WO2006008851A1 - Machine d’exploitation - Google Patents

Machine d’exploitation Download PDF

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Publication number
WO2006008851A1
WO2006008851A1 PCT/JP2005/003350 JP2005003350W WO2006008851A1 WO 2006008851 A1 WO2006008851 A1 WO 2006008851A1 JP 2005003350 W JP2005003350 W JP 2005003350W WO 2006008851 A1 WO2006008851 A1 WO 2006008851A1
Authority
WO
WIPO (PCT)
Prior art keywords
working
work
interference
predetermined control
stop position
Prior art date
Application number
PCT/JP2005/003350
Other languages
English (en)
Japanese (ja)
Inventor
Atsushi Odajima
Madoka Tasaka
Hirotaka Iida
Original Assignee
Shin Caterpillar Mitsubishi 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 Shin Caterpillar Mitsubishi Ltd. filed Critical Shin Caterpillar Mitsubishi Ltd.
Publication of WO2006008851A1 publication Critical patent/WO2006008851A1/fr

Links

Classifications

    • 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
    • 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
    • E02F9/24—Safety devices, e.g. for preventing overload

Definitions

  • the present invention relates to a work machine that controls an operation of the work device to prevent interference between the machine main body and the work device when the work device moves to a predetermined interference area.
  • this hydraulic shovel has a V, so-called power offset boom (POB) specification, in which the boom can be offset-moved to improve the digging operation efficiency.
  • POB power offset boom
  • small hydraulic excavators of this type can often be equipped with, for example, a hydraulic brake or a working unit such as a suspension machine, that is, an attachment, instead of a packet, in order to particularly improve productivity.
  • a hydraulic brake or a working unit such as a suspension machine
  • an attachment instead of a packet
  • hydraulic brakes of the POB specification are equipped with an interference prevention device because the packet may interfere with the vehicle body, particularly the cab, when offset movement is performed due to its mechanism.
  • this interference prevention device carries out arithmetic processing of output values of angle sensors provided near boom pins, arm pins, and offset boom pins, etc., and a packet is located in a predetermined control area. If it detects a problem, it automatically stops or automatically avoids the work device, and in some cases, it has an alarm or a mechanism that reduces the moving speed of the work device.
  • this interference prevention device calculates the position of the packet based on the dimensions of the preset boom, arm, bucket, or hydraulic cylinder that drives them, the size of the packet is larger than that of the packet.
  • the working device is stopped in the same control area as when the packet is attached. If this is done, there is a risk that the hydraulic breaker, etc. may get closer to the machine body than the interference prevention area.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 9-111798 (page 3-6, FIG. 1)
  • Patent Document 2 Japanese Patent Application Laid-Open No. 2000-160602 (Page 3-4, FIG. 1)
  • the stop position of the work device is not switched according to the attachment. Has the problem that it may interfere with the machine body.
  • the present invention has been made in view of these points, and it is an object of the present invention to provide a working machine capable of preventing interference between a working device and a machine main body.
  • the invention according to claim 1 is set corresponding to a machine body and a working device which is operatively provided on the machine body and on which a plurality of working units are selectively mounted, and a working unit.
  • An interference prevention device that controls the operation of the work device to prevent interference between the machine body and the work device when the work device moves to a predetermined control area, and the predetermined control area is selectively switched by an external operation.
  • a working machine comprising a switching device capable of setting a predetermined control area to a non-minimum value in the event of a failure, and an interference prevention device controls the working device to prevent interference with the main body of the machine.
  • the invention according to claim 2 is the work machine according to claim 1, wherein the interference prevention device is capable of correcting each predetermined control area by an external input, and the predetermined control area is an external input. By making correction possible, it becomes possible to cope with various working units attached to the working device.
  • the invention described in claim 3 is the work machine according to claim 1 or 2, wherein the interference prevention device is produced when the work device moves to a predetermined non-interference area set according to the work unit.
  • the interference prevention device does not operate, and control of interference prevention of the work device becomes more complicated than necessary. In addition to preventing it, free operation of the working device becomes possible, and workability improves.
  • the invention according to claim 4 relates to the work machine according to any one of claims 1 to 3, wherein the switching device is a mechanical switch having at least three poles, to a maximum predetermined control area.
  • the open state corresponds to the setting
  • the short circuit state corresponds to the setting to the second largest predetermined control area
