line in FIG. 7 in a general attachment with the bucket 9 having standard size and being directly attached to the front end of the arm.
  • a distance from the arm top pin 8 to a tooth top of the bucket is longer than the standard attachment.
  • a special contact area B which is broader than the standard contact area A towards the front side shown by a broken line in FIG. 7 is set, and when the arm top pin 8 intrudes the above area B, the attachment actions are stopped.
  • a front limitation position of the bucket in a state that the bucket 9 is grounded (a position where the bucket is stopped by a contact prevention function) is displaced towards the front side. Therefore, there is a problem that a work of excavating, soil scooping and the like near a front end of the lower traveling body 1 (hereinafter, referred to as the near-by work) is limited.
  • the symbol B in FIG. 7 denotes a distance from the tooth top of the bucket to a front surface of the dozer.
  • An excavator comprises a lower traveling body, an upper rotating body mounted on the lower traveling body and provided with a cabin, and a working attachment installed in a front section of the upper rotating body as a basic configuration.
  • the above working attachment is provided with a boom to be raised and lowered, an arm attached to a front end of the boom pivotally around a boom top pin, and a bucket attached to a front end of the arm pivotally around an arm top pin.
  • the excavator according to the present invention is provided with position detecting means for detecting a position of the arm top pin, and control means for executing a contact prevention function of limiting actions of the working attachment when the arm top pin intrudes a contact area preliminarily set in front of the cabin.
  • control means is to set, in a corner part formed by an area front surface serving as a front limitation of the contact area and an area lower surface serving as a lower limit of the contact area, an exception area of a right triangle seen from the side taking the area front surface as a vertical side and the area lower surface as the base under the following condition, and to cancel the contact prevention function when the arm top pin is within the exception area.
  • an x-coordinate position where the arm top pin is stopped by the contact prevention function at the time of grounding and horizontally moving the bucket to the rear side is made as a first point
  • an y-coordinate position determined by adding a maximum value for an increasing amount of a distance from a land surface to be grounded to the arm top pin in accordance with bucket size or the like to an y-coordinate position at the time of stopping the arm top pin at the first point is made as a second point
  • an x-coordinate position determined by adding a distance from a tooth top of the bucket to a target point set behind the first point to an x-coordinate position at the time of stopping the arm top pin at the first point is made as a third point
  • a right triangle area connecting the points mentioned above is made as an exception area.
  • the exception area of the right triangle seen from the side taking the area front surface as the vertical side and the area lower surface as the base is set under a fixed condition, and the contact prevention function is cancelled when the arm top pin is within the above exception area. Therefore, it is possible to displace a front limitation position of the arm top pin in a state that the bucket is grounded to the rear side (the machine side).
  • the bucket can be brought in the vicinity of the lower traveling body (the bucket reaches a dozer in claim 3 ), it is possible to sufficiently ensure the near-by work described above (including a dustpan work in the case of the excavator).
  • the dozer is provided in a front section of the lower traveling body, and taking a front surface of the dozer as a target point, an x-coordinate position determined by adding a distance from the tooth top of the bucket to the dozer to the x-coordinate position at the time of stopping the arm top pin at the first point is made as the third point so as to set the exception area, it is possible for the bucket to reach the dozer.
  • the exception area is set to the corner part on the front and lower side of the contact area which is the most distant position from the cabin and an area where a working tool is grounded. Therefore, the contact between the bucket and the cabin is highly unlikely generated.
  • the exception area is set as the right triangle seen from the side. Therefore, in comparison to the case where the exception area is set as square, possibility of the contact is further reduced while ensuring the near-by work.
  • the actions of the working attachment are preferably decelerated. In such a case, when the arm top pin is in the exception area, the actions of the working attachment are decelerated. Therefore, when the contact between the working tool and the cabin seems to be generated by any chance, the actions are stopped without delay so as to avoid the contact.
  • an alarm is preferably operated. In such a case, since an operator is notified that the arm top pin is in the exception area by an alert so as to take measures, it is possible to enhance safety.
  • FIG. 1 is a side view schematically showing an excavator according to an embodiment of the present invention and a contact area thereof;
  • FIG. 2 is an enlarged view showing an exception area in FIG. 1 ;
  • FIG. 3 is a block diagram of control means
  • FIG. 4 is a flowchart for explaining an effect
  • FIG. 5 is a side view showing a schematic configuration of a hydraulic excavator
  • FIG. 6 is a plan view showing the schematic configuration of the hydraulic excavator.
  • FIG. 7 is a side view schematically showing a contact area in a hydraulic excavator of THE RELATED ART.
  • FIGS. 1 to 4 A description will be given to an embodiment of the present invention with reference to FIGS. 1 to 4 , and FIGS. 5 and 7 showing schematic configurations of hydraulic excavators accordingly.
  • an offset type excavator into which a special attachment is installed is taken as an example to which the present invention is applied.
  • FIG. 1 schematically shows an excavator according to the embodiment and a contact area thereof.
  • a special contact area (hereinafter, simply referred to as the contact area) B is set in front of the cabin.
  • a function of preventing the contact in the above contact area B is executed so that attachment actions are limited. Specifically, actions of boom raising, arm pulling and left offset of the attachment are stopped as mentioned above.