  • the other state corresponds to the setting to the other predetermined control area.
  • Corresponds to the setting to the predetermined control area where the open state is the largest due to the disconnection which is generally the most frequent as the failure, and the second most frequent short circuit as the fault corresponds to the setting to the second largest predetermined control area.
  • the interference prevention device controls the work device to selectively switch the predetermined control area where interference with the machine main body is prevented by externally operating the switching device.
  • the interference prevention device when the working device moves to a predetermined non-interference area set in advance, the interference prevention device does not operate, and it is not necessary to control the interference prevention of the working device. While being able to prevent the complexity, it is possible to freely operate the working device and to improve the workability.
  • the open state due to the disconnection which is generally the most frequent failure, corresponds to the setting to the predetermined control region having the largest, and the second most frequent short-circuit condition is the failure.
  • the second most frequent short-circuit condition is the failure.
  • FIG. 1 is a block diagram showing an embodiment of a working machine according to the present invention.
  • FIG. 2 A side view showing the working machine.
  • FIG. 3 A plan view showing the working machine.
  • Control unit having an interference prevention device as a function
  • FIG. 2 shows a hydraulic shovel as a working machine, and the hydraulic shovel is provided with a working device 2 in the machine main body 1 in an operable manner.
  • the upper swing body 5 is rotatably provided on the lower traveling body 3 via the swing portion 4, and the upper swing body 5 has a cavity 6 covering the driver's seat.
  • the tank storage unit 7 containing a fuel tank or hydraulic oil tank is installed on the right side which is the other side, and an engine (not shown) and a pump driven by this engine, etc.
  • the power unit storage unit 8 that houses the power unit of the vehicle is installed at the rear
  • the work device 2 has an offset boom 12 pivotally supported on the upper swing body 5 of the machine main body 1 via a boom pin 11 so as to be rotatable in the vertical direction, and a boom pin 13 at the tip of the offset boom 12.
  • An arm 14 pivotally supported in the vertical direction via the arm 14 and a packet 16 as a working unit pivotally supported at the end of the arm 14 via a packet pin 15 rotatably. There is.
  • the offset boom 12 is pivoted up and down by a boom cylinder 17 which is a hydraulic cylinder provided as a fluid pressure actuator provided between the upper revolving superstructure 5 and the arm 14 and the offset boom 12.
  • a boom cylinder 17 which is a hydraulic cylinder provided as a fluid pressure actuator provided between the upper revolving superstructure 5 and the arm 14 and the offset boom 12.
  • the arm cylinder 18 which is a hydraulic cylinder as a fluid pressure actuator
  • the packet 16 is provided as a fluid pressure actuator provided between the arm 14 and the link cage 19. It is rotated by a bucket cylinder 21 which is a hydraulic cylinder of
  • the packet 16 is attachable to and detachable from the tip of the arm 14, and the tip of the arm 14 is, for example, a hydraulic brake as an attachment as a working unit as shown in FIG. 4 (a).
  • the force 22 may be attached directly to the linkage 19 or, as shown in FIG. 4 (b), to the linkage 19 via a quick connect device or quick force bra 23 as a connecting member. That is, at the tip of the arm 14, forces such as the packet 16, the hydraulic breaker 22, or the quick coupler 23 and the hydraulic breaker 22 are selectively attached.
  • the offset boom 12 is a boom having a structure in which the distal end can be bent in parallel to the proximal end pivotally supported by the upper swing body 5 of the machine main body 1, as shown in FIG.
  • the base end of the first boom member 25 is pivotally supported by the upper swing body 5 so as to be vertically pivotable by the boom pin 11, and the tip end of the first boom member 25 is The first offset boom pin 27 so that one end of the second boom member 26 can freely turn in the lateral direction.
  • the third boom member 28 is pivotally supported via the second offset boom pin 29 so that the third boom member 28 can freely turn in the lateral direction with respect to the other end of the second boom member 26.
  • each of the first boom member 25 and the third boom member 28 is axially connected by the offset bar 33 between the protruding brackets 31 and 32, and the second boom member 26 and the brackets 31 and 32 are provided. And an offset bar 33 to form a parallelogram.
  • an offset cylinder 37 which is a hydraulic cylinder as a fluid pressure actuator provided between brackets 35 and 36 provided to project side brackets of the first boom member 25 and the second boom member 26 is provided.
  • the third boom member 28 can be moved parallel to the first boom member 25 by rotating the second boom member 26 relative to the first boom member 25.
  • the packet 16, the hydraulic breaker 22, or the quick coupler The arm 23 and the hydraulic breaker 22 etc. can be moved in parallel in the vehicle width direction, ie, offset.
  • the interference prevention area 38 which may interfere is set from the cavity 6 side to the tank storage 7 side, and the first boom member 25 and the second boom member 26 of the offset boom 12, and
  • the position of the packet pin 15 is automatically tracked by angle sensors 41, 42, 43 such as potentiometers which detect the rotation angles of the arms 14, whereby the packet position or the hydraulic breaker position is automatically tracked.
  • the angle sensors 41, 42, 43 are provided, for example, on the boom pin 11, the arm pin 13, and the first offset boom pin 27, respectively.
  • the packet 16, the hydraulic breaker 22, or the quick force bra 23, the hydraulic breaker 22 and the like are different in width dimension, protrusion amount, etc. in a state of being attached to the tip of the working device 2 .
  • the predetermined control that is the position to stop the packet pin The stop position 45 as the area is set.
  • the stop position 45 is the stop position 45a corresponding to the packet 16, the stop position 45b corresponding to the hydraulic breaker 22, and the stop position 45c corresponding to the quick coupler 23 and the hydraulic breaker 22.
  • the stop position 45c is the largest as an area
  • the stop position 45a is the smallest as an area.
  • FIG. 1 shows a control device of the working machine.
  • reference numeral 51 denotes a control unit having an operation control device and an interference prevention device as functions
  • the control unit 51 AZD converts the output from each of the angle sensors 41, 42, 43, and this control unit 51
  • a control circuit 53 to which the output converted by the AZD conversion is input, and a DZA conversion 54 for DZA conversion of the output from the control circuit 53 are provided.
  • control circuit 53 setting switching device 55 for setting and switching the stop position of work device 2 and power supply 56 for supplying power to control circuit 53 are electrically connected.
  • DZA variation ⁇ ⁇ 54 is connected to the secondary side of the pilot valve operated by the control lever not shown, ie, a plurality of solenoid valves 57 installed between the pilot valve and the control valve not shown. .
  • the control circuit 53 controls the opening degree of each solenoid valve 57 in accordance with the operation of the control lever by the operator to control the pilot secondary pressure signal supplied to each cylinder 17, 18, 21, 37.
  • the working device 2 is constantly monitored by monitoring the position of the packet pin 15 according to the function of the motion control device that controls the motion of the working device 2 and the rotation angle output from the angle sensors 41, 42, 43. Monitoring the position of the various working parts of the machine, the force that the working device 2 approaches to the stop position 45 gradually decelerates the work device 2 and stops or automatically avoids interference when moving to the stop position 45 And the function of the prevention device.
  • control circuit 53 is provided with a not-shown V ⁇ ⁇ EEPROM or the like as a storage unit which can be rewritten by an external signal! /.
  • the setting switching device 55 has a monitor 61 having the setting device as a function, and a switching switch 62 as a switching device which can be retrofitted to the driver's seat.
  • the monitor 61 integrally has a display unit 63 and an operation panel 64 as a setting unit, and is disposed in advance in the driver's seat in the cavity 6.
  • the display unit 63 displays the distance between the packet 16 and the machine main body 1, whether the function of the interference prevention device is in operation, or an error.
  • Operation panel 64 corresponds to dimensions of the cutting edge radius or width of various working parts such as packet 16, hydraulic breaker 22, or quick coupler 23 and hydraulic breaker 22 for each working part.
  • the control circuit 53 corrects or tunes a predetermined value preset in the EEPROM according to a predetermined arithmetic expression according to the inputted correction value.
  • the stop position 45 shown in FIG. 3 and the non-interference area 65 shown in FIG. 2 are set according to the dimensions of various working parts.
  • the non-interference area 65 is, for example, an area which is lower than the predetermined position by a predetermined amount with respect to the ground surface G and in which the working device 2 is not likely to interfere with the machine main body 1.
  • a non-interference area 65a corresponding to the packet 16 and a non-interference area 65b corresponding to both the hydraulic breaker 22, the quick coupler 23 and the hydraulic breaker 22 are set.
  • the operation panel 64 has a function of setting on / off of the function of the interference prevention device in the control circuit 53.
  • the changeover switch 62 is a rotary switch or the like having three poles respectively corresponding to the attachment states of various working units, and is disposed, for example, on the console of the driver's seat or the like. Then, the switching switch 62 selectively switches the stop position 45 by an external operation such as an operator. By reading the resistance value at each position to which the switching switch 62 is connected, the switching switch can be switched. The control circuit 53 determines the state of 62 respectively.
  • the a position of the changeover switch 62 is connected to the ground via a resistor R having a predetermined resistance value, the b position of the changeover switch 62 is shorted or shorted to the earth, and the c position of the changeover switch 62 is It is open.
  • the position a of the switching switch 62 corresponds to the stop position 45 a corresponding to the packet 16, and the position b of the switching switch 62 is a hydraulic breaker whose dimensions are previously divided.