  • an exception area C of a right triangle seen from the side taking the area front surface B 1 as a vertical side and the area lower surface B 2 as the base is set over the entire width of the contact area B.
  • a first point P 1 serving as a front limitation and a lower limit of the area C is an x-coordinate position (position in the front and back direction) where the arm top pin 8 is stopped by the contact prevention function at the time of grounding and horizontally drawing (horizontally moving to the rear side) the bucket 9 in the case where there is not the exception area C.
  • a third point P 3 is an x-coordinate position determined by adding a distance W from a tooth top of the bucket to a target point set behind the first point P 1 (a front surface of a dozer 15 in the present embodiment) to an x-coordinate position at the time of stopping the arm top pin 8 at the first point P 1 .
  • the distance W is the same as a distance ⁇ from the tooth top of the bucket to the front surface of the dozer 15 shown in FIG. 7 .
  • the third point P 3 is set so as to make the above distance ⁇ zero.
  • the target point for determining the third point P 3 is set as an arbitrary point behind the first point P 1 , and may be set slightly ahead of the front surface of the dozer, or behind a position of the dozer (in front of a front end of the lower traveling body) in the case where there is not the dozer 15 .
  • a right triangle area connecting the above first to third points P 1 , P 2 and P 3 is the exception area C.
  • a straight line L is calculated from coordinates of both the second and third points P 2 and P 3 , a current position of the arm top pin 8 is detected, and it is determined whether the position is above (within the contact area B and outside the exception area C) or below (within the exception area C) the straight line L. Only in the case where the position is below the straight line L, the attachment actions are permitted.
  • the control means is formed by a controller 16 for outputting arithmetic and command signals, boom angle, arm angle and offset angle sensors 17 , 18 and 19 serving as position detecting means for detecting the position of the arm top pin 8 , a cancel switch 20 for cancelling the contact prevention function by an operation of an operator, stop proportional valves 21 , 22 and 23 for stopping or decelerating the actions of boom raising, arm puling and left offset on the basis of the command signals from the controller 16 , and an alarm (such as a buzzer and an indicator) 24 for giving an alert to and notifying the operator when the arm top pin 8 is within the exception area C set by the control means.
  • a controller 16 for outputting arithmetic and command signals
  • boom angle, arm angle and offset angle sensors 17 , 18 and 19 serving as position detecting means for detecting the position of the arm top pin 8
  • a cancel switch 20 for cancelling the contact prevention function by an operation of an operator
  • stop proportional valves 21 , 22 and 23 for stopping or decelerating the
  • the position of the arm top pin 8 (both the x-coordinate and y-coordinate positions) is calculated from detected values detected by the angle sensors 17 to 19 (Step S 1 ). It is determined whether or not the calculated position of the arm top pin is within the contact area B (Step S 2 ).
  • Step S 3 it is determined whether or not the x-coordinate position of the arm top pin 8 is between the first and third points P 1 and P 3 of FIG. 2 in Step S 3 .
  • NO that is, in the case where the x-coordinate position is outside the exception area C and within the contact area B, stop signals are outputted to the boom raising, arm pulling and left offset stop proportional valves 21 to 23 as the original contact prevention function so that the actions are stopped (Step S 4 ).
  • Step S 3 it is determined that the x-coordinate position of the arm top pin 8 is between the points P 1 and P 3 (within the exception area C). Therefore, in Step S 5 , the x-coordinate position of the arm top pin 8 is substituted in a preliminarily determined line equation so as to calculate an y-coordinate point on the straight line L corresponding to the x-coordinate position of the arm top pin 8 .
  • Step S 6 it is determined whether or not the y-coordinate position of the arm top pin 8 is larger than (above) the calculated y-coordinate point on the straight line L. In the case of NO (the y-coordinate position is below the straight line L, that is, within the exception area C), it is determined that the attachment actions should be permitted. Therefore, in Step S 7 , the command signals for permitting the actions of boom raising, arm pulling and left offset are outputted to the proportional valves 21 to 23 .
  • command signals for decelerating the actions are outputted in the embodiment.
  • Step S 8 an action command signal to the alarm 24 is outputted so that the alert is given to the operator, and then the flow returns to Step S 1 .
  • Step S 6 the attachment actions are stopped in Step S 4 .
  • Step S 2 the flow returns to Step S 1 .
  • the grounded bucket 9 can be brought in the vicinity of the lower traveling body 1 and the tooth top of the bucket can reach the dozer 15 in the present embodiment, it is possible to sufficiently ensure the near-by work described above including a dustpan work.
  • the exception area C is set so as to obtain such a situation.
  • the exception area C is set to the corner part on the front and lower side of the contact area B where the bucket 9 is grounded at the most distant position from the cabin 14 . Therefore, the contact between the bucket 9 and the cabin 14 is highly unlikely generated.
  • the exception area is set as the right triangle seen from the side. Therefore, in comparison to the case where the exception area is set as square, the possibility of the contact is further reduced while ensuring the near-by work.
  • the present invention is generally applied to the offset type excavator exemplified in the embodiment.
  • the contact with the cabin 14 may be generated in the case where a wide special attachment is installed in the bucket 9 . Therefore, it is also possible to apply the present invention to such an excavator.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)
US12/139,996 2007-07-24 2008-06-16 Excavator Abandoned US20090030580A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-192187 2007-07-24
JP2007192187A JP2009030235A (ja) 2007-07-24 2007-07-24 ショベル