  • the position c of the changeover switch 62 is the sum of the average value of the dimensions of the various quick couplers 23 and the average value of the dimensions of the various hydraulic breakers 22 or It corresponds to the stop position 45c corresponding to the dimensions of the largest work part that can be mounted.
  • the switching switch 62 is switched to a position where the stop position 45 is switched to the packet 16 closest to the machine main body 1 as a position to which the resistor R is connected, and switched to a working unit where the stop position 45 is farther than the packet 16
  • the position of the changeover switch 62 is set to a position shorted to the ground or a position open to the ground, respectively.
  • the switching switch 62 becomes equivalent to the state switched to the b position, and the wiring connected to the switching switch 62 is shown, for example, in FIG. In the case of disconnection at the position, the B position, or the C position, it is equivalent to the state where the switching switch 62 is switched to the c position.
  • the switching switch 62 is switched according to the working unit attached to the tip of the arm 14, and the cutting edge radius, width dimension, etc. of the attached working unit are input with an operation panel 64 force and preset in the EEPROM. Tune the set value.
  • the control circuit 53 monitors the position of the working unit by the angle sensors 41, 42, 43, and the boom angle is adjusted according to the switching position of the changeover switch 62.
  • the limit angle of the arm 14 is calculated by a predetermined calculation formula based on the tuned setting value while considering the offset angle and the like.
  • the control circuit 53 determines the solenoid valve 57 corresponding to the operation direction of the cylinder whose operation is to be stopped. Then, the electric signal amount corresponding to the valve opening degree is calculated, and the valve opening degree of the solenoid valve 57 is throttled and controlled.
  • the pilot valve corresponding to the operation is also input to the control valve, and the pilot secondary pressure signal is The interference between the various working parts and the cavity 6 etc. is prevented by regulating the solenoid valve 57 to gradually decrease and finally shut off.
  • control circuit 53 Sound a buzzer not shown.
  • the work effectiveness is In consideration of the rate, the function of the interference prevention device is not activated and the arm 14 is not angle limited.
  • the stop position 45 for preventing interference between the working device 2 and the machine main body 1 can be selectively switched by externally operating the changeover switch 62, and also when the changeover switch 62 breaks down, disconnection occurs. If the stop position 45b is switched to the stop position 45b, and if a short occurs, the stop position 45 switches to a position other than the stop position 45a, which is the minimum area. Interference between 2 and machine main body 1 can be reliably prevented
  • stop position 45 can be easily switched simply by switching the changeover switch 62, there is no need for a system that adapts the system to a working unit having a wide variety of shapes and sizes. It is also possible to prevent complexity and cost increase.
  • the changeover switch 62 can be retrofitted, it is possible to cope with the interference prevention of a plurality of working units without using a special device by effectively using the existing monitor 61, so that the manufacturability can be achieved. Can be improved.
  • the interference prevention control of work device 2 can be prevented from being complicated more than necessary by not operating the interference prevention device.
  • free operation of the working device 2 is possible, and the workability can be improved.
  • switching switch 62 corresponds to switching to stop position 45c, which is the maximum control area, in the open state, and corresponds to switching to stop position 45b, which is the second largest control area, to the short state. Since the other state corresponds to switching to the stop position 45a, which is another control area, the stop position of the work apparatus 2 is set to the stop position 45c in the open state due to the disconnection which is generally the most frequent failure. Since the stop position of the working device 2 is set to the stop position 45b in the second state of the short circuit condition which is set as the failure, it is possible to reliably set the minimum control area in the failure condition.
  • control circuit 53 may be configured to avoid the cave 6 or the like at the stop position 45, instead of the control for stopping the working device 2 at the stop position 45. is there.
  • the working unit various other things such as a balancer can be used.
  • a balancer By correcting the stop position 45 with the operation panel 64 in accordance with the shape of each working unit, it becomes possible to cope with each working unit.
  • the interference prevention device can be configured to be compatible with four or more types of working units.
  • the number of poles of the changeover switch 62 is set to a number corresponding to the type of work unit.
  • the interference prevention device can also be applied to hydraulic excavators of models other than POB specification machines.
  • the present invention is used, for example, in a working machine such as a hydraulic shovel.