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US20090030580A1 true US20090030580A1 (en) 2009-01-29

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US12/139,996 Abandoned US20090030580A1 (en) 2007-07-24 2008-06-16 Excavator

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US (1) US20090030580A1 (ja)
EP (1) EP2019170A2 (ja)
JP (1) JP2009030235A (ja)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7852229B1 (en) * 2008-09-15 2010-12-14 Gohl Russell R Excavation equipment alarm system
WO2012109309A3 (en) * 2011-02-09 2012-11-08 Neograft Technologies, Inc. System and mandrel for creating graft devices
US20150081164A1 (en) * 2012-02-08 2015-03-19 Sany Industry Town, Economic and Technological Development Zone Boom system, engineering machinery, and a method for acquiring boom system distal end position parameter
JP2015229837A (ja) * 2014-06-03 2015-12-21 日立建機株式会社 油圧ショベル
US10149750B2 (en) 2009-12-31 2018-12-11 Neograft Technologies, Inc. Graft devices and methods of fabrication
US10239071B2 (en) 2010-07-19 2019-03-26 Neograft Technologies, Inc. Graft devices and methods of use
US20190376260A1 (en) * 2018-06-11 2019-12-12 Deere & Company Work machine self protection system
US20200354920A1 (en) * 2018-01-23 2020-11-12 Kubota Corporation Control method of working machine, program, and storage medium thereof
US11939748B2 (en) 2021-03-29 2024-03-26 Joy Global Surface Mining Inc Virtual track model for a mining machine

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6067412B2 (ja) * 2013-02-26 2017-01-25 住友建機株式会社 建設機械の干渉防止装置
WO2017170243A1 (ja) 2016-03-30 2017-10-05 住友建機株式会社 作業機械
JP6539630B2 (ja) * 2016-09-30 2019-07-03 株式会社日立建機ティエラ 超小旋回型油圧ショベル

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2739358B2 (ja) 1989-11-10 1998-04-15 油谷重工株式会社 作業機干渉回避装置

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7852229B1 (en) * 2008-09-15 2010-12-14 Gohl Russell R Excavation equipment alarm system
US10149750B2 (en) 2009-12-31 2018-12-11 Neograft Technologies, Inc. Graft devices and methods of fabrication
US10239071B2 (en) 2010-07-19 2019-03-26 Neograft Technologies, Inc. Graft devices and methods of use
US10695162B2 (en) 2011-02-09 2020-06-30 Xeltis Ag System and mandrel for creating graft devices
US9867690B2 (en) 2011-02-09 2018-01-16 Neograft Technologies, Inc. System and mandrel for creating graft devices
WO2012109309A3 (en) * 2011-02-09 2012-11-08 Neograft Technologies, Inc. System and mandrel for creating graft devices
US9187916B2 (en) * 2012-02-08 2015-11-17 Hunan Sany Intelligent Control Equipment Co., Ltd Boom system, engineering machinery, and a method for acquiring boom system distal end position parameter
US20150081164A1 (en) * 2012-02-08 2015-03-19 Sany Industry Town, Economic and Technological Development Zone Boom system, engineering machinery, and a method for acquiring boom system distal end position parameter
JP2015229837A (ja) * 2014-06-03 2015-12-21 日立建機株式会社 油圧ショベル
US20200354920A1 (en) * 2018-01-23 2020-11-12 Kubota Corporation Control method of working machine, program, and storage medium thereof
US20190376260A1 (en) * 2018-06-11 2019-12-12 Deere & Company Work machine self protection system
US10801180B2 (en) * 2018-06-11 2020-10-13 Deere & Company Work machine self protection system
US11939748B2 (en) 2021-03-29 2024-03-26 Joy Global Surface Mining Inc Virtual track model for a mining machine

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Publication number Publication date
EP2019170A2 (en) 2009-01-28
JP2009030235A (ja) 2009-02-12

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Date Code Title Description
AS Assignment

Owner name: KOBELCO CONSTRUCTION MACHINERY CO., LTD.,, JAPAN

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:DOI, TAKAYUKI;REEL/FRAME:021130/0843

Effective date: 20080401

STCB Information on status: application discontinuation

Free format text: EXPRESSLY ABANDONED -- DURING EXAMINATION