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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)

Abstract

Une machine d’exploitation dans laquelle les interférences entre un appareil d’exploitation et un corps de machine peuvent être évitées. Quand l'appareil d’exploitation se déplace vers sa position de repos établie en correspondance avec chaque section d’exploitation, assemblable indépendamment sur l'appareil d’exploitation, un circuit de contrôle (53) contrôle le fonctionnement de l'appareil d’exploitation pour empêcher les interférences entre le corps de la machine et l'appareil d’exploitation. Quand un dysfonctionnement survient, un interrupteur (62) capable d'enclencher sélectivement les positions d'arrêt par une opération externe, bascule d’une position d'arrêt vers une autre qui n'est pas une position d'arrêt minimale. Ceci peut empêcher les interférences entre l'unité d’exploitation et le corps de la machine, même en cas de dysfonctionnement.
PCT/JP2005/003350 2004-07-16 2005-03-01 Machine d’exploitation WO2006008851A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004-210037 2004-07-16
JP2004210037A JP4304130B2 (ja) 2004-07-16 2004-07-16 作業機械

Publications (1)

Publication Number Publication Date
WO2006008851A1 true WO2006008851A1 (fr) 2006-01-26

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PCT/JP2005/003350 WO2006008851A1 (fr) 2004-07-16 2005-03-01 Machine d’exploitation

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JP (1) JP4304130B2 (fr)
WO (1) WO2006008851A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014163156A (ja) * 2013-02-26 2014-09-08 Sumitomo (Shi) Construction Machinery Co Ltd 建設機械の干渉防止装置
EP2952635A4 (fr) * 2013-01-31 2016-09-21 Yanmar Co Ltd Engin de chantier

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5283567B2 (ja) * 2009-05-22 2013-09-04 日立建機株式会社 建設機械の干渉防止装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07109748A (ja) * 1993-10-12 1995-04-25 Hitachi Constr Mach Co Ltd 作業機の干渉防止制御装置
JPH09111798A (ja) * 1995-10-16 1997-04-28 Sumitomo Constr Mach Co Ltd 建設機械の作業機干渉防止装置
JPH11303149A (ja) * 1998-04-24 1999-11-02 Hitachi Constr Mach Co Ltd 建設機械におけるフロント寸法変更装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07109748A (ja) * 1993-10-12 1995-04-25 Hitachi Constr Mach Co Ltd 作業機の干渉防止制御装置
JPH09111798A (ja) * 1995-10-16 1997-04-28 Sumitomo Constr Mach Co Ltd 建設機械の作業機干渉防止装置
JPH11303149A (ja) * 1998-04-24 1999-11-02 Hitachi Constr Mach Co Ltd 建設機械におけるフロント寸法変更装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2952635A4 (fr) * 2013-01-31 2016-09-21 Yanmar Co Ltd Engin de chantier
US9580886B2 (en) 2013-01-31 2017-02-28 Yanmar Co., Ltd. Working vehicle
JP2014163156A (ja) * 2013-02-26 2014-09-08 Sumitomo (Shi) Construction Machinery Co Ltd 建設機械の干渉防止装置

Also Published As

Publication number Publication date
JP4304130B2 (ja) 2009-07-29
JP2006028908A (ja) 2006-02-02

